# Page: models
# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
id: models
label: Models
icon: models
order: 10
remote_configurable: false
description: Driving model behavior and camera calibration
sections:
- id: model_behavior
  title: Model Behavior
  description: Lane desire and lead-vehicle awareness tuning
  items:
  - key: LaneTurnDesire
    widget: toggle
    title: Use Lane Turn Desires
    description: If you are driving at 20 mph (32 km/h) or below and have your blinker on, the car will plan a turn in that
      direction at the nearest drivable path. This prevents situations (like at red lights) where the car might plan the wrong
      turn direction.
  - key: LaneTurnValue
    widget: option
    title: Adjust Lane Turn Speed
    description: Set the maximum speed for lane turn desires.
    min: 0
    max: 20
    step: 1
    unit:
      metric: km/h
      imperial: mph
    enablement:
    - type: param
      key: LaneTurnDesire
      equals: true
    - $ref: '#/macros/advanced_only'
  - key: LagdToggle
    widget: toggle
    title: Live Learning Steer Delay
    description: Allow device to learn and adapt car's steering response time
  - key: LagdToggleDelay
    widget: option
    title: Adjust Software Delay
    description: Adjust the software delay when Live Learning Steer Delay is toggled off. The default software delay value
      is 0.2
    min: 0.05
    max: 0.5
    step: 0.01
    enablement:
    - type: not
      condition:
        type: param
        key: LagdToggle
        equals: true
    - $ref: '#/macros/advanced_only'
- id: lateral_control
  title: Lateral Control
  description: Neural network lateral control for supported models
  items:
  - key: NeuralNetworkLateralControl
    widget: toggle
    title: Neural Network Lateral Control (NNLC)
    description: Use a neural network for lateral control instead of the default torque controller.
    visibility:
    - type: not
      condition:
        type: capability
        field: steer_control_type
        equals: angle
    enablement:
    - $ref: '#/macros/offroad'
    - type: capability
      field: torque_allowed
      equals: true
    - type: param
      key: EnforceTorqueControl
      equals: false
- id: camera
  title: Camera
  description: Camera position and calibration
  items:
  - key: CameraOffset
    widget: option
    title: Adjust Camera Offset
    description: Virtually shift camera's perspective to move model's center to Left(+ values) or Right (- values)
    min: -0.35
    max: 0.35
    step: 0.01
    unit: meters
    enablement:
    - $ref: '#/macros/advanced_only'