no pid

opendbc_repo/opendbc/car/toyota/tests/test_toyota.py

@@ -39,6 +39,21 @@ class TestToyotaInterfaces:
     # At this time, only RAV4 2023 is expected to use LTA/angle control
     assert ANGLE_CONTROL_CAR == {CAR.TOYOTA_RAV4_TSS2_2023}
 
+  def test_rav4_prime_force_torque_controller(self):
+    fingerprint = {bus: {} for bus in range(8)}
+
+    default_params = CarInterface.get_params(
+      CAR.TOYOTA_RAV4_PRIME, fingerprint, [], False, False, False,
+      SimpleNamespace(force_torque_controller=False, nnff=False, nnff_lite=False),
+    )
+    forced_params = CarInterface.get_params(
+      CAR.TOYOTA_RAV4_PRIME, fingerprint, [], False, False, False,
+      SimpleNamespace(force_torque_controller=True, nnff=False, nnff_lite=False),
+    )
+
+    assert default_params.lateralTuning.which() == "pid"
+    assert forced_params.lateralTuning.which() == "torque"
+
   def test_tss2_dbc(self):
     # We make some assumptions about TSS2 platforms,
     # like looking up certain signals only in this DBC

starpilot/common/starpilot_variables.py

@@ -359,6 +359,9 @@ def get_starpilot_toggles(sm=messaging.SubMaster(["starpilotPlan"])):
 
   toggles.force_offroad = get_starpilot_toggles._params.get_bool("ForceOffroad")
   toggles.force_onroad = get_starpilot_toggles._params.get_bool("ForceOnroad")
+  # Controller selection happens before the first live StarPilot broadcast. Do
+  # not let a cached CarParams/controller type hide the persisted user request.
+  toggles.force_torque_controller = get_starpilot_toggles._params.get_bool("ForceTorqueController")
   return toggles
 
 @cache
@@ -1064,7 +1067,7 @@ class StarPilotVariables:
     toggle.lane_change_time_max = 10.0 + (10 - pace) * 2.0 / 9.0
 
     lateral_tuning = self.get_value("LateralTune")
-    toggle.force_torque_controller = self.get_value("ForceTorqueController", condition=lateral_tuning and not is_torque_car and not is_angle_car)
+    toggle.force_torque_controller = self.get_value("ForceTorqueController", condition=lateral_tuning and not is_angle_car)
     toggle.nnff = self.get_value("NNFF", condition=lateral_tuning and has_nnff and not is_angle_car)
     toggle.nnff_lite = self.get_value("NNFFLite", condition=not toggle.nnff and lateral_tuning and not is_angle_car)
     toggle.nav_desires_allowed = self.get_value("NavDesiresAllowed")

starpilot/common/tests/test_starpilot_variables.py

@@ -36,6 +36,16 @@ def test_get_starpilot_toggles_uses_last_non_empty_broadcast(monkeypatch):
   assert second.vision_speed_limit_detection is True
 
 
+def test_get_starpilot_toggles_uses_persisted_force_torque_request(monkeypatch):
+  params = SimpleNamespace(get_bool=lambda key: key == "ForceTorqueController")
+  monkeypatch.setattr(spv.get_starpilot_toggles, "_params", params, raising=False)
+
+  payload = '{"force_torque_controller": false}'
+  toggles = spv.get_starpilot_toggles({"starpilotPlan": SimpleNamespace(starpilotToggles=payload)})
+
+  assert toggles.force_torque_controller is True
+
+
 class _FakeParams:
   def __init__(self, floats=None, ints=None, bools=None):
     self.floats = dict(floats or {})