dynamic outputs toggle

common/params_keys.h

@@ -150,6 +150,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"MadsUnifiedEngagementMode", PERSISTENT | BACKUP},
 
     // Model Manager params
+    {"DynamicModeldOutputs", PERSISTENT | BACKUP},
     {"ModelManager_ActiveBundle", PERSISTENT},
     {"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},

selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc

@@ -89,6 +89,14 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
 
   list->addItem(horizontal_line());
 
+  // Dynamic Modeld Outputs toggle
+  dynamicModeldOutputs = new ParamControlSP("DynamicModeldOutputs", tr("Allow Dynamic Model Outputs"),
+                                            tr("Enable this to allow potentially smoother Gas and Brake controls on all models produced "
+                                               "after September, 2024."),
+                                               "../assets/offroad/icon_shell.png");
+  dynamicModeldOutputs->showDescription();
+  list->addItem(dynamicModeldOutputs);
+
   // LiveDelay toggle
   lagd_toggle_control = new ParamControlSP("LagdToggle", tr("Live Learning Steer Delay"), "", "../assets/offroad/icon_shell.png");
   lagd_toggle_control->showDescription();
@@ -304,6 +312,7 @@ void ModelsPanel::updateLabels() {
   handleBundleDownloadProgress();
   currentModelLblBtn->setEnabled(!is_onroad && !isDownloading());
   currentModelLblBtn->setValue(GetActiveModelInternalName());
+  dynamicModeldOutputs->showDescription();
 
   // Update lagdToggle description with current value
   QString desc = tr("Enable this for the car to learn and adapt its steering response time. "

selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h

@@ -64,6 +64,7 @@ private:
   bool is_onroad = false;
 
   ButtonControlSP *currentModelLblBtn;
+  ParamControlSP *dynamicModeldOutputs;
   ParamControlSP *lagd_toggle_control;
   OptionControlSP *delay_control;
   QProgressBar *supercomboProgressBar;

sunnypilot/modeld_v2/parse_model_outputs_split.py

@@ -1,4 +1,5 @@
 import numpy as np
+from openpilot.common.params import Params
 from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 
@@ -25,6 +26,7 @@ def softmax(x, axis=-1):
 class Parser:
   def __init__(self, ignore_missing=False):
     self.ignore_missing = ignore_missing
+    self._params = Params()
     model_bundle = get_active_bundle()
     self.generation = model_bundle.generation if model_bundle is not None else None
 
@@ -92,7 +94,7 @@ class Parser:
     outs[name + '_stds'] = pred_std_final.reshape(final_shape)
 
   def parse_dynamic_outputs(self, outs: dict[str, np.ndarray]) -> None:
-    if self.generation >= 12:
+    if self._params.get_bool("DynamicModeldOutputs") or (self.generation >= 12):
       if 'lead' in outs:
         if outs['lead'].shape[1] == 2 * SplitModelConstants.LEAD_MHP_SELECTION *SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH:
           self.parse_mdn('lead', outs, in_N=0, out_N=0,

system/manager/manager.py

@@ -55,6 +55,7 @@ def manager_init() -> None:
     ("CustomAccShortPressIncrement", "1"),
     ("DeviceBootMode", "0"),
     ("DynamicExperimentalControl", "0"),
+    ("DynamicModeldOutputs", "0"),
     ("HyundaiLongitudinalTuning", "0"),
     ("InteractivityTimeout", "0"),
     ("LagdToggle", "1"),