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Controls - Lateral Tuning - Force Auto Tune

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Forces comma's auto lateral tuning for unsupported vehicles.
This commit is contained in:
FrogAi
2024-05-10 12:01:47 -07:00
parent 376c39fa43
commit 2333f267a7
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/controlsd.py
+1 -1
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@@ -566,7 +566,7 @@ class Controls:
# Update Torque Params
if self.CP.lateralTuning.which() == 'torque':
torque_params = self.sm['liveTorqueParameters']
if self.sm.all_checks(['liveTorqueParameters']) and torque_params.useParams:
if self.sm.all_checks(['liveTorqueParameters']) and (torque_params.useParams or self.frogpilot_toggles.force_auto_tune):
self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
torque_params.frictionCoefficientFiltered)