Trailer Load

common/params.cc

@@ -548,6 +548,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"StoppedTimer", PERSISTENT},
     {"TacoTune", PERSISTENT},
     {"TacoTuneHacks", PERSISTENT},
+    {"TrailerLoad", PERSISTENT},
     {"TestAlert", CLEAR_ON_MANAGER_START},
     {"TetheringEnabled", PERSISTENT},
     {"ThemeDownloadProgress", CLEAR_ON_MANAGER_START},

frogpilot/common/frogpilot_variables.py

@@ -271,6 +271,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("LongitudinalActuatorDelay", "", 3, ""),
   ("LongitudinalActuatorDelayStock", "", 3, ""),
   ("LongitudinalTune", "1", 0, "0"),
+  ("TrailerLoad", "0", 2, "0"),
   ("LongPitch", "1", 2, "0"),
   ("LoudBlindspotAlert", "0", 0, "0"),
   ("LowVoltageShutdown", str(VBATT_PAUSE_CHARGING), 2, str(VBATT_PAUSE_CHARGING)),
@@ -835,6 +836,7 @@ class FrogPilotVariables:
     toggle.human_following = longitudinal_tuning and (params.get_bool("HumanFollowing") if tuning_level >= level["HumanFollowing"] else default.get_bool("HumanFollowing"))
     toggle.lead_detection_probability = np.clip(params.get_int("LeadDetectionThreshold") / 100, 0.25, 0.50) if longitudinal_tuning and tuning_level >= level["LeadDetectionThreshold"] else default.get_int("LeadDetectionThreshold") / 100
     toggle.max_desired_acceleration = np.clip(params.get_float("MaxDesiredAcceleration"), 0.1, 4.0) if longitudinal_tuning and tuning_level >= level["MaxDesiredAcceleration"] else default.get_float("MaxDesiredAcceleration")
+    toggle.trailer_load_kg = (np.clip(params.get_int("TrailerLoad"), 0, 15000) if longitudinal_tuning and tuning_level >= level["TrailerLoad"] else default.get_int("TrailerLoad")) * CV.LB_TO_KG
     toggle.taco_tune = longitudinal_tuning and (params.get_bool("TacoTune") if tuning_level >= level["TacoTune"] else default.get_bool("TacoTune"))
 
     toggle.available_models = params.get("AvailableModels", encoding="utf-8") or ""

frogpilot/ui/qt/offroad/longitudinal_settings.cc

@@ -428,6 +428,11 @@ FrogPilotLongitudinalPanel::FrogPilotLongitudinalPanel(
           {"MaxDesiredAcceleration", tr("Maximum Acceleration"),
            tr("<b>Limit the strongest acceleration</b> openpilot can command."),
            ""},
+          {"TrailerLoad", tr("Trailer Load"),
+           tr("<b>Increase the vehicle mass to account for towing.</b> Adjust "
+              "in 500 lb steps up to 15,000 lbs to fine-tune gas and brake "
+              "behavior when pulling a trailer."),
+           ""},
           {"TacoTune", tr("\"Taco Bell Run\" Turn Speed Hack"),
            tr("<b>The turn-speed hack from comma's 2022 \"Taco Bell Run\".</b> "
               "Designed to slow down for left and right turns."),
@@ -871,6 +876,10 @@ FrogPilotLongitudinalPanel::FrogPilotLongitudinalPanel(
       longitudinalToggle = new FrogPilotParamValueControl(
           param, title, desc, icon, 0.1, 4.0, tr(" m/s²"),
           std::map<float, QString>(), 0.1);
+    } else if (param == "TrailerLoad") {
+      longitudinalToggle = new FrogPilotParamValueControl(
+          param, title, desc, icon, 0, 15000, tr(" lbs"),
+          std::map<float, QString>(), 500);
 
     } else if (param == "QOLLongitudinal") {
       FrogPilotManageControl *qolLongitudinalToggle =

frogpilot/ui/qt/offroad/longitudinal_settings.h

@@ -45,7 +45,7 @@ private:
   QSet<QString> conditionalExperimentalKeys = {"CESpeed", "CESpeedLead", "CECurves", "CELead", "CEModelStopTime", "CENavigation", "CESignalSpeed", "ShowCEMStatus"};
   QSet<QString> curveSpeedKeys = {"CalibratedLateralAcceleration", "CalibrationProgress", "ResetCurveData", "ShowCSCStatus"};
   QSet<QString> customDrivingPersonalityKeys = {"AggressivePersonalityProfile", "RelaxedPersonalityProfile", "StandardPersonalityProfile", "TrafficPersonalityProfile"};
-  QSet<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "HumanAcceleration", "HumanFollowing", "LeadDetectionThreshold", "MaxDesiredAcceleration", "TacoTune"};
+  QSet<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "HumanAcceleration", "HumanFollowing", "LeadDetectionThreshold", "MaxDesiredAcceleration", "TrailerLoad", "TacoTune"};
   QSet<QString> qolKeys = {"CustomCruise", "CustomCruiseLong", "ForceStops", "IncreasedStoppedDistance", "MapGears", "ReverseCruise", "SetSpeedOffset"};
   QSet<QString> relaxedPersonalityKeys = {"RelaxedFollow", "RelaxedFollowHigh", "RelaxedJerkAcceleration", "RelaxedJerkDeceleration", "RelaxedJerkDanger", "RelaxedJerkSpeed", "RelaxedJerkSpeedDecrease", "ResetRelaxedPersonality"};
   QSet<QString> speedLimitControllerKeys = {"SLCOffsets", "SLCFallback", "SLCOverride", "SLCPriority", "SLCQOL", "SLCVisuals"};

selfdrive/car/interfaces.py

@@ -152,8 +152,11 @@ class CarInterfaceBase(ABC):
 
     ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs, frogpilot_toggles)
 
+    trailer_load_kg = getattr(frogpilot_toggles, "trailer_load_kg", 0)
+
     # Vehicle mass is published curb weight plus assumed payload such as a human driver; notCars have no assumed payload
     if not ret.notCar:
+      ret.mass = ret.mass + trailer_load_kg
       ret.mass = ret.mass + STD_CARGO_KG
 
     # Set params dependent on values set by the car interface