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92 lines
3.6 KiB
92 lines
3.6 KiB
<?xml version='1.0' encoding='UTF-8'?>
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<root>
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<tabbed_widget name="Main Window" parent="main_window">
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<Tab tab_name="tab1" containers="1">
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<Container>
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<DockSplitter sizes="0.250298;0.250298;0.249106;0.250298" orientation="-" count="4">
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<DockArea name="...">
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<plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
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<range bottom="-2.900899" top="3.526047" left="825.563261" right="1415.827546"/>
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<limitY/>
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<curve name="/controlsState/lateralControlState/torqueState/actualLateralAccel" color="#1f77b4"/>
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<curve name="/controlsState/lateralControlState/torqueState/desiredLateralAccel" color="#d62728"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
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<range bottom="-4.577789" top="3.642392" left="825.563261" right="1415.827546"/>
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<limitY/>
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<curve name="Actual lateral accel (roll compensated)" color="#1ac938"/>
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<curve name="Desired lateral accel (roll compensated)" color="#ff7f0e"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
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<range bottom="-1.134948" top="1.052072" left="825.563261" right="1415.827546"/>
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<limitY/>
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<curve name="/carControl/actuatorsOutput/steer" color="#9467bd">
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<transform name="Scale/Offset" alias="/carControl/actuatorsOutput/steer[Scale/Offset]">
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<options time_offset="0" value_scale="-1" value_offset="0"/>
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</transform>
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</curve>
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<curve name="/controlsState/lateralControlState/torqueState/f" color="#1f77b4"/>
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<curve name="/carState/steeringPressed" color="#ff000f"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
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<range bottom="-1.373608" top="56.208012" left="825.563261" right="1415.827546"/>
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<limitY/>
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<curve name="carState.vEgo mph" color="#d62728"/>
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<curve name="carState.vEgo kmh" color="#1ac938"/>
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<curve name="/carState/vEgo" color="#ff7f0e"/>
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</plot>
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</DockArea>
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</DockSplitter>
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</Container>
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</Tab>
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<currentTabIndex index="0"/>
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</tabbed_widget>
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<use_relative_time_offset enabled="1"/>
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<!-- - - - - - - - - - - - - - - -->
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<!-- - - - - - - - - - - - - - - -->
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<Plugins>
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<plugin ID="DataLoad Rlog"/>
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<plugin ID="Cereal Subscriber"/>
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</Plugins>
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<!-- - - - - - - - - - - - - - - -->
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<!-- - - - - - - - - - - - - - - -->
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<customMathEquations>
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<snippet name="carState.vEgo kmh">
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<global></global>
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<function>return value * 3.6</function>
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<linked_source>/carState/vEgo</linked_source>
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</snippet>
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<snippet name="carState.vEgo mph">
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<global></global>
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<function>return value * 2.23694</function>
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<linked_source>/carState/vEgo</linked_source>
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</snippet>
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<snippet name="Desired lateral accel (roll compensated)">
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<global></global>
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<function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
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<linked_source>/controlsState/desiredCurvature</linked_source>
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<additional_sources>
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<v1>/carState/vEgo</v1>
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<v2>/liveParameters/roll</v2>
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</additional_sources>
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</snippet>
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<snippet name="Actual lateral accel (roll compensated)">
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<global></global>
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<function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
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<linked_source>/controlsState/curvature</linked_source>
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<additional_sources>
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<v1>/carState/vEgo</v1>
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<v2>/liveParameters/roll</v2>
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</additional_sources>
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</snippet>
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</customMathEquations>
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<snippets/>
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<!-- - - - - - - - - - - - - - - -->
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</root>
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