update name and expose toggle

common/params_keys.h

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

selfdrive/controls/controlsd.py

@@ -118,6 +118,10 @@ class Controls:
     if not CC.longActive:
       self.LoC.reset()
 
+    # Neural Network Lateral Control
+    if self.CP_SP.neuralNetworkLateralControl.enabled or self.params.get_bool("LateralTorqueControlEnhancedLateralAccel"):
+      self.LaC.extension.update_model_v2(model_v2)
+
     # accel PID loop
     pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
     actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits))

selfdrive/ui/qt/offroad/developer_panel.cc

@@ -60,6 +60,8 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
 #if SUNNYPILOT
   neuralNetworkLateralControlToggle = neuralNetworkLateralControl.toggle;
   addItem(neuralNetworkLateralControlToggle);
+  auto latControlTorqueCustomLatAccel = new ParamControl("LateralTorqueControlEnhancedLateralAccel", tr("Enhanced Lateral Acceleration"), "", "");
+  addItem(latControlTorqueCustomLatAccel);
 #endif
 
   enableGithubRunner = new ParamControl("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "");

sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py

@@ -5,11 +5,11 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_lat_accel import LatControlTorqueCustomLateralAccel
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_lat_accel import LatControlTorqueEnhancedLateralAccel
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.nnlc import NeuralNetworkLateralControl
 
 
-class LatControlTorqueExt(NeuralNetworkLateralControl, LatControlTorqueCustomLateralAccel):
+class LatControlTorqueExt(NeuralNetworkLateralControl, LatControlTorqueEnhancedLateralAccel):
   def __init__(self, lac_torque, CP, CP_SP):
     super().__init__(lac_torque, CP, CP_SP)
 

sunnypilot/selfdrive/controls/lib/latcontrol_torque_lat_accel.py

@@ -10,11 +10,11 @@ from openpilot.common.params import Params
 from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase
 
 
-class LatControlTorqueCustomLateralAccel(LatControlTorqueExtBase):
+class LatControlTorqueEnhancedLateralAccel(LatControlTorqueExtBase):
   def __init__(self, lac_torque, CP, CP_SP):
     super().__init__(lac_torque, CP, CP_SP)
     self.params = Params()  # TODO-SP: unused after moving the param to cereal
-    self.use_lateral_jerk: bool = self.params.get_bool("LateralTorqueControlLateralJerk")  # TODO-SP: move this to cereal
+    self.use_lateral_jerk: bool = self.params.get_bool("LateralTorqueControlEnhancedLateralAccel")  # TODO-SP: move this to cereal
 
   def update_custom_lateral_acceleration(self, CS, roll_compensation, gravity_adjusted_lateral_accel):
     if not self.use_lateral_jerk:

system/manager/manager.py

@@ -44,7 +44,7 @@ def manager_init() -> None:
 
   sunnypilot_default_params: list[tuple[str, str | bytes]] = [
     ("DynamicExperimentalControl", "0"),
-    ("LateralTorqueControlLateralJerk", "0"),
+    ("LateralTorqueControlEnhancedLateralAccel", "0"),
     ("Mads", "1"),
     ("MadsMainCruiseAllowed", "1"),
     ("MadsSteeringMode", "0"),