From 4faeedec57072c9ce77df778ede51425efce79ea Mon Sep 17 00:00:00 2001
From: discountchubbs <alexgrant990@gmail.com>
Date: Wed, 16 Jul 2025 12:03:35 -0700
Subject: [PATCH] dynamic outputs toggle

---
 common/params_keys.h                                     | 1 +
 .../ui/sunnypilot/qt/offroad/settings/models_panel.cc    | 9 +++++++++
 .../ui/sunnypilot/qt/offroad/settings/models_panel.h     | 1 +
 sunnypilot/modeld_v2/parse_model_outputs_split.py        | 4 +++-
 system/manager/manager.py                                | 1 +
 5 files changed, 15 insertions(+), 1 deletion(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index e7c4e11745..baa19f3fa1 100644
--- a/common/params_keys.h
+++ b/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},
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
index 1a2e86622a..0a38468a89 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+++ b/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. "
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
index 61f15e6d3c..e0458c6f96 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
+++ b/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;
diff --git a/sunnypilot/modeld_v2/parse_model_outputs_split.py b/sunnypilot/modeld_v2/parse_model_outputs_split.py
index c03972c8ff..4c32ba5673 100644
--- a/sunnypilot/modeld_v2/parse_model_outputs_split.py
+++ b/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,
diff --git a/system/manager/manager.py b/system/manager/manager.py
index b68207b691..c0c8813e48 100755
--- a/system/manager/manager.py
+++ b/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"),