Live torque params (#354)

* add live torque messages

* add to services

* add decay to msg

* store debug points

* bump livetorqueparams ordinal in log capnp, after rebasing

* rename slope and offset

* store reset count instead of bool

* renaming in tuning params

* add tag to livetorqueparams struct

* make this an int

* add useParams to roll out per fingerprint

Co-authored-by: nuwandavek <vivekaithal44@gmail.com>

car.capnp

@@ -507,6 +507,8 @@ struct CarParams {
     friction @3 :Float32;
     kf @4 :Float32;
     steeringAngleDeadzoneDeg @5 :Float32;
+    latAccelFactor @6 :Float32;
+    latAccelOffset @7 :Float32;
   }
 
   struct LongitudinalPIDTuning {

log.capnp

@@ -1759,6 +1759,22 @@ struct LiveParametersData {
   roll @14 :Float32;
 }
 
+struct LiveTorqueParametersData {
+  liveValid @0 :Bool;
+  latAccelFactorRaw @1 :Float32;
+  latAccelOffsetRaw @2 :Float32;
+  frictionCoefficientRaw @3 :Float32;
+  latAccelFactorFiltered @4 :Float32;
+  latAccelOffsetFiltered @5 :Float32;
+  frictionCoefficientFiltered @6 :Float32;
+  totalBucketPoints @7 :Float32;
+  decay @8 :Float32;
+  maxResets @9 :Float32;
+  points @10 :List(List(Float32));
+  version @11 :Int32;
+  useParams @12 :Bool;
+}
+
 struct LiveMapDataDEPRECATED {
   speedLimitValid @0 :Bool;
   speedLimit @1 :Float32;
@@ -1912,6 +1928,7 @@ struct Event {
     gpsLocation @21 :GpsLocationData;
     gnssMeasurements @91 :GnssMeasurements;
     liveParameters @61 :LiveParametersData;
+    liveTorqueParameters @94 :LiveTorqueParametersData;
     cameraOdometry @63 :CameraOdometry;
     thumbnail @66: Thumbnail;
     carEvents @68: List(Car.CarEvent);

services.py

@@ -35,6 +35,7 @@ services = {
   "logMessage": (True, 0.),
   "errorLogMessage": (True, 0., 1),
   "liveCalibration": (True, 4., 4),
+  "liveTorqueParameters": (True, 4., 1),
   "androidLog": (True, 0.),
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),