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User adjustable offsets

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firestar5683
2026-02-07 22:59:56 -06:00
parent 055c223ded
commit 14b1793c79
27 changed files with 309 additions and 5 deletions
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common/params.cc
+2
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@@ -535,6 +535,8 @@ std::unordered_map<std::string, uint32_t> keys = {
{"SteerDelayStock", PERSISTENT},
{"SteerFriction", PERSISTENT},
{"SteerFrictionStock", PERSISTENT},
{"SteerOffset", PERSISTENT},
{"SteerOffsetStock", PERSISTENT},
{"SteerLatAccel", PERSISTENT},
{"SteerLatAccelStock", PERSISTENT},
{"SteerKP", PERSISTENT},
common/params_pyx.so
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frogpilot/common/frogpilot_variables.py
+3
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@@ -409,6 +409,8 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
("SteerDelayStock", "", 3, ""),
("SteerFriction", "", 3, ""),
("SteerFrictionStock", "", 3, ""),
("SteerOffset", "", 3, ""),
("SteerOffsetStock", "", 3, ""),
("SteerKP", "", 3, ""),
("SteerKPStock", "", 3, ""),
("SteerLatAccel", "", 3, ""),
@@ -615,6 +617,7 @@ class FrogPilotVariables:
toggle.steerActuatorDelay = np.clip(params.get_float("SteerDelay"), 0.01, 1.0) if advanced_lateral_tuning and tuning_level >= level["SteerDelay"] else steerActuatorDelay
toggle.use_custom_steerActuatorDelay = bool(round(toggle.steerActuatorDelay, 2) != round(steerActuatorDelay, 2))
toggle.friction = np.clip(params.get_float("SteerFriction"), 0, 0.5) if advanced_lateral_tuning and tuning_level >= level["SteerFriction"] else friction
toggle.steer_offset = np.clip(params.get_float("SteerOffset"), -0.2, 0.2) if advanced_lateral_tuning and tuning_level >= level["SteerOffset"] and toggle.car_make == "gm" else 0.0
toggle.use_custom_friction = bool(round(toggle.friction, 2) != round(friction, 2)) and is_torque_car and not toggle.force_auto_tune or toggle.force_auto_tune_off
toggle.steerKp = [[0], [np.clip(params.get_float("SteerKP"), steerKp * 0.5, steerKp * 1.5) if advanced_lateral_tuning and is_torque_car and tuning_level >= level["SteerKP"] else steerKp]]
toggle.latAccelFactor = np.clip(params.get_float("SteerLatAccel"), latAccelFactor * 0.75, latAccelFactor * 1.25) if advanced_lateral_tuning and tuning_level >= level["SteerLatAccel"] else latAccelFactor
frogpilot/ui/qt/offroad/frogpilot_settings.cc
+9
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@@ -285,6 +285,7 @@ void FrogPilotSettingsWindow::updateVariables() {
longitudinalActuatorDelay = CP.getLongitudinalActuatorDelay();
startAccel = CP.getStartAccel();
steerActuatorDelay = CP.getSteerActuatorDelay();
steerOffset = 0.0f;
steerKp = CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::PID ? CP.getLateralTuning().getPid().getKpV()[0] : 0.6;
steerRatio = CP.getSteerRatio();
stopAccel = CP.getStopAccel();
@@ -296,6 +297,7 @@ void FrogPilotSettingsWindow::updateVariables() {
float currentDelayStock = params.getFloat("SteerDelayStock");
float currentFrictionStock = params.getFloat("SteerFrictionStock");
float currentSteerOffsetStock = params.getFloat("SteerOffsetStock");
float currentKPStock = params.getFloat("SteerKPStock");
float currentLatAccelStock = params.getFloat("SteerLatAccelStock");
float currentLongDelayStock = params.getFloat("LongitudinalActuatorDelayStock");
@@ -320,6 +322,13 @@ void FrogPilotSettingsWindow::updateVariables() {
params.putFloat("SteerFrictionStock", friction);
}
if (currentSteerOffsetStock != steerOffset) {
if (params.getFloat("SteerOffset") == currentSteerOffsetStock) {
params.putFloat("SteerOffset", steerOffset);
}
params.putFloat("SteerOffsetStock", steerOffset);
}
if (currentKPStock != steerKp && steerKp != 0) {
if (params.getFloat("SteerKP") == currentKPStock || currentKPStock == 0) {
params.putFloat("SteerKP", steerKp);
frogpilot/ui/qt/offroad/frogpilot_settings.h
+1
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@@ -47,6 +47,7 @@ public:
float longitudinalActuatorDelay;
float startAccel;
float steerActuatorDelay;
float steerOffset;
float steerKp;
float steerRatio;
float stopAccel;
frogpilot/ui/qt/offroad/lateral_settings.cc
+19
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@@ -41,6 +41,7 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
