From b8d3d1e9cc50fa2aa3b5e67838a010e8cc0c8129 Mon Sep 17 00:00:00 2001
From: James <91348155+FrogAi@users.noreply.github.com>
Date: Mon, 1 Dec 2025 12:00:00 -0700
Subject: [PATCH] Force Torque Controller

---
 frogpilot/common/frogpilot_variables.py | 1 +
 opendbc_repo/opendbc/car/interfaces.py  | 3 +++
 2 files changed, 4 insertions(+)

diff --git a/frogpilot/common/frogpilot_variables.py b/frogpilot/common/frogpilot_variables.py
index 621e781f..9f9b3c78 100644
--- a/frogpilot/common/frogpilot_variables.py
+++ b/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")
diff --git a/opendbc_repo/opendbc/car/interfaces.py b/opendbc_repo/opendbc/car/interfaces.py
index 2b764a15..f0c12420 100644
--- a/opendbc_repo/opendbc/car/interfaces.py
+++ b/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