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onroad UI: GPS speed display, hidden when no fix

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Speed indicator now uses gpsLocation speed (MPH) instead of carState
vEgo. Hides completely when no GPS fix is available. Added gpsLocation
to UI SubMaster subscriptions.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
This commit is contained in:
Brian Hanson
2026-04-13 05:55:30 +00:00
parent 98b117b610
commit 77b2ecef20
3 changed files with 14 additions and 10 deletions
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20
selfdrive/ui/qt/onroad.cc
View File

@@ -341,6 +341,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
const bool cs_alive = sm.alive("controlsState"); const bool cs_alive = sm.alive("controlsState");
const auto cs = sm["controlsState"].getControlsState(); const auto cs = sm["controlsState"].getControlsState();
const auto car_state = sm["carState"].getCarState(); const auto car_state = sm["carState"].getCarState();
(void)car_state; // CLEARPILOT: suppress unused warning, will use later
// Handle older routes where vCruiseCluster is not set // Handle older routes where vCruiseCluster is not set
float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster(); float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
@@ -350,11 +351,15 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
setSpeed *= KM_TO_MILE; setSpeed *= KM_TO_MILE;
} }
// Handle older routes where vEgoCluster is not set // CLEARPILOT: use GPS speed if available, hide speed display if no GPS fix
v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0; has_gps_speed = sm.valid("gpsLocation") && sm["gpsLocation"].getGpsLocation().getHasFix();
float v_ego = v_ego_cluster_seen && !scene.wheel_speed ? car_state.getVEgoCluster() : car_state.getVEgo(); if (has_gps_speed) {
speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0; float gps_speed_ms = sm["gpsLocation"].getGpsLocation().getSpeed();
speed = std::max<float>(0.0, gps_speed_ms);
speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH; speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
} else {
speed = 0.0;
}
// auto speed_limit_sign = nav_instruction.getSpeedLimitSign(); // auto speed_limit_sign = nav_instruction.getSpeedLimitSign();
// speedLimit = slcOverridden ? scene.speed_limit_overridden_speed : speedLimitController ? scene.speed_limit : nav_alive ? nav_instruction.getSpeedLimit() : 0.0; // speedLimit = slcOverridden ? scene.speed_limit_overridden_speed : speedLimitController ? scene.speed_limit : nav_alive ? nav_instruction.getSpeedLimit() : 0.0;
@@ -449,13 +454,10 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
// Todo: lead speed // Todo: lead speed
// Todo: Experimental speed // Todo: Experimental speed
// // current speed // CLEARPILOT: show GPS speed, hide when no fix
if (!(scene.hide_speed)) { if (has_gps_speed && !scene.hide_speed) {
// CLEARPILOT changes to 120 from ~176
// Maybe we want to hide this?
p.setFont(InterFont(140, QFont::Bold)); p.setFont(InterFont(140, QFont::Bold));
drawText(p, rect().center().x(), 210, speedStr); drawText(p, rect().center().x(), 210, speedStr);
// CLEARPILOT changes to 40 from 66
p.setFont(InterFont(50)); p.setFont(InterFont(50));
drawText(p, rect().center().x(), 290, speedUnit, 200); drawText(p, rect().center().x(), 290, speedUnit, 200);
} }

1
selfdrive/ui/qt/onroad.h
View File

@@ -55,6 +55,7 @@ private:
QVBoxLayout *main_layout; QVBoxLayout *main_layout;
QPixmap dm_img; QPixmap dm_img;
float speed; float speed;
bool has_gps_speed = false;
QString speedUnit; QString speedUnit;
float setSpeed; float setSpeed;
float speedLimit; float speedLimit;

1
selfdrive/ui/ui.cc
View File

@@ -442,6 +442,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
"pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2", "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
"wideRoadCameraState", "managerState", "uiPlan", "liveTorqueParameters", "wideRoadCameraState", "managerState", "uiPlan", "liveTorqueParameters",
"frogpilotCarControl", "frogpilotDeviceState", "frogpilotPlan", "frogpilotCarControl", "frogpilotDeviceState", "frogpilotPlan",
"gpsLocation",
}); });
Params params; Params params;