User set steer ratio

Add toggle to use a custom set steer ratio as opposed to using comma's auto tune value.

common/params.cc

@@ -377,6 +377,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RefuseVolume", PERSISTENT},
     {"RelaxedFollow", PERSISTENT},
     {"RelaxedJerk", PERSISTENT},
+    {"ResetSteerRatio", PERSISTENT},
     {"ReverseCruise", PERSISTENT},
     {"ReverseCruiseUI", PERSISTENT},
     {"RoadEdgesWidth", PERSISTENT},
@@ -426,6 +427,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"StandardFollow", PERSISTENT},
     {"StandardJerk", PERSISTENT},
     {"StandbyMode", PERSISTENT},
+    {"SteerRatio", PERSISTENT},
+    {"SteerRatioStock", PERSISTENT},
     {"StockTune", PERSISTENT},
     {"StoppingDistance", PERSISTENT},
     {"TacoTune", PERSISTENT},

selfdrive/controls/controlsd.py

@@ -600,7 +600,7 @@ class Controls:
     # Update VehicleModel
     lp = self.sm['liveParameters']
     x = max(lp.stiffnessFactor, 0.1)
-    sr = max(lp.steerRatio, 0.1)
+    sr = max(self.steer_ratio, 0.1) if self.use_custom_steer_ratio else max(lp.steerRatio, 0.1)
     self.VM.update_params(x, sr)
 
     # Update Torque Params
@@ -1173,6 +1173,9 @@ class Controls:
 
     lateral_tune = self.params.get_bool("LateralTune")
     self.force_auto_tune = lateral_tune and self.params.get_float("ForceAutoTune")
+    stock_steer_ratio = self.params.get_float("SteerRatioStock")
+    self.steer_ratio = self.params.get_float("SteerRatio") if lateral_tune else stock_steer_ratio
+    self.use_custom_steer_ratio = self.steer_ratio != stock_steer_ratio
 
     self.frogpilot_variables.long_pitch = self.params.get_bool("LongPitch")
 

selfdrive/frogpilot/ui/qt/offroad/control_settings.cc

@@ -80,6 +80,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
     {"ForceAutoTune", tr("Force Auto Tune"), tr("Forces comma's auto lateral tuning for unsupported vehicles."), ""},
     {"NNFF", tr("NNFF"), tr("Use Twilsonco's Neural Network Feedforward for enhanced precision in lateral control."), ""},
     {"NNFFLite", tr("NNFF-Lite"), tr("Use Twilsonco's Neural Network Feedforward for enhanced precision in lateral control for cars without available NNFF logs."), ""},
+    {"SteerRatio", steerRatioStock != 0 ? QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(steerRatioStock, 'f', 2)) : tr("Steer Ratio"), tr("Use a custom steer ratio as opposed to comma's auto tune value."), ""},
     {"TacoTune", tr("Taco Tune"), tr("Use comma's 'Taco Tune' designed for handling left and right turns."), ""},
     {"TurnDesires", tr("Use Turn Desires"), tr("Use turn desires for greater precision in turns below the minimum lane change speed."), ""},
 
@@ -317,6 +318,10 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
         }
       });
       toggle = lateralTuneToggle;
+    } else if (param == "SteerRatio") {
+      std::vector<QString> steerRatioToggles{"ResetSteerRatio"};
+      std::vector<QString> steerRatioToggleNames{"Reset"};
+      toggle = new FrogPilotParamValueToggleControl(param, title, desc, icon, steerRatioStock * 0.75, steerRatioStock * 1.25, std::map<int, QString>(), this, false, "", 1, 0.01, steerRatioToggles, steerRatioToggleNames);
 
     } else if (param == "LongitudinalTune") {
       FrogPilotParamManageControl *longitudinalTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
@@ -820,6 +825,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
   }
 
   modelManagerToggle = static_cast<FrogPilotParamManageControl*>(toggles["ModelSelector"]);
+  steerRatioToggle = static_cast<FrogPilotParamValueToggleControl*>(toggles["SteerRatio"]);
 
