mochi mochi mochi

common/params_keys.h

@@ -160,6 +160,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"AggressiveJerkSpeed", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
     {"AggressiveJerkSpeedDecrease", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
     {"AlertVolumeControl", {PERSISTENT, BOOL, "0", "0", 2}},
+    {"AllowImpossibleAcceleration", {PERSISTENT, BOOL, "0", "0", 3}},
     {"AlwaysOnLateral", {PERSISTENT, BOOL, "1", "0", 0}},
     {"AlwaysOnLateralLKAS", {PERSISTENT, BOOL, "1", "0", 2}},
     {"ApiCache_DriveStats", {PERSISTENT, JSON, "{}", "{}"}},

opendbc_repo/opendbc/car/car.capnp

@@ -285,6 +285,8 @@ struct CarState {
       setCruise @9;
       resumeCruise @10;
       gapAdjustCruise @11;
+      accelHardCruise @12;
+      decelHardCruise @13;
     }
   }
 

opendbc_repo/opendbc/car/gm/carstate.py

@@ -33,6 +33,8 @@ AUTO_HOLD_REGEN_RELEASE_COOLDOWN_S = 1.0
 
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                 CruiseButtons.MAIN: ButtonType.mainCruise, CruiseButtons.CANCEL: ButtonType.cancel}
+HARD_BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelHardCruise, CruiseButtons.DECEL_SET: ButtonType.decelHardCruise}
+NORMAL_CRUISE_BUTTONS = (CruiseButtons.RES_ACCEL, CruiseButtons.DECEL_SET)
 
 GearShifter = structs.CarState.GearShifter
 BOLT_GEN1_CANCEL_PERSONALITY_CARS = {
@@ -64,6 +66,8 @@ class CarState(CarStateBase):
 
     self.prev_distance_button = 0
     self.distance_button = 0
+    self.hard_cruise_buttons = CruiseButtons.INIT
+    self.force_reset_cruise_buttons = False
 
     self.single_pedal_mode = False
     self.auto_hold_armed = False
@@ -92,8 +96,8 @@ class CarState(CarStateBase):
     if not self.CP.pcmCruise:
       for b in buttonEvents:
         # The ECM allows enabling on falling edge of set, but only rising edge of resume
-        if (b.type == ButtonType.accelCruise and b.pressed) or \
-          (b.type == ButtonType.decelCruise and not b.pressed):
+        if (b.type in (ButtonType.accelCruise, ButtonType.accelHardCruise) and b.pressed) or \
+          (b.type in (ButtonType.decelCruise, ButtonType.decelHardCruise) and not b.pressed):
           return True
     return False
 
@@ -119,9 +123,11 @@ class CarState(CarStateBase):
     sdgm_non_volt = self.CP.carFingerprint in SDGM_CAR and self.CP.carFingerprint not in kaofui_state_cars
 
     prev_cruise_buttons = self.cruise_buttons
+    prev_hard_cruise_buttons = self.hard_cruise_buttons
     prev_distance_button = self.distance_button
     if not sdgm_non_volt:
       self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
+      self.hard_cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtonsHard"]
       self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
       self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
       self.steering_button_checksum = pt_cp.vl["ASCMSteeringButton"]["SteeringButtonChecksum"]
@@ -131,9 +137,20 @@ class CarState(CarStateBase):
       self.steering_button_prefix = (int(acc_always_one) & 1) | ((int(acc_hidden_bit) & 1) << 6)
     else:
       self.cruise_buttons = cam_cp.vl["ASCMSteeringButton"]["ACCButtons"]
+      self.hard_cruise_buttons = cam_cp.vl["ASCMSteeringButton"]["ACCButtonsHard"]
       self.distance_button = cam_cp.vl["ASCMSteeringButton"]["DistanceButton"]
       self.buttons_counter = cam_cp.vl["ASCMSteeringButton"]["RollingCounter"]
       self.steering_button_ts_nanos = cam_cp.ts_nanos["ASCMSteeringButton"]["ACCButtons"]
+
+    # A GM hard press keeps the normal cruise button signal active too. Suppress
+    # the normal button until the wheel reports a different normal state.
+    if self.hard_cruise_buttons != CruiseButtons.INIT and self.cruise_buttons in NORMAL_CRUISE_BUTTONS:
+      self.force_reset_cruise_buttons = True
+    if self.force_reset_cruise_buttons and self.cruise_buttons in NORMAL_CRUISE_BUTTONS:
+      self.cruise_buttons = CruiseButtons.UNPRESS
+    elif self.force_reset_cruise_buttons and self.cruise_buttons not in NORMAL_CRUISE_BUTTONS:
+      self.force_reset_cruise_buttons = False
+
     self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
     self.moving_backward = (pt_cp.vl["EBCMWheelSpdRear"]["RLWheelDir"] == 2) or (pt_cp.vl["EBCMWheelSpdRear"]["RRWheelDir"] == 2)
 