{"AdvancedLateralTune", tr("Advanced Lateral Tuning"), tr("<b>Advanced steering control changes to fine-tune how openpilot drives.</b>"), "../../frogpilot/assets/toggle_icons/icon_advanced_lateral_tune.png"},
{"SteerDelay", parent->steerActuatorDelay != 0 ? QString(tr("Actuator Delay (Default: %1)")).arg(QString::number(parent->steerActuatorDelay, 'f', 2)) : tr("Actuator Delay"), tr("<b>The time between openpilot's steering command and the vehicle's response.</b> Increase if the vehicle reacts late; decrease if it feels jumpy. Auto-learned by default."), ""},
{"SteerFriction", parent->friction != 0 ? QString(tr("Friction (Default: %1)")).arg(QString::number(parent->friction, 'f', 2)) : tr("Friction"), tr("<b>Compensates for steering friction.</b> Increase if the wheel sticks near center; decrease if it jitters. Auto-learned by default."), ""},
{"SteerOffset", parent->steerOffset != 0 ? QString(tr("Steer Offset (Default: %1)")).arg(QString::number(parent->steerOffset, 'f', 3)) : tr("Steer Offset"), tr("<b>Offsets steering torque to help compensate for alignment or tire issues.</b> More negative pulls the car right; more positive pulls it left. Most users should not need to touch this."), ""},
{"SteerKP", parent->steerKp != 0 ? QString(tr("Kp Factor (Default: %1)")).arg(QString::number(parent->steerKp, 'f', 2)) : tr("Kp Factor"), tr("<b>How strongly openpilot corrects lane position.</b> Higher is tighter but twitchier; lower is smoother but slower. Auto-learned by default."), ""},
{"SteerLatAccel", parent->latAccelFactor != 0 ? QString(tr("Lateral Acceleration (Default: %1)")).arg(QString::number(parent->latAccelFactor, 'f', 2)) : tr("Lateral Acceleration"), tr("<b>Maps steering torque to turning response.</b> Increase for sharper turns; decrease for gentler steering. Auto-learned by default."), ""},
{"SteerRatio", parent->steerRatio != 0 ? QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(parent->steerRatio, 'f', 2)) : tr("Steer Ratio"), tr("<b>The relationship between steering wheel rotation and road wheel angle.</b> Increase if steering feels too quick or twitchy; decrease if it feels too slow or weak. Auto-learned by default."), ""},
@@ -87,6 +88,9 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
} else if (param == "SteerFriction") {
std::vector<QString> steerFrictionButton{"Reset"};
lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 0, 0.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerFrictionButton, false, false);
} else if (param == "SteerOffset") {
std::vector<QString> steerOffsetButton{"Reset"};
lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, -0.2, 0.2, QString(), std::map<float, QString>(), 0.005, false, {}, steerOffsetButton, false, false);
} else if (param == "SteerKP") {
std::vector<QString> steerKPButton{"Reset"};
lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->steerKp * 0.5, parent->steerKp * 1.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerKPButton, false, false);
@@ -216,6 +220,14 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
}
});
steerOffsetToggle = static_cast<FrogPilotParamValueButtonControl*>(toggles["SteerOffset"]);
QObject::connect(steerOffsetToggle, &FrogPilotParamValueButtonControl::buttonClicked, [parent, this]() {
if (FrogPilotConfirmationDialog::yesorno(tr("Reset <b>Steer Offset</b> to its default value?"), this)) {
params.putFloat("SteerOffset", parent->steerOffset);
steerOffsetToggle->refresh();
}
});
steerKPToggle = static_cast<FrogPilotParamValueButtonControl*>(toggles["SteerKP"]);
QObject::connect(steerKPToggle, &FrogPilotParamValueButtonControl::buttonClicked, [parent, this]() {
if (FrogPilotConfirmationDialog::yesorno(tr("Reset <b>Kp Factor</b> to its default value?"), this)) {
@@ -255,6 +267,7 @@ void FrogPilotLateralPanel::showEvent(QShowEvent *event) {
steerDelayToggle->setTitle(QString(tr("Actuator Delay (Default: %1)")).arg(QString::number(parent->steerActuatorDelay, 'f', 2)));
steerFrictionToggle->setTitle(QString(tr("Friction (Default: %1)")).arg(QString::number(parent->friction, 'f', 2)));
steerOffsetToggle->setTitle(QString(tr("Steer Offset (Default: %1)")).arg(QString::number(parent->steerOffset, 'f', 3)));
