Controls - Lateral Tuning - Steer Ratio

Use a custom steer ratio as opposed to comma's auto tune value.

selfdrive/controls/controlsd.py

@@ -560,7 +560,7 @@ class Controls:
     # Update VehicleModel
     lp = self.sm['liveParameters']
     x = max(lp.stiffnessFactor, 0.1)
-    sr = max(lp.steerRatio, 0.1)
+    sr = max(self.frogpilot_toggles.steer_ratio, 0.1) if self.frogpilot_toggles.use_custom_steer_ratio else max(lp.steerRatio, 0.1)
     self.VM.update_params(x, sr)
 
     # Update Torque Params

selfdrive/locationd/paramsd.py

@@ -135,6 +135,11 @@ def main():
     CP = msg
   cloudlog.info("paramsd got CarParams")
 
+  steer_ratio_stock = params_reader.get_float("SteerRatioStock")
+  if steer_ratio_stock != CP.steerRatio:
+    params_reader.put_float_nonblocking("SteerRatio", CP.steerRatio)
+    params_reader.put_float_nonblocking("SteerRatioStock", CP.steerRatio)
+
   min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio
 
   params = params_reader.get("LiveParameters")