@@ -178,7 +195,10 @@ class CarState(CarStateBase):
       ret.brakePressed = ret.brake >= VOLT_EBCM_BRAKE_PRESSED_THRESHOLD
     elif self.CP.carFingerprint in {CAR.CHEVROLET_MALIBU_CC} or (self.CP.carFingerprint == CAR.CHEVROLET_BLAZER and not no_accel_pos):
       ret.brakePressed = ret.brake >= 8
-    elif (self.CP.flags & GMFlags.FORCE_BRAKE_C9.value) or ((self.CP.networkLocation == NetworkLocation.fwdCamera) and (self.CP.carFingerprint != CAR.CHEVROLET_BLAZER)):
+    elif (self.CP.flags & GMFlags.FORCE_BRAKE_C9.value) or (
+      self.CP.networkLocation == NetworkLocation.fwdCamera and
+      self.CP.carFingerprint not in (SDGM_CAR | ASCM_INT | {CAR.CHEVROLET_BLAZER})
+    ):
       ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
     else:
       # Some Volt 2016-17 have loose brake pedal push rod retainers which causes the ECM to believe
@@ -374,13 +394,18 @@ class CarState(CarStateBase):
     lkas_events = [] if (suppress_malibu_side_buttons or suppress_bolt_cancel_lkas) else create_button_events(
       self.lkas_enabled, self.lkas_previously_enabled, {1: ButtonType.lkas}
     )
+    hard_cruise_events = create_button_events(
+      self.hard_cruise_buttons, prev_hard_cruise_buttons, HARD_BUTTONS_DICT, unpressed_btn=CruiseButtons.INIT
+    )
 
     # Don't add events if transitioning from INIT, unless it's to an actual button.
-    if self.cruise_buttons != CruiseButtons.UNPRESS or prev_cruise_buttons != CruiseButtons.INIT:
+    if (self.cruise_buttons != CruiseButtons.UNPRESS or prev_cruise_buttons != CruiseButtons.INIT or
+        self.hard_cruise_buttons != CruiseButtons.INIT or prev_hard_cruise_buttons != CruiseButtons.INIT):
       ret.buttonEvents = [
         *cruise_events,
         *distance_events,
         *lkas_events,
+        *hard_cruise_events,
       ]
 
     if ret.vEgo < self.CP.minSteerSpeed:

opendbc_repo/opendbc/dbc/generator/gm/gm_global_a_powertrain.dbc

@@ -146,6 +146,7 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
  SG_ LKAButton : 23|1@0+ (1,0) [0|0] ""  NEO
  SG_ ACCAlwaysOne : 24|1@0+ (1,0) [0|1] "" XXX
  SG_ ACCButtons : 46|3@0+ (1,0) [0|0] ""  NEO
+ SG_ ACCButtonsHard : 26|2@0+ (1,0) [0|3] "" XXX
  SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
  SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO
  SG_ SteeringButtonChecksum : 43|12@0+ (1,0) [0|255] "" NEO

opendbc_repo/opendbc/dbc/gm_global_a_powertrain_generated.dbc

@@ -166,6 +166,7 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
  SG_ LKAButton : 23|1@0+ (1,0) [0|0] ""  NEO
  SG_ ACCAlwaysOne : 24|1@0+ (1,0) [0|1] "" XXX
  SG_ ACCButtons : 46|3@0+ (1,0) [0|0] ""  NEO
+ SG_ ACCButtonsHard : 26|2@0+ (1,0) [0|3] "" XXX
  SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
  SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO
  SG_ SteeringButtonChecksum : 43|12@0+ (1,0) [0|255] "" NEO

selfdrive/car/card.py

@@ -283,9 +283,9 @@ class Car:
     CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
     CS.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
 
-    if any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in filtered_CS.buttonEvents):
+    if any(be.type in (ButtonType.accelCruise, ButtonType.accelHardCruise, ButtonType.resumeCruise) for be in filtered_CS.buttonEvents):
       self.resume_prev_button = True
-    elif any(be.type in (ButtonType.decelCruise, ButtonType.setCruise) for be in filtered_CS.buttonEvents):
+    elif any(be.type in (ButtonType.decelCruise, ButtonType.decelHardCruise, ButtonType.setCruise) for be in filtered_CS.buttonEvents):
       self.resume_prev_button = False
 