steerKPToggle->setTitle(QString(tr("Kp Factor (Default: %1)")).arg(QString::number(parent->steerKp, 'f', 2)));
steerKPToggle->updateControl(parent->steerKp * 0.5, parent->steerKp * 1.5);
steerLatAccelToggle->setTitle(QString(tr("Lateral Accel (Default: %1)")).arg(QString::number(parent->latAccelFactor, 'f', 2)));
@@ -405,6 +418,12 @@ void FrogPilotLateralPanel::updateToggles() {
setVisible &= !usingNNFF;
}
else if (key == "SteerOffset") {
setVisible &= parent->isGM;
setVisible &= parent->isTorqueCar || forcingTorqueController;
setVisible &= !usingNNFF;
}
else if (key == "SteerKP") {
setVisible &= parent->steerKp != 0;
setVisible &= !parent->isAngleCar;
frogpilot/ui/qt/offroad/lateral_settings.h
+3 -1
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@@ -31,6 +31,7 @@ private:
float friction;
float latAccelFactor;
float steerActuatorDelay;
float steerOffset;
float steerKp;
float steerRatio;
@@ -38,7 +39,7 @@ private:
std::map<QString, AbstractControl*> toggles;
QSet<QString> advancedLateralTuneKeys = {"ForceAutoTune", "ForceAutoTuneOff", "ForceTorqueController", "SteerDelay", "SteerFriction", "SteerLatAccel", "SteerKP", "SteerRatio"};
QSet<QString> advancedLateralTuneKeys = {"ForceAutoTune", "ForceAutoTuneOff", "ForceTorqueController", "SteerDelay", "SteerFriction", "SteerOffset", "SteerLatAccel", "SteerKP", "SteerRatio"};
QSet<QString> aolKeys = {"AlwaysOnLateralLKAS", "AlwaysOnLateralMain", "PauseAOLOnBrake"};
QSet<QString> laneChangeKeys = {"LaneChangeTime", "LaneDetectionWidth", "MinimumLaneChangeSpeed", "NudgelessLaneChange", "OneLaneChange"};
QSet<QString> lateralTuneKeys = {"NNFF", "NNFFLite", "TurnDesires"};
@@ -48,6 +49,7 @@ private:
FrogPilotParamValueButtonControl *steerDelayToggle;
FrogPilotParamValueButtonControl *steerFrictionToggle;
FrogPilotParamValueButtonControl *steerOffsetToggle;
FrogPilotParamValueButtonControl *steerLatAccelToggle;
FrogPilotParamValueButtonControl *steerKPToggle;
FrogPilotParamValueButtonControl *steerRatioToggle;
selfdrive/car/gm/interface.py
+16 -4
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@@ -47,6 +47,10 @@ NON_LINEAR_TORQUE_PARAMS = {
class CarInterface(CarInterfaceBase):
def __init__(self, CP, FPCP, CarController, CarState):
super().__init__(CP, FPCP, CarController, CarState)
self.steer_offset = 0.0
@staticmethod
def get_pid_accel_limits(CP, current_speed, cruise_speed):
return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
@@ -90,20 +94,28 @@ class CarInterface(CarInterfaceBase):
torque_values, lataccel_values = self.get_lataccel_torque_siglin()
def torque_from_lateral_accel_siglin(lateral_acceleration: float, torque_params: car.CarParams.LateralTorqueTuning):
return np.interp(lateral_acceleration, lataccel_values, torque_values)
return float(np.interp(lateral_acceleration, lataccel_values, torque_values) + self.steer_offset)
return torque_from_lateral_accel_siglin
else:
return self.torque_from_lateral_accel_linear
def torque_from_lateral_accel_linear(lateral_acceleration: float, torque_params: car.CarParams.LateralTorqueTuning):
return self.torque_from_lateral_accel_linear(lateral_acceleration, torque_params) + self.steer_offset
return torque_from_lateral_accel_linear
def lateral_accel_from_torque(self) -> LateralAccelFromTorqueCallbackType:
if self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
torque_values, lataccel_values = self.get_lataccel_torque_siglin()
def lateral_accel_from_torque_siglin(torque: float, torque_params: car.CarParams.LateralTorqueTuning):
return np.interp(torque, torque_values, lataccel_values)
return np.interp(torque - self.steer_offset, torque_values, lataccel_values)
return lateral_accel_from_torque_siglin
else:
return self.lateral_accel_from_torque_linear
def lateral_accel_from_torque_linear(torque: float, torque_params: car.CarParams.LateralTorqueTuning):
return self.lateral_accel_from_torque_linear(torque - self.steer_offset, torque_params)
return lateral_accel_from_torque_linear
def update(self, c: car.CarControl, can_strings: list[bytes], frogpilot_toggles) -> car.CarState:
self.steer_offset = float(getattr(frogpilot_toggles, "steer_offset", 0.0))
return super().update(c, can_strings, frogpilot_toggles)
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs, frogpilot_toggles):
selfdrive/ui/_spinner
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selfdrive/ui/_text