   QObject::connect(parent, &SettingsWindow::closeParentToggle, this, &FrogPilotControlsPanel::hideToggles);
   QObject::connect(parent, &SettingsWindow::closeSubParentToggle, this, &FrogPilotControlsPanel::hideSubToggles);
@@ -839,6 +845,12 @@ void FrogPilotControlsPanel::updateState(const UIState &s) {
 
   started = s.scene.started;
 
+  if (params.getBool("ResetSteerRatio")) {
+    params.putFloat("SteerRatio", steerRatioStock);
+    params.putBool("ResetSteerRatio", false);
+    steerRatioToggle->refresh();
+  }
+
   downloadModelBtn->setEnabled(s.scene.online);
   modelManagerToggle->setEnabled(!s.scene.started);
 }
@@ -868,6 +880,11 @@ void FrogPilotControlsPanel::updateCarToggles() {
     hasOpenpilotLongitudinal = CP.getOpenpilotLongitudinalControl() && !params.getBool("DisableOpenpilotLongitudinal");
     hasPCMCruise = CP.getPcmCruise();
     isToyota = carName == "toyota";
+    steerRatioStock = CP.getSteerRatio();
+
+    steerRatioToggle->setTitle(QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(steerRatioStock, 'f', 2)));
+    steerRatioToggle->updateControl(steerRatioStock * 0.75, steerRatioStock * 1.25, "", 0.01);
+    steerRatioToggle->refresh();
   } else {
     hasAutoTune = false;
     hasCommaNNFFSupport = false;

selfdrive/frogpilot/ui/qt/offroad/control_settings.h

@@ -39,12 +39,14 @@ private:
 
   FrogPilotParamManageControl *modelManagerToggle;
 
+  FrogPilotParamValueToggleControl *steerRatioToggle;
+
   std::set<QString> aolKeys = {"AlwaysOnLateralMain", "HideAOLStatusBar", "PauseAOLOnBrake"};
   std::set<QString> conditionalExperimentalKeys = {"CECurves", "CECurvesLead", "CENavigation", "CESignal", "CESlowerLead", "CEStopLights", "HideCEMStatusBar"};
   std::set<QString> deviceManagementKeys = {"DeviceShutdown", "HigherBitrate", "IncreaseThermalLimits", "LowVoltageShutdown", "NoLogging", "NoUploads", "OfflineMode"};
   std::set<QString> experimentalModeActivationKeys = {"ExperimentalModeViaDistance", "ExperimentalModeViaLKAS", "ExperimentalModeViaTap"};
   std::set<QString> laneChangeKeys = {"LaneChangeTime", "LaneDetectionWidth", "OneLaneChange"};
-  std::set<QString> lateralTuneKeys = {"ForceAutoTune", "NNFF", "NNFFLite", "TacoTune", "TurnDesires"};
+  std::set<QString> lateralTuneKeys = {"ForceAutoTune", "NNFF", "NNFFLite", "SteerRatio", "TacoTune", "TurnDesires"};
   std::set<QString> longitudinalTuneKeys = {"AccelerationProfile", "AggressiveAcceleration", "DecelerationProfile", "LeadDetectionThreshold", "SmoothBraking", "StoppingDistance", "TrafficMode"};
   std::set<QString> mtscKeys = {"DisableMTSCSmoothing", "MTSCAggressiveness", "MTSCCurvatureCheck"};
   std::set<QString> qolKeys = {"CustomCruise", "CustomCruiseLong", "DisableOnroadUploads", "OnroadDistanceButton", "PauseLateralSpeed", "ReverseCruise", "SetSpeedOffset"};
@@ -69,4 +71,6 @@ private:
   bool isRelease;
   bool isToyota;
   bool started;
+
+  float steerRatioStock;
 };

selfdrive/locationd/paramsd.py

@@ -133,6 +133,11 @@ def main():
     CP = msg
   cloudlog.info("paramsd got CarParams")
 
+  steer_ratio_stock = params_reader.get_float("SteerRatioStock")
+  if steer_ratio_stock != CP.steerRatio:
+    params_reader.put_float("SteerRatio", CP.steerRatio)
+    params_reader.put_float("SteerRatioStock", CP.steerRatio)
+
   min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio
 
   params = params_reader.get("LiveParameters")