     FPCS = self.starpilot_card.update(CS, FPCS, self.sm, self.starpilot_toggles)

selfdrive/car/cruise.py

@@ -24,11 +24,17 @@ CRUISE_LONG_PRESS = 50
 CRUISE_NEAREST_FUNC = {
   ButtonType.accelCruise: math.ceil,
   ButtonType.decelCruise: math.floor,
+  ButtonType.accelHardCruise: math.ceil,
+  ButtonType.decelHardCruise: math.floor,
 }
 CRUISE_INTERVAL_SIGN = {
   ButtonType.accelCruise: +1,
   ButtonType.decelCruise: -1,
+  ButtonType.accelHardCruise: +1,
+  ButtonType.decelHardCruise: -1,
 }
+HARD_CRUISE_BUTTONS = (ButtonType.accelHardCruise, ButtonType.decelHardCruise)
+ACCEL_CRUISE_BUTTONS = (ButtonType.accelCruise, ButtonType.accelHardCruise)
 
 
 class VCruiseHelper:
@@ -37,7 +43,12 @@ class VCruiseHelper:
     self.v_cruise_kph = V_CRUISE_UNSET
     self.v_cruise_cluster_kph = V_CRUISE_UNSET
     self.v_cruise_kph_last = 0
-    self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0}
+    self.button_timers = {
+      ButtonType.decelCruise: 0,
+      ButtonType.accelCruise: 0,
+      ButtonType.decelHardCruise: 0,
+      ButtonType.accelHardCruise: 0,
+    }
     self.button_change_states = {btn: {"standstill": False, "enabled": False} for btn in self.button_timers}
 
     self.gm_cc_only = self.CP.carFingerprint in CC_ONLY_CAR and self.CP.flags & GMFlags.CC_LONG.value
@@ -121,7 +132,7 @@ class VCruiseHelper:
 
     # Don't adjust speed when pressing resume to exit standstill
     cruise_standstill = self.button_change_states[button_type]["standstill"] or CS.cruiseState.standstill
-    if button_type == ButtonType.accelCruise and cruise_standstill:
+    if button_type in ACCEL_CRUISE_BUTTONS and cruise_standstill:
       return
 
     # Don't adjust speed if we've enabled since the button was depressed (some ports enable on rising edge)
@@ -129,7 +140,7 @@ class VCruiseHelper:
       return
 
     short_interval, long_interval = self._get_cruise_delta_intervals(starpilot_toggles)
-    v_cruise_delta_interval = long_interval if long_press else short_interval
+    v_cruise_delta_interval = long_interval if long_press or button_type in HARD_CRUISE_BUTTONS else short_interval
     v_cruise_delta = v_cruise_delta * v_cruise_delta_interval
     if v_cruise_delta_interval % 5 == 0 and self.v_cruise_kph % v_cruise_delta != 0:  # partial interval
       self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta
@@ -137,7 +148,7 @@ class VCruiseHelper:
       self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]
 
     # If set is pressed while overriding, clip cruise speed to minimum of vEgo
-    if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
+    if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.decelHardCruise, ButtonType.setCruise):
       self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)
 
     self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
@@ -161,7 +172,7 @@ class VCruiseHelper:
       return
 
     engage_floor_kph = max(V_CRUISE_MIN, 7.0 * CV.MPH_TO_KPH)
-    resume_pressed = any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents)
+    resume_pressed = any(b.type in (ButtonType.accelCruise, ButtonType.accelHardCruise, ButtonType.resumeCruise) for b in CS.buttonEvents)
     remembered_resume = resume_prev_button and (self.gm_cc_only or self.redneck_non_pcm)
 
     if self.v_cruise_initialized and (resume_pressed or remembered_resume):

selfdrive/car/tests/test_cruise_speed.py

@@ -1,5 +1,6 @@
 import pytest
 import itertools
+import math
 import numpy as np
 
 from parameterized import parameterized_class
@@ -101,6 +102,62 @@ class TestVCruiseHelper:
         )
         assert pressed == (self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last)
 
