Force Torque Controller

frogpilot/common/frogpilot_variables.py

@@ -516,6 +516,7 @@ class FrogPilotVariables:
     toggle.one_lane_change = self.get_value("OneLaneChange", condition=toggle.lane_changes)
 
     lateral_tuning = self.get_value("LateralTune")
+    toggle.force_torque_controller = self.get_value("ForceTorqueController", condition=lateral_tuning and not is_torque_car and not is_angle_car)
     toggle.use_turn_desires = self.get_value("TurnDesires", condition=lateral_tuning)
 
     lkas_button_control = self.get_value("LKASButtonControl", cast=float, condition=toggle.car_make != "subaru")

opendbc_repo/opendbc/car/interfaces.py

@@ -170,6 +170,9 @@ class CarInterfaceBase(ABC):
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, ret.tireStiffnessFactor)
 
     # FrogPilot variables
+    toggles_to_check = ("force_torque_controller")
+    if ret.steerControlType != structs.CarParams.SteerControlType.angle and any(getattr(frogpilot_toggles, toggle, False) for toggle in toggles_to_check):
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     return ret