Merge branch 'ui-torque-fric-half' into master-dev-c3

selfdrive/car/interfaces.py

@@ -410,7 +410,7 @@ class CarInterfaceBase(ABC):
 
   @staticmethod
   def sp_configure_custom_torque_tune(ret, params):
-    ret.lateralTuning.torque.friction = float(params.get("TorqueFriction", encoding="utf8")) * 0.01
+    ret.lateralTuning.torque.friction = float(params.get("TorqueFriction", encoding="utf8")) * 0.001
     ret.lateralTuning.torque.latAccelFactor = float(params.get("TorqueMaxLatAccel", encoding="utf8")) * 0.01
     return ret
 

selfdrive/controls/lib/latcontrol_torque.py

@@ -147,7 +147,7 @@ class LatControlTorque(LatControl):
         return
 
       self.torque_params.latAccelFactor = float(self.param_s.get("TorqueMaxLatAccel", encoding="utf8")) * 0.01
-      self.torque_params.friction = float(self.param_s.get("TorqueFriction", encoding="utf8")) * 0.01
+      self.torque_params.friction = float(self.param_s.get("TorqueFriction", encoding="utf8")) * 0.001
 
   @property
   def pid_long_sp(self):

selfdrive/locationd/torqued.py

@@ -79,7 +79,7 @@ class TorqueEstimator(ParameterEstimator):
     params = Params()
     if params.get_bool("EnforceTorqueLateral"):
       if params.get_bool("CustomTorqueLateral"):
-        self.offline_friction = float(params.get("TorqueFriction", encoding="utf8")) * 0.01
+        self.offline_friction = float(params.get("TorqueFriction", encoding="utf8")) * 0.001
         self.offline_latAccelFactor = float(params.get("TorqueMaxLatAccel", encoding="utf8")) * 0.01
       if params.get_bool("LiveTorqueRelaxed"):
         self.min_bucket_points = np.array([0, 200, 300, 500, 500, 300, 200, 0]) / (10 if decimated else 1)

selfdrive/ui/qt/offroad/sunnypilot/sunnypilot_settings.cc

@@ -586,13 +586,14 @@ TorqueFriction::TorqueFriction() : SPOptionControl (
   tr("FRICTION"),
   tr("Adjust Friction for the Torque Lateral Controller. <b>Live</b>: Override self-tune values; <b>Offline</b>: Override self-tune offline values at car restart."),
   "../assets/offroad/icon_blank.png",
-  {0, 50}) {
+  {0, 50},
+  5) {
 
   refresh();
 }
 
 void TorqueFriction::refresh() {
-  float torqueFrictionVal = QString::fromStdString(params.get("TorqueFriction")).toInt() * 0.01;
+  float torqueFrictionVal = QString::fromStdString(params.get("TorqueFriction")).toInt() * 0.001;
   setTitle("FRICTION - " + (params.getBool("TorquedOverride") ? tr("Real-time and Offline") : tr("Offline Only")));
   setLabel(QString::number(torqueFrictionVal));
 }

system/manager/manager.py

@@ -97,7 +97,7 @@ def manager_init() -> None:
     ("StandStillTimer", "0"),
     ("StockLongToyota", "0"),
     ("TorqueDeadzoneDeg", "0"),
-    ("TorqueFriction", "1"),
+    ("TorqueFriction", "10"),
     ("TorqueMaxLatAccel", "250"),
     ("ToyotaAutoHold", "0"),
     ("ToyotaAutoLockBySpeed", "0"),
@@ -117,6 +117,8 @@ def manager_init() -> None:
     ("CustomDrivingModel", "0"),
     ("DrivingModelGeneration", "4"),
     ("LastSunnylinkPingTime", "0"),
+    ("ToyotaCruiseOverride", "0"),
+    ("ToyotaCruiseOverrideSpeed", "30"),
   ]
   if not PC:
     default_params.append(("LastUpdateTime", datetime.datetime.now(datetime.UTC).replace(tzinfo=None).isoformat().encode('utf8')))