From 53fbdf73295bdbb81a18f3b96c4dfe0f9ebf8523 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 29 Jun 2025 13:23:56 +0200
Subject: [PATCH] Rename "IdleTorque" to "ActiveTorque" for clarity.

The parameter name "HkgTuningAngleIdleTorqueReductionGain" was updated to "HkgTuningAngleActiveTorqueReductionGain" across multiple files for better clarity and alignment with its functionality. This change ensures consistency in naming conventions and improves code readability.
---
 common/params_keys.h                                   |  2 +-
 opendbc_repo                                           |  2 +-
 .../offroad/settings/lateral/angle_tuning_settings.cc  | 10 +++++-----
 .../offroad/settings/lateral/angle_tuning_settings.h   |  2 +-
 system/manager/manager.py                              |  2 +-
 5 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index a739c7c967..47f7fc3e6d 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -203,7 +203,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"EnableHkgTuningAngleSmoothingFactor", PERSISTENT | BACKUP},
     {"HkgTuningAngleMinTorqueReductionGain", PERSISTENT | BACKUP},
     {"HkgTuningAngleMaxTorqueReductionGain", PERSISTENT | BACKUP},
-    {"HkgTuningAngleIdleTorqueReductionGain", PERSISTENT | BACKUP},
+    {"HkgTuningAngleActiveTorqueReductionGain", PERSISTENT | BACKUP},
     {"HkgTuningOverridingCycles", PERSISTENT | BACKUP},
     {"HkgAngleLiveTuning", CLEAR_ON_MANAGER_START}
     
diff --git a/opendbc_repo b/opendbc_repo
index d1b834a572..c33a749d3a 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit d1b834a57209671390bac1275cfd28723627cb15
+Subproject commit c33a749d3a2d5dbf30bc8478b4a8f615fdef75f6
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.cc
index fc8c1ed9d7..3090086255 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.cc
@@ -41,11 +41,11 @@ AngleTunningSettings::AngleTunningSettings(QWidget *parent) : QWidget(parent) {
   list->addItem(first_row);
 
   auto second_row = new QHBoxLayout();
-  hkgAngleIdleTorque = new OptionControlSP("HkgTuningAngleIdleTorqueReductionGain", tr("HKG Angle Idle Torque"), tr("Torque applied when lateral control is active but the vehicle is not turning.<br/>Used to maintain lane centering on straight paths when no user input is detected."), "../assets/offroad/icon_blank.png", {0, 100}, 1);
-  connect(hkgAngleIdleTorque, &OptionControlSP::updateLabels, hkgAngleIdleTorque, [=]() {
+  hkgAngleActiveTorque = new OptionControlSP("HkgTuningAngleActiveTorqueReductionGain", tr("HKG Angle Idle Torque"), tr("Torque applied when lateral control is active but the vehicle is not turning.<br/>Used to maintain lane centering on straight paths when no user input is detected."), "../assets/offroad/icon_blank.png", {0, 100}, 1);
+  connect(hkgAngleActiveTorque, &OptionControlSP::updateLabels, hkgAngleActiveTorque, [=]() {
     this->updateToggles(offroad);
   });
-  second_row->addWidget(hkgAngleIdleTorque);
+  second_row->addWidget(hkgAngleActiveTorque);
 
   hkgAngleMaxTorque = new OptionControlSP("HkgTuningAngleMaxTorqueReductionGain", tr("HKG Angle Max Torque"), tr("Maximum steering torque allowed under normal lateral control.<br/>Prevents excessive EPS stress or noise. Must be greater than Min Torque."), "../assets/offroad/icon_blank.png", {10, 100}, 1);
   connect(hkgAngleMaxTorque, &OptionControlSP::updateLabels, hkgAngleMaxTorque, [=]() {
@@ -74,8 +74,8 @@ void AngleTunningSettings::updateToggles(bool _offroad) {
   auto HkgAngleMinTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMinTorqueReductionGain")).toInt();
   hkgAngleMinTorque->setLabel(QString::number(HkgAngleMinTorqueValue)+"%");
 
-  auto HkgAngleIdleTorqueValue = QString::fromStdString(params.get("HkgTuningAngleIdleTorqueReductionGain")).toInt();
-  hkgAngleIdleTorque->setLabel(QString::number(HkgAngleIdleTorqueValue)+"%");
+  auto HkgAngleActiveTorqueValue = QString::fromStdString(params.get("HkgTuningAngleActiveTorqueReductionGain")).toInt();
+  hkgAngleActiveTorque->setLabel(QString::number(HkgAngleActiveTorqueValue)+"%");
 
   auto HkgAngleMaxTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMaxTorqueReductionGain")).toInt();
   hkgAngleMaxTorque->setLabel(QString::number(HkgAngleMaxTorqueValue)+"%");
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h
index 9807f4f47a..cbad88268e 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h
@@ -33,7 +33,7 @@ private:
 
   ExpandableToggleRow* enableHkgAngleSmoothingFactor;
   OptionControlSP* hkgAngleMinTorque;
-  OptionControlSP* hkgAngleIdleTorque;
+  OptionControlSP* hkgAngleActiveTorque;
   OptionControlSP* hkgAngleMaxTorque;
   OptionControlSP* hkgTuningOverridingCycles;
   ParamControlSP* hkgAngleLiveTuning;
diff --git a/system/manager/manager.py b/system/manager/manager.py
index bccc1f20a4..efabcb1cdc 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -70,7 +70,7 @@ def manager_init() -> None:
     ("QuietMode", "0"),
     ("EnableHkgTuningAngleSmoothingFactor", "1"),
     ("HkgTuningAngleMinTorqueReductionGain", "10"),
-    ("HkgTuningAngleIdleTorqueReductionGain", "60"),
+    ("HkgTuningAngleActiveTorqueReductionGain", "60"),
     ("HkgTuningAngleMaxTorqueReductionGain", "100"),
     ("HkgTuningOverridingCycles", "17"),
     ("HkgAngleLiveTuning", "0"),