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selfdrive/ui/translations/main_ar.ts
+16
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@@ -1199,6 +1199,22 @@
<source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
<translation type="gpt-5-generated">&lt;b&gt;تعديلات Twilsonco المعتمدة على العزم لتنعيم التوجيه في المنعطفات.&lt;/b&gt;</translation>
</message>
<message>
<source>Steer Offset (Default: %1)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Steer Offset</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotLongitudinalPanel</name>
selfdrive/ui/translations/main_caveman.ts
+16
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@@ -1200,6 +1200,22 @@
<source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
<translation type="gpt-5-generated">&lt;b&gt;Twilsonco make torque tweak. Steering smooth in curve.&lt;/b&gt;</translation>
</message>
<message>
<source>Steer Offset (Default: %1)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Steer Offset</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotLongitudinalPanel</name>
selfdrive/ui/translations/main_de.ts
+16
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@@ -1199,6 +1199,22 @@
<source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
<translation type="gpt-5-generated">&lt;b&gt;Twilsoncos drehmomentbasierte Anpassungen zur Glättung der Lenkung in Kurven.&lt;/b&gt;</translation>
</message>
<message>
<source>Steer Offset (Default: %1)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Steer Offset</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotLongitudinalPanel</name>
selfdrive/ui/translations/main_duck.ts
+16
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@@ -1201,6 +1201,22 @@
<source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
<translation type="gpt-5-generated">&lt;b&gt;Quack! Twilsonco’s torque tweaks to smooth out steering in curves, waddle-waddle.&lt;/b&gt;</translation>
</message>
<message>
<source>Steer Offset (Default: %1)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Steer Offset</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotLongitudinalPanel</name>
selfdrive/ui/translations/main_es.ts
+16
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@@ -1199,6 +1199,22 @@
<source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
<translation type="gpt-5-generated">&lt;b&gt;Ajustes basados en par de Twilsonco para suavizar la dirección en curvas.&lt;/b&gt;</translation>
</message>
<message>
<source>Steer Offset (Default: %1)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Steer Offset</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotLongitudinalPanel</name>
selfdrive/ui/translations/main_fr.ts
+16
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@@ -1199,6 +1199,22 @@
<source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
<translation type="gpt-5-generated">&lt;b&gt;Ajustements basés sur le couple de Twilsonco pour adoucir la direction dans les virages.&lt;/b&gt;</translation>
</message>
<message>
<source>Steer Offset (Default: %1)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Steer Offset</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotLongitudinalPanel</name>
selfdrive/ui/translations/main_frog.ts
+16
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@@ -1199,6 +1199,22 @@
<source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
<translation type="gpt-5-generated">&lt;b&gt;Ribbit! Twilsonco’s torque tweaks smooth steering through curves, croak.&lt;/b&gt;</translation>
</message>
<message>
<source>Steer Offset (Default: %1)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Steer Offset</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotLongitudinalPanel</name>
selfdrive/ui/translations/main_ja.ts
+16
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@@ -1199,6 +1199,22 @@
<source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
<translation type="gpt-5-generated">&lt;b&gt;カーブでのステアリングを滑らかにするためのTwilsoncoのトルクベース調整。&lt;/b&gt;</translation>
</message>
<message>
<source>Steer Offset (Default: %1)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Steer Offset</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotLongitudinalPanel</name>
selfdrive/ui/translations/main_ko.ts
