Update

frogpilot/common/frogpilot_utilities.py

@@ -296,12 +296,12 @@ def update_openpilot():
   if params.get("UpdaterState", encoding="utf-8") != "idle":
     return
 
-  while params.get_bool("IsOnroad") or params_memory.get_bool("UpdateSpeedLimits") or running_threads.get("lock_doors", threading.Thread()).is_alive():
-    time.sleep(60)
-
   if not update_available():
     return
 
+  while params.get_bool("IsOnroad") or params_memory.get_bool("UpdateSpeedLimits") or running_threads.get("lock_doors", threading.Thread()).is_alive():
+    time.sleep(60)
+
   while True:
     if not update_available():
       break

frogpilot/common/frogpilot_variables.py

@@ -19,6 +19,7 @@ from openpilot.selfdrive.car.mock.interface import CarInterface
 from openpilot.selfdrive.car.mock.values import CAR as MOCK
 from openpilot.selfdrive.car.toyota.values import ToyotaFlags, ToyotaFrogPilotFlags
 from openpilot.selfdrive.controls.lib.desire_helper import LANE_CHANGE_SPEED_MIN
+from openpilot.selfdrive.controls.lib.latcontrol_torque import KP
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.power_monitoring import VBATT_PAUSE_CHARGING
@@ -531,6 +532,10 @@ class FrogPilotVariables:
       safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
       CP.safetyConfigs = [safety_config]
 
+    is_torque_car = CP.lateralTuning.which() == "torque"
+    if not is_torque_car:
+      CarInterfaceBase.configure_torque_tune(MOCK.MOCK, CP.lateralTuning)
+
     fpmsg_bytes = params.get("FrogPilotCarParams" if started else "FrogPilotCarParamsPersistent", block=started)
     if fpmsg_bytes:
       with custom.FrogPilotCarParams.from_bytes(fpmsg_bytes) as fpcp_reader:
@@ -539,17 +544,13 @@ class FrogPilotVariables:
       CarInterface, _, _ = interfaces[MOCK.MOCK]
       FPCP = CarInterface.get_frogpilot_params(MOCK.MOCK, gen_empty_fingerprint(), [], CP, toggle)
 
-    is_torque_car = FPCP.lateralTuning.which() == "torque"
-    if not is_torque_car:
-      CarInterfaceBase.configure_torque_tune(MOCK.MOCK, FPCP.lateralTuning)
-
 
     toggle.always_on_lateral_set = bool(CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL)
     toggle.car_make = CP.carName
     toggle.car_model = CP.carFingerprint
     toggle.disable_openpilot_long = params.get_bool("DisableOpenpilotLongitudinal") if tuning_level >= level["DisableOpenpilotLongitudinal"] else default.get_bool("DisableOpenpilotLongitudinal")
-    friction = FPCP.lateralTuning.torque.friction
-    has_auto_tune = toggle.car_make in {"hyundai", "toyota"} and FPCP.lateralTuning.which() == "torque"
+    friction = CP.lateralTuning.torque.friction
+    has_auto_tune = toggle.car_make in {"hyundai", "toyota"} and CP.lateralTuning.which() == "torque"
     has_bsm = CP.enableBsm
     toggle.has_cc_long = toggle.car_make == "gm" and bool(CP.flags & GMFlags.CC_LONG.value)
     has_nnff = nnff_supported(toggle.car_model)
@@ -559,14 +560,14 @@ class FrogPilotVariables:
     has_sng = CP.autoResumeSng
     toggle.has_zss = toggle.car_make == "toyota" and bool(FPCP.fpFlags & ToyotaFrogPilotFlags.ZSS.value)
     is_angle_car = CP.steerControlType == car.CarParams.SteerControlType.angle
-    latAccelFactor = FPCP.lateralTuning.torque.latAccelFactor
+    latAccelFactor = CP.lateralTuning.torque.latAccelFactor
     longitudinalActuatorDelay = CP.longitudinalActuatorDelay
     toggle.openpilot_longitudinal = CP.openpilotLongitudinalControl and not toggle.disable_openpilot_long
     pcm_cruise = CP.pcmCruise
     startAccel = CP.startAccel
     stopAccel = CP.stopAccel
     steerActuatorDelay = CP.steerActuatorDelay
-    steerKp = FPCP.lateralTuning.torque.kp
+    steerKp = CP.lateralTuning.pid.kp if CP.lateralTuning.which() == "pid" else KP
     steerRatio = CP.steerRatio
     toggle.stoppingDecelRate = CP.stoppingDecelRate
     taco_hacks_allowed = CP.safetyConfigs[0].safetyModel == SafetyModel.hyundaiCanfd