From 63d27f574c9dd7521551cffe400f53615daf47bb Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 16 Mar 2025 05:51:02 -0400
Subject: [PATCH] introduce params

---
 common/params_keys.h                           | 1 +
 sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py | 4 +++-
 system/manager/manager.py                      | 4 +++-
 3 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 7c613e7077..21aa0da808 100644
--- a/common/params_keys.h
+++ b/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},
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
index 9739a73a9f..9fd7b8aee4 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
+++ b/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
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 499ed6474b..bd1283d5e0 100755
--- a/system/manager/manager.py
+++ b/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"):