+16
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@@ -1199,6 +1199,22 @@
<source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
<translation type="gpt-5-generated">&lt;b&gt;커브에서 조향을 부드럽게 하기 위한 Twilsonco의 토크 기반 조정.&lt;/b&gt;</translation>
</message>
<message>
<source>Steer Offset (Default: %1)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Steer Offset</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotLongitudinalPanel</name>
selfdrive/ui/translations/main_pirate.ts
+16
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@@ -1199,6 +1199,22 @@
<source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
<translation type="gpt-5-generated">&lt;b&gt;Twilsonco’s torque-based tweaks t’ smooth out steerin’ in curves, arr!&lt;/b&gt;</translation>
</message>
<message>
<source>Steer Offset (Default: %1)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Steer Offset</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotLongitudinalPanel</name>
selfdrive/ui/translations/main_pt-BR.ts
+16
View File
@@ -1199,6 +1199,22 @@
<source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
<translation type="gpt-5-generated">&lt;b&gt;Ajustes baseados em torque do Twilsonco para suavizar a direção em curvas.&lt;/b&gt;</translation>
</message>
<message>
<source>Steer Offset (Default: %1)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Steer Offset</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotLongitudinalPanel</name>
selfdrive/ui/translations/main_shakespearean.ts
+16
View File
@@ -1203,6 +1203,22 @@
<source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
<translation type="gpt-5-generated">&lt;b&gt;Twilsonco’s torque-wrought tweaks to make steering flow smoother ’midst the curves.&lt;/b&gt;</translation>
</message>
<message>
<source>Steer Offset (Default: %1)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Steer Offset</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotLongitudinalPanel</name>
selfdrive/ui/translations/main_th.ts
+16
View File
@@ -1199,6 +1199,22 @@
<source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
<translation type="gpt-5-generated">&lt;b&gt;การปรับตามแรงบิดของ Twilsonco เพื่อทำให้การบังคับเลี้ยวในโค้งนุ่มนวลขึ้น&lt;/b&gt;</translation>
</message>
<message>
<source>Steer Offset (Default: %1)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Steer Offset</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotLongitudinalPanel</name>
selfdrive/ui/translations/main_tr.ts
+16
View File
@@ -1199,6 +1199,22 @@
<source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
<translation type="gpt-5-generated">&lt;b&gt;Virajlarda direksiyonu yumuşatmak için Twilsonco’nun torka dayalı ayarlamaları.&lt;/b&gt;</translation>
</message>
<message>
<source>Steer Offset (Default: %1)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Steer Offset</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotLongitudinalPanel</name>
selfdrive/ui/translations/main_zh-CHS.ts
+16
View File
@@ -1199,6 +1199,22 @@
<source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
<translation type="gpt-5-generated">&lt;b&gt;Twilsonco 基于扭矩的调整，用于在弯道中平滑转向。&lt;/b&gt;</translation>
</message>
<message>
<source>Steer Offset (Default: %1)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Steer Offset</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotLongitudinalPanel</name>
selfdrive/ui/translations/main_zh-CHT.ts
+16
View File
@@ -1199,6 +1199,22 @@
<source>&lt;b&gt;Twilsonco's torque-based adjustments to smoothen out steering in curves.&lt;/b&gt;</source>
<translation type="gpt-5-generated">&lt;b&gt;Twilsonco 的扭力式調整，可在轉彎時讓轉向更平順。&lt;/b&gt;</translation>
</message>
<message>
<source>Steer Offset (Default: %1)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Steer Offset</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Offsets steering torque to help compensate for alignment or tire issues.&lt;/b&gt; More negative pulls the car right; more positive pulls it left. Most users should not need to touch this.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Reset &lt;b&gt;Steer Offset&lt;/b&gt; to its default value?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotLongitudinalPanel</name>
selfdrive/ui/ui
BIN
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