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Force Auto-Tune On

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This commit is contained in:
James
2026-01-07 04:35:35 -07:00
parent e1f0b77910
commit a27b1a5e6a
2 changed files with 7 additions and 4 deletions
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frogpilot/common/frogpilot_variables.py
+6 -3
View File
@@ -299,8 +299,10 @@ class FrogPilotVariables:
msg_bytes = self.params.get("LiveTorqueParameters")
if msg_bytes:
LTP = messaging.log_from_bytes(msg_bytes, log.LiveTorqueParametersData)
has_auto_tune = LTP.useParams
toggle.liveValid = LTP.liveValid
else:
has_auto_tune = False
toggle.liveValid = False
toggle.debug_mode = self.params.get_bool("DebugMode")
@@ -319,16 +321,17 @@ class FrogPilotVariables:
toggle.use_wheel_speed = self.get_value("WheelSpeed", condition=advanced_custom_ui)
advanced_lateral_tuning = self.get_value("AdvancedLateralTune")
toggle.force_auto_tune = self.get_value("ForceAutoTune", condition=advanced_lateral_tuning and not has_auto_tune and is_torque_car and not is_angle_car)
toggle.force_auto_tune_off = self.get_value("ForceAutoTuneOff", condition=advanced_lateral_tuning and has_auto_tune and is_torque_car and not is_angle_car)
toggle.steerActuatorDelay = self.get_value("SteerDelay", cast=float, condition=advanced_lateral_tuning, default=steerActuatorDelay, min=0.01, max=1.0)
toggle.use_custom_steerActuatorDelay = bool(round(toggle.steerActuatorDelay, 2) != round(steerActuatorDelay, 2))
toggle.friction = self.get_value("SteerFriction", cast=float, condition=advanced_lateral_tuning, default=friction, min=0, max=1)
toggle.use_custom_friction = bool(round(toggle.friction, 2) != round(friction, 2)) and is_torque_car or toggle.force_auto_tune_off
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], [self.get_value("SteerKP", cast=float, condition=advanced_lateral_tuning and is_torque_car and not is_angle_car, default=steerKp, min=steerKp * 0.5, max=steerKp * 1.5)]]
toggle.latAccelFactor = self.get_value("SteerLatAccel", cast=float, condition=advanced_lateral_tuning, default=latAccelFactor, min=latAccelFactor * 0.5, max=latAccelFactor * 1.5)
toggle.use_custom_latAccelFactor = bool(round(toggle.latAccelFactor, 2) != round(latAccelFactor, 2)) and is_torque_car or toggle.force_auto_tune_off
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 = self.get_value("SteerRatio", cast=float, condition=advanced_lateral_tuning, default=steerRatio, min=steerRatio * 0.5, max=steerRatio * 1.5)
toggle.use_custom_steerRatio = bool(round(toggle.steerRatio, 2) != round(steerRatio, 2)) or toggle.force_auto_tune_off
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 = toggle.openpilot_longitudinal and self.get_value("AdvancedLongitudinalTune")
toggle.longitudinalActuatorDelay = self.get_value("LongitudinalActuatorDelay", cast=float, condition=advanced_longitudinal_tuning, default=longitudinalActuatorDelay, min=0, max=1)
selfdrive/controls/controlsd.py
+1 -1
View File
@@ -95,7 +95,7 @@ class Controls:
# Update Torque Params
if self.CP.lateralTuning.which() == 'torque':
torque_params = self.sm['liveTorqueParameters']
if self.sm.all_checks(['liveTorqueParameters']) and torque_params.useParams:
if self.sm.all_checks(['liveTorqueParameters']) and (torque_params.useParams or self.frogpilot_toggles.force_auto_tune):
self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
torque_params.frictionCoefficientFiltered)