+  def test_hard_press_uses_long_press_interval(self):
+    self.enable(52 * CV.MPH_TO_MS, False)
+    initial_v_cruise_kph = self.v_cruise_helper.v_cruise_kph
+
+    pressed_cs = car.CarState(cruiseState={"available": True})
+    pressed_cs.buttonEvents = [ButtonEvent(type=ButtonType.accelHardCruise, pressed=True)]
+    self.v_cruise_helper.update_v_cruise(
+      pressed_cs,
+      enabled=True,
+      is_metric=False,
+      speed_limit_changed=False,
+      starpilot_toggles=self.starpilot_toggles,
+    )
+
+    released_cs = car.CarState(cruiseState={"available": True})
+    released_cs.buttonEvents = [ButtonEvent(type=ButtonType.accelHardCruise, pressed=False)]
+    self.v_cruise_helper.update_v_cruise(
+      released_cs,
+      enabled=True,
+      is_metric=False,
+      speed_limit_changed=False,
+      starpilot_toggles=self.starpilot_toggles,
+    )
+
+    hard_interval = self.starpilot_toggles.cruise_increase_long * IMPERIAL_INCREMENT
+    expected_kph = math.ceil(initial_v_cruise_kph / hard_interval) * hard_interval
+    assert self.v_cruise_helper.v_cruise_kph == pytest.approx(expected_kph)
+
+  def test_hard_decel_press_uses_long_press_interval(self):
+    self.enable(52 * CV.MPH_TO_MS, False)
+    initial_v_cruise_kph = self.v_cruise_helper.v_cruise_kph
+
+    pressed_cs = car.CarState(cruiseState={"available": True})
+    pressed_cs.buttonEvents = [ButtonEvent(type=ButtonType.decelHardCruise, pressed=True)]
+    self.v_cruise_helper.update_v_cruise(
+      pressed_cs,
+      enabled=True,
+      is_metric=False,
+      speed_limit_changed=False,
+      starpilot_toggles=self.starpilot_toggles,
+    )
+
+    released_cs = car.CarState(cruiseState={"available": True})
+    released_cs.buttonEvents = [ButtonEvent(type=ButtonType.decelHardCruise, pressed=False)]
+    self.v_cruise_helper.update_v_cruise(
+      released_cs,
+      enabled=True,
+      is_metric=False,
+      speed_limit_changed=False,
+      starpilot_toggles=self.starpilot_toggles,
+    )
+
+    hard_interval = self.starpilot_toggles.cruise_increase_long * IMPERIAL_INCREMENT
+    expected_kph = math.floor(initial_v_cruise_kph / hard_interval) * hard_interval
+    assert self.v_cruise_helper.v_cruise_kph == pytest.approx(expected_kph)
+
   def test_rising_edge_enable(self):
     """
     Some car interfaces may enable on rising edge of a button,

selfdrive/selfdrived/helpers.py

@@ -22,11 +22,15 @@ class ExcessiveActuationCheck:
     self._excessive_counter = 0
     self._engaged_counter = 0
 
-  def update(self, sm: messaging.SubMaster, CS: car.CarState, calibrated_pose: Pose) -> ExcessiveActuationType | None:
+  def update(self, sm: messaging.SubMaster, CS: car.CarState, calibrated_pose: Pose,
+             allow_impossible_acceleration: bool = False) -> ExcessiveActuationType | None:
     # CS.aEgo can be noisy to bumps in the road, transitioning from standstill, losing traction, etc.
     # longitudinal
     accel_calibrated = calibrated_pose.acceleration.x
-    excessive_long_actuation = sm['carControl'].longActive and (accel_calibrated > ACCEL_MAX * 2 or accel_calibrated < ACCEL_MIN * 2)
+    excessive_long_actuation = (
+      not allow_impossible_acceleration and sm['carControl'].longActive and
+      (accel_calibrated > ACCEL_MAX * 2 or accel_calibrated < ACCEL_MIN * 2)
+    )
 
     # lateral
     yaw_rate = calibrated_pose.angular_velocity.yaw

selfdrive/selfdrived/selfdrived.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import json
 import os
 import time
 import threading
@@ -71,6 +72,9 @@ class SelfdriveD:
     self.pose_calibrator = PoseCalibrator()
     self.calibrated_pose: Pose | None = None
     self.excessive_actuation_check = ExcessiveActuationCheck()
+    self.allow_impossible_acceleration = self.params.get_bool("AllowImpossibleAcceleration")
+    if self.allow_impossible_acceleration:
+      self.clear_longitudinal_excessive_actuation_alert()
     self.excessive_actuation = self.params.get("Offroad_ExcessiveActuation") is not None
 
     # Setup sockets
@@ -172,6 +176,32 @@ class SelfdriveD:
 
     self.FPCP = messaging.log_from_bytes(self.params.get("StarPilotCarParams", block=True), custom.StarPilotCarParams)
 
