introduce params

common/params_keys.h

@@ -125,6 +125,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"CarParamsSPPersistent", PERSISTENT},
     {"CarPlatformBundle", PERSISTENT},
     {"EnableGithubRunner", PERSISTENT | BACKUP},
+    {"LateralTorqueControlLateralJerk", PERSISTENT | BACKUP},
     {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
     {"OffroadMode", CLEAR_ON_MANAGER_START},
     {"OffroadMode_Status", CLEAR_ON_MANAGER_START},

sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py

@@ -28,6 +28,7 @@ import math
 import numpy as np
 
 from opendbc.car.interfaces import LatControlInputs
+from openpilot.common.params import Params
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.modeld.constants import ModelConstants
@@ -79,6 +80,7 @@ class NeuralNetworkLateralControl:
     self.CI = lac_torque.CI
     self.CP = lac_torque.CP
     self.CP_SP = lac_torque.CI.CP_SP
+    self.params = Params()
 
     # NN model takes current v_ego, lateral_accel, lat accel/jerk error, roll, and past/future/planned data
     # of lat accel and roll
@@ -90,7 +92,7 @@ class NeuralNetworkLateralControl:
 
     self.model_v2 = None
     self.model_valid = False
-    self.use_lateral_jerk: bool = False  # TODO: make this a parameter in the UI
+    self.use_lateral_jerk: bool = self.params.get_bool("LateralTorqueControlLateralJerk")
     self.use_steering_angle = lac_torque.use_steering_angle
 
     self.actual_lateral_jerk: float = 0.0

system/manager/manager.py

@@ -44,12 +44,14 @@ def manager_init() -> None:
 
   sunnypilot_default_params: list[tuple[str, str | bytes]] = [
     ("DynamicExperimentalControl", "0"),
+    ("LateralTorqueControlLateralJerk", "0"),
     ("Mads", "1"),
     ("MadsMainCruiseAllowed", "1"),
     ("MadsPauseLateralOnBrake", "0"),
     ("MadsUnifiedEngagementMode", "1"),
     ("ModelManager_LastSyncTime", "0"),
-    ("ModelManager_ModelsCache", "")
+    ("ModelManager_ModelsCache", ""),
+    ("NeuralNetworkLateralControl", "0"),
   ]
 
   if params.get_bool("RecordFrontLock"):