From 7c55dbe49a6d90e0deff3be7dbbb94f284238d2f Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sun, 1 Feb 2026 22:19:24 -0600
Subject: [PATCH] More relaxed tuning params

---
 frogpilot/common/frogpilot_variables.py     | 4 ++--
 frogpilot/ui/qt/offroad/lateral_settings.cc | 8 ++++----
 selfdrive/locationd/paramsd.py              | 2 +-
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/frogpilot/common/frogpilot_variables.py b/frogpilot/common/frogpilot_variables.py
index 89c6bdd1f..e0970491a 100644
--- a/frogpilot/common/frogpilot_variables.py
+++ b/frogpilot/common/frogpilot_variables.py
@@ -615,9 +615,9 @@ class FrogPilotVariables:
     toggle.friction = np.clip(params.get_float("SteerFriction"), 0, 0.5) if advanced_lateral_tuning and tuning_level >= level["SteerFriction"] else friction
     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
+    toggle.latAccelFactor = np.clip(params.get_float("SteerLatAccel"), latAccelFactor * 0.5, latAccelFactor * 1.25) if advanced_lateral_tuning and tuning_level >= level["SteerLatAccel"] else latAccelFactor
     toggle.use_custom_latAccelFactor = bool(round(toggle.latAccelFactor, 2) != round(latAccelFactor, 2)) and is_torque_car and not toggle.force_auto_tune or toggle.force_auto_tune_off
-    toggle.steerRatio = np.clip(params.get_float("SteerRatio"), steerRatio * 0.5, steerRatio * 1.5) if advanced_lateral_tuning and tuning_level >= level["SteerRatio"] else steerRatio
+    toggle.steerRatio = np.clip(params.get_float("SteerRatio"), steerRatio * 0.25, steerRatio * 1.5) if advanced_lateral_tuning and tuning_level >= level["SteerRatio"] else steerRatio
     toggle.use_custom_steerRatio = bool(round(toggle.steerRatio, 2) != round(steerRatio, 2)) and not toggle.force_auto_tune or toggle.force_auto_tune_off
 
     advanced_longitudinal_tuning = params.get_bool("AdvancedLongitudinalTune") if tuning_level >= level["AdvancedLongitudinalTune"] else default.get_bool("AdvancedLongitudinalTune")
diff --git a/frogpilot/ui/qt/offroad/lateral_settings.cc b/frogpilot/ui/qt/offroad/lateral_settings.cc
index 3db5dc80e..63ef4e695 100644
--- a/frogpilot/ui/qt/offroad/lateral_settings.cc
+++ b/frogpilot/ui/qt/offroad/lateral_settings.cc
@@ -92,10 +92,10 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
       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);
     } else if (param == "SteerLatAccel") {
       std::vector<QString> steerLatAccelButton{"Reset"};
-      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->latAccelFactor * 0.75, parent->latAccelFactor * 1.25, QString(), std::map<float, QString>(), 0.01, false, {}, steerLatAccelButton, false, false);
+      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->latAccelFactor * 0.5, parent->latAccelFactor * 1.25, QString(), std::map<float, QString>(), 0.01, false, {}, steerLatAccelButton, false, false);
     } else if (param == "SteerRatio") {
       std::vector<QString> steerRatioButton{"Reset"};
-      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->steerRatio * 0.5, parent->steerRatio * 1.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerRatioButton, false, false);
+      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->steerRatio * 0.25, parent->steerRatio * 1.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerRatioButton, false, false);
 
     } else if (param == "AlwaysOnLateral") {
       FrogPilotManageControl *aolToggle = new FrogPilotManageControl(param, title, desc, icon);
@@ -258,9 +258,9 @@ void FrogPilotLateralPanel::showEvent(QShowEvent *event) {
   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)));
-  steerLatAccelToggle->updateControl(parent->latAccelFactor * 0.75, parent->latAccelFactor * 1.25);
+  steerLatAccelToggle->updateControl(parent->latAccelFactor * 0.5, parent->latAccelFactor * 1.25);
   steerRatioToggle->setTitle(QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(parent->steerRatio, 'f', 2)));
-  steerRatioToggle->updateControl(parent->steerRatio * 0.5, parent->steerRatio * 1.5);
+  steerRatioToggle->updateControl(parent->steerRatio * 0.25, parent->steerRatio * 1.5);
 
   updateToggles();
 }
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index ac1f9abfe..c56c6e9a3 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -135,7 +135,7 @@ def main():
     CP = msg
   cloudlog.info("paramsd got CarParams")
 
-  min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio
+  min_sr, max_sr = 0.25 * CP.steerRatio, 2.0 * CP.steerRatio
 
   params = params_reader.get("LiveParameters")