github-actions[bot]
f9fcc7adab
date: 2026-06-28T09:48:35 master commit: da6313dbe95b3f24bb5d8018b0e5f950f5823ca7
258 lines
7.9 KiB
YAML
258 lines
7.9 KiB
YAML
# Page: steering
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# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
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id: steering
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label: Steering
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icon: steering_wheel
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order: 1
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remote_configurable: true
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description: Lateral control, lane changes, and steering behavior
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sections:
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- id: mads
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title: Modular Assistive Driving System (MADS)
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description: ''
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items:
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- key: Mads
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widget: toggle
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title: Enable Modular Assistive Driving System (MADS)
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description: Enable MADS. Disable toggle to revert back to stock sunnypilot engagement/disengagement.
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enablement:
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- $ref: '#/macros/offroad'
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sub_panels:
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- id: mads_settings
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label: MADS Settings
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trigger_key: Mads
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trigger_condition:
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type: param
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key: Mads
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equals: true
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items:
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- key: MadsMainCruiseAllowed
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widget: toggle
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title: Toggle with Main Cruise
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description: 'Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.'
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enablement:
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- $ref: '#/macros/offroad'
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- $ref: '#/macros/mads_full_platforms'
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- key: MadsUnifiedEngagementMode
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widget: toggle
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title: Unified Engagement Mode (UEM)
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description: 'Engage lateral and longitudinal control with cruise control engagement. Note: Once lateral control is
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engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.'
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enablement:
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- $ref: '#/macros/offroad'
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- $ref: '#/macros/mads_full_platforms'
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- key: MadsSteeringMode
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widget: multiple_button
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title: Steering Mode on Brake Pedal
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description: Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
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options:
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- value: 0
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label: Remain Active
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enablement:
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- $ref: '#/macros/mads_full_platforms'
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- value: 1
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label: Pause
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enablement:
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- $ref: '#/macros/mads_full_platforms'
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- value: 2
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label: Disengage
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enablement:
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- $ref: '#/macros/offroad'
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- id: blinker
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title: Blinker Control
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description: Lateral pause behavior during turn signals
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items:
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- key: BlinkerPauseLateralControl
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widget: toggle
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title: Pause Lateral Control with Blinker
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description: Pause lateral control with blinker when traveling below the desired speed selected.
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sub_items:
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- key: BlinkerMinLateralControlSpeed
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widget: option
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title: Minimum Speed to Pause Lateral Control
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min: 0
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max: 255
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step: 5
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unit:
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metric: km/h
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imperial: mph
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enablement:
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- type: param
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key: BlinkerPauseLateralControl
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equals: true
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- key: BlinkerLateralReengageDelay
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widget: option
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title: Post-Blinker Delay
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description: Delay before lateral control resumes after the turn signal ends.
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min: 0
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max: 10
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step: 1
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unit: second
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enablement:
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- type: param
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key: BlinkerPauseLateralControl
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equals: true
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- id: torque
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title: Torque Control
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description: Steering torque tuning and lateral control method
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enablement:
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- type: capability
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field: torque_allowed
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equals: true
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items:
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- key: EnforceTorqueControl
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widget: toggle
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title: Enforce Torque Lateral Control
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description: Enable this to enforce sunnypilot to steer with Torque lateral control.
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visibility:
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- type: not
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condition:
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type: capability
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field: steer_control_type
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equals: angle
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enablement:
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- $ref: '#/macros/offroad'
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- type: capability
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field: torque_allowed
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equals: true
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- type: param
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key: NeuralNetworkLateralControl
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equals: false
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sub_panels:
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- id: torque_settings
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label: Torque Settings
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trigger_key: EnforceTorqueControl
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trigger_condition:
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type: param
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key: EnforceTorqueControl
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equals: true
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items:
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- key: LiveTorqueParamsToggle
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widget: toggle
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title: Self-Tune
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description: Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.
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enablement:
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- $ref: '#/macros/offroad'
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- key: LiveTorqueParamsRelaxedToggle
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widget: toggle
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title: Less Restrict Settings for Self-Tune (Beta)
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description: Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.
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enablement:
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- $ref: '#/macros/offroad'
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- type: param
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key: LiveTorqueParamsToggle
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equals: true
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- key: CustomTorqueParams
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widget: toggle
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title: Enable Custom Tuning
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description: Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below
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will override the offline values indicated in the YAML files within "opendbc/car/torque_data". The values will also
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be used live when "Manual Real-Time Tuning" toggle is enabled.
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enablement:
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- $ref: '#/macros/offroad'
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- key: TorqueParamsOverrideEnabled
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widget: toggle
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title: Manual Real-Time Tuning
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description: Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune.
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Enabling this toggle overrides Self-Tune values.
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enablement:
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- $ref: '#/macros/offroad'
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- type: param
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key: CustomTorqueParams
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equals: true
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- key: TorqueParamsOverrideLatAccelFactor
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widget: option
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title: Lateral Acceleration Factor
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title_param_suffix:
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param: TorqueParamsOverrideEnabled
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values:
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'true': (Real-Time & Offline)
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'false': (Offline Only)
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min: 0.1
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max: 5.0
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step: 0.1
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unit: m/s²
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enablement:
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- type: param
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key: CustomTorqueParams
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equals: true
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- type: any
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conditions:
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- type: param
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key: TorqueParamsOverrideEnabled
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equals: true
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- type: offroad_only
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- key: TorqueParamsOverrideFriction
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widget: option
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title: Friction
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title_param_suffix:
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param: TorqueParamsOverrideEnabled
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values:
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'true': (Real-Time & Offline)
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'false': (Offline Only)
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min: 0.0
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max: 1.0
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step: 0.01
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enablement:
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- type: param
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key: CustomTorqueParams
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equals: true
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- type: any
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conditions:
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- type: param
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key: TorqueParamsOverrideEnabled
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equals: true
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- type: offroad_only
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- key: TorqueControlTune
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widget: multiple_button
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title: Torque Control Tune Version
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description: Select the version of Torque Control Tune to use.
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options:
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- value: ''
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label: Default
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- value: 1.0
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label: v1.0
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- value: 0.0
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label: v0.0
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enablement:
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- $ref: '#/macros/offroad'
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- id: lane_change
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title: Lane Change
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description: Automatic lane change timing and behavior
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items:
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- key: AutoLaneChangeTimer
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widget: option
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title: Auto Lane Change by Blinker
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description: |-
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Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
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details: |-
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Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.
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options:
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- value: -1
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label: 'Off'
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- value: 0
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label: Nudge
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- value: 1
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label: Nudgeless
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- value: 2
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label: 0.5 second
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- value: 3
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label: 1 second
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- value: 4
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label: 2 seconds
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- value: 5
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label: 3 seconds
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- key: AutoLaneChangeBsmDelay
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widget: toggle
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title: 'Auto Lane Change: Delay with Blind Spot'
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description: Toggle to enable a delay timer for lane changes when blind spot monitoring (BSM) detects a vehicle in your blind
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spot.
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enablement:
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- type: capability
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field: enable_bsm
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equals: true
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- type: param_compare
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key: AutoLaneChangeTimer
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op: '>'
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value: 0
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