+  def clear_longitudinal_excessive_actuation_alert(self):
+    alert = self.params.get("Offroad_ExcessiveActuation")
+    if not alert:
+      return
+
+    if isinstance(alert, bytes):
+      try:
+        alert = json.loads(alert.decode("utf-8", errors="replace"))
+      except json.JSONDecodeError:
+        return
+    elif isinstance(alert, str):
+      try:
+        alert = json.loads(alert)
+      except json.JSONDecodeError:
+        return
+
+    if not isinstance(alert, dict):
+      return
+
+    extra = alert.get("extra", "")
+    if isinstance(extra, bytes):
+      extra = extra.decode("utf-8", errors="replace")
+
+    if str(extra).strip().lower() == "longitudinal":
+      self.params.remove("Offroad_ExcessiveActuation")
+
   def update_events(self, CS):
     """Compute onroadEvents from carState"""
 
@@ -221,7 +251,7 @@ class SelfdriveD:
       return
 
     # Block resume if cruise never previously enabled
-    resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents)
+    resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.accelHardCruise, ButtonType.resumeCruise) for be in CS.buttonEvents)
     if not self.CP.pcmCruise and CS.vCruise > 250 and resume_pressed:
       self.events.add(EventName.resumeBlocked)
 
@@ -332,7 +362,9 @@ class SelfdriveD:
       self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_pose)
 
     if self.calibrated_pose is not None:
-      excessive_actuation = self.excessive_actuation_check.update(self.sm, CS, self.calibrated_pose)
+      excessive_actuation = self.excessive_actuation_check.update(
+        self.sm, CS, self.calibrated_pose, self.allow_impossible_acceleration
+      )
       if not self.excessive_actuation and excessive_actuation is not None:
         set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text=str(excessive_actuation))
         self.excessive_actuation = True

starpilot/system/the_pond/assets/components/tools/device_settings_layout.json

@@ -3219,6 +3219,13 @@
         "description": "Only enable this if the wide camera is broken or for development!\n\nDisabling the wide camera may degrade driving performance and cause instability.\n\nRequires a reboot to take effect.",
         "data_type": "bool",
         "ui_type": "toggle"
+      },
+      {
+        "key": "AllowImpossibleAcceleration",
+        "label": "Allow Impossible Acceleration",
+        "description": "WARNING: This suppresses openpilot's excessive longitudinal actuation diagnostic when measured acceleration looks impossible for the requested gas/brake command.\n\nLeave this OFF unless you are intentionally testing edge cases like shifting to neutral and understand that it can hide a real actuation problem.",
+        "data_type": "bool",
+        "ui_type": "toggle"
       }
     ]
   }

starpilot/system/the_pond/the_pond.py

@@ -2255,6 +2255,30 @@ def _serialize_param_write_value(raw_value):
     return raw_value.decode("utf-8", errors="replace")
   return str(raw_value or "")
 
+def _offroad_excessive_actuation_type():
+  alert = _safe_params_get_live_raw("Offroad_ExcessiveActuation")
+  if not alert:
+    return ""
+
+  if isinstance(alert, bytes):
+    try:
+      alert = json.loads(alert.decode("utf-8", errors="replace"))
+    except json.JSONDecodeError:
+      return ""
+  elif isinstance(alert, str):
+    try:
+      alert = json.loads(alert)
+    except json.JSONDecodeError:
+      return ""
+
+  if not isinstance(alert, dict):
+    return ""
+
+  extra = alert.get("extra", "")
+  if isinstance(extra, bytes):
+    extra = extra.decode("utf-8", errors="replace")
+  return str(extra).strip().lower()
+
 def _apply_cellular_metered_setting(metered_enabled):
   """Apply GsmMetered changes to active NetworkManager GSM profiles."""
   if not shutil.which("nmcli"):
@@ -3742,6 +3766,18 @@ def setup(app):
       if key == "AutomaticUpdates" and params.get_bool("IsOnroad"):
         return jsonify({"error": "Cannot change Automatic Updates while driving."}), 403
 
+      if key == "AllowImpossibleAcceleration":
+        enabled = str_val.strip() in ("1", "true", "True")
+        params.put_bool(key, enabled)
+        if enabled and _offroad_excessive_actuation_type() == "longitudinal":
+          params.remove("Offroad_ExcessiveActuation")
+
+        update_starpilot_toggles()
+        return jsonify({
+          "message": f"Parameter '{key}' updated successfully.",
+          "updated": {key: enabled},
+        }), 200
+
       if key in {"EVTuning", "TruckTuning"}:
         enabled = str_val.strip() in ("1", "true", "True")
         params.put_bool(key, enabled)