From 946167fdf2f1632e60f78aa552f96124aedaa88e Mon Sep 17 00:00:00 2001
From: MoreTore <ryleymccarroll22@gmail.com>
Date: Sun, 15 Jun 2025 09:53:02 -0500
Subject: [PATCH] Don't Log Live Torque params

---
 common/params.cc                | 18 +++++++++---------
 selfdrive/car/mazda/carstate.py |  6 +++++-
 system/manager/manager.py       |  2 +-
 3 files changed, 15 insertions(+), 11 deletions(-)

diff --git a/common/params.cc b/common/params.cc
index 6a97392c1..a9e521728 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -375,7 +375,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LongPitch", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
     {"LosAngelesCalibrationParams", PERSISTENT},
     {"LosAngelesDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"LosAngelesLiveTorqueParameters", PERSISTENT},
+    {"LosAngelesLiveTorqueParameters", PERSISTENT | DONT_LOG},
     {"LosAngelesScore", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"LoudBlindspotAlert", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"LowVoltageShutdown", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
@@ -414,15 +414,15 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"NoLogging", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"NorthDakotaCalibrationParams", PERSISTENT},
     {"NorthDakotaDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"NorthDakotaLiveTorqueParameters", PERSISTENT},
+    {"NorthDakotaLiveTorqueParameters", PERSISTENT | DONT_LOG},
     {"NorthDakotaScore", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"NorthDakotaV2CalibrationParams", PERSISTENT},
     {"NorthDakotaV2Drives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"NorthDakotaV2LiveTorqueParameters", PERSISTENT},
+    {"NorthDakotaV2LiveTorqueParameters", PERSISTENT | DONT_LOG},
     {"NorthDakotaV2Score", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"NotreDameCalibrationParams", PERSISTENT},
+    {"NotreDameCalibrationParams", PERSISTENT | DONT_LOG},
     {"NotreDameDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"NotreDameLiveTorqueParameters", PERSISTENT},
+    {"NotreDameLiveTorqueParameters", PERSISTENT | DONT_LOG},
     {"NotreDameScore", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"NoUploads", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"NudgelessLaneChange", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
@@ -454,12 +454,12 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RadarlessModels", PERSISTENT},
     {"RadicalTurtleCalibrationParams", PERSISTENT},
     {"RadicalTurtleDrives", PERSISTENT | FROGPILOT_CONTROLS},
-    {"RadicalTurtleLiveTorqueParameters", PERSISTENT},
+    {"RadicalTurtleLiveTorqueParameters", PERSISTENT | DONT_LOG},
     {"RadicalTurtleScore", PERSISTENT | FROGPILOT_CONTROLS},
     {"RandomEvents", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"RecertifiedHerbalistCalibrationParams", PERSISTENT},
     {"RecertifiedHerbalistDrives", PERSISTENT | FROGPILOT_CONTROLS},
-    {"RecertifiedHerbalistLiveTorqueParameters", PERSISTENT},
+    {"RecertifiedHerbalistLiveTorqueParameters", PERSISTENT | DONT_LOG},
     {"RecertifiedHerbalistScore", PERSISTENT | FROGPILOT_CONTROLS},
     {"RefuseVolume", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"RelaxedFollow", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
@@ -482,7 +482,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SearchInput", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_OTHER},
     {"SecretGoodOpenpilotCalibrationParams", PERSISTENT},
     {"SecretGoodOpenpilotDrives", PERSISTENT | FROGPILOT_CONTROLS},
-    {"SecretGoodOpenpilotLiveTorqueParameters", PERSISTENT},
+    {"SecretGoodOpenpilotLiveTorqueParameters", PERSISTENT | DONT_LOG},
     {"SecretGoodOpenpilotScore", PERSISTENT | FROGPILOT_CONTROLS},
     {"SetSpeedLimit", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"SetSpeedOffset", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
@@ -559,7 +559,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"WarningSoftVolume", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"WD40CalibrationParams", PERSISTENT},
     {"WD40Drives", PERSISTENT | FROGPILOT_CONTROLS},
-    {"WD40LiveTorqueParameters", PERSISTENT},
+    {"WD40LiveTorqueParameters", PERSISTENT | DONT_LOG},
     {"WD40Score", PERSISTENT | FROGPILOT_CONTROLS},
     {"WheelIcon", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"WheelSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index dd8752a5d..064f7d697 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -5,6 +5,7 @@ from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags, TI_STATE, CarControllerParams
+from openpilot.common.realtime import DT_CTRL
 
 class CarState(CarStateBase):
   def __init__(self, CP):
@@ -35,6 +36,7 @@ class CarState(CarStateBase):
 
     self.shifting = False
     self.torque_converter_lock = True
+    self._prev_steering_angle = 0.0
 
     self.update = self.update_gen1
     if CP.flags & MazdaFlags.GEN1:
@@ -183,6 +185,8 @@ class CarState(CarStateBase):
     #self.torque_converter_lock = cp_cam.vl["GEAR"]["TORQUE_CONVERTER_LOCK"]
 
     ret.steeringAngleDeg = cp_cam.vl["STEER"]["STEER_ANGLE"]
+    ret.steeringRateDeg = (ret.steeringAngleDeg - self._prev_steering_angle) / DT_CTRL
+    self._prev_steering_angle = ret.steeringAngleDeg
 
     ret.steeringTorque = cp_body.vl["EPS_FEEDBACK"]["STEER_TORQUE_SENSOR"]
     ret.gas = cp_cam.vl["ENGINE_DATA"]["PEDAL_GAS"]
@@ -207,7 +211,7 @@ class CarState(CarStateBase):
     ret.cruiseState.speed = cp.vl["CRUZE_STATE"]["CRZ_SPEED"] * unit_conversion
     ret.cruiseState.enabled = (cp.vl["CRUZE_STATE"]["CRZ_STATE"] >= 2)
     ret.cruiseState.available = (cp.vl["CRUZE_STATE"]["CRZ_STATE"] != 0)
-    ret.cruiseState.standstill = ret.standstill
+    ret.cruiseState.standstill = ret.standstill if not self.CP.openpilotLongitudinalControl else False
 
     self.cp = cp
     self.cp_cam = cp_cam
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 010cd1630..55e54492a 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -226,7 +226,7 @@ def manager_init() -> None:
     ("NewLongAPI", "0"),
     ("NewLongAPIGM", "1"),
     ("NNFF", "1"),
-    ("NNFFLite", "1"),
+    ("NNFFLite", "0"),
     ("NoLogging", "0"),
     ("NorthDakotaCalibrationParams", ""),
     ("NorthDakotaDrives", "0"),