Revert "Update rednose_repo"

This reverts commit 23ac14d802.
Update rednose_repo
2026-07-25 03:12:09 +08:00 · 2026-03-24 12:40:49 -04:00 · 2026-03-24 12:26:46 -04:00 · 2026-03-24 12:25:46 -04:00 · 2026-03-18 08:45:27 -04:00
27 changed files with 21 additions and 3921 deletions
@@ -2,6 +2,5 @@ Wen
 REGIST
 PullRequest
 cancelled
-indeces
 FOF
 NoO
@@ -21,12 +21,5 @@
        </clean>
      </configuration>
    </target>
-    <target id="f2590b2b-9b93-49f9-8510-da3f3724a2ae" name="replay" defaultType="TOOL">
-      <configuration id="d475264f-6f4c-4092-9b4e-6773309f38b7" name="replay" toolchainName="Default">
-        <build type="TOOL">
-          <tool actionId="Tool_External Tools_uv build tools replay" />
-        </build>
-      </configuration>
-    </target>
  </component>
 </project>
@@ -20,11 +20,4 @@
      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
    </exec>
  </tool>
-  <tool name="uv build tools replay" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) tools/replay/&quot;" />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
 </toolSet>
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
+  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
    <envs>
      <env name="QT_DBL_CLICK_DIST" value="150" />
    </envs>
@@ -1,27 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Debug Route Controls" type="PythonConfigurationType" factoryName="Python">
-    <module name="openpilot-special" />
-    <option name="ENV_FILES" value="" />
-    <option name="INTERPRETER_OPTIONS" value="" />
-    <option name="PARENT_ENVS" value="true" />
-    <envs>
-      <env name="PYTHONUNBUFFERED" value="1" />
-      <env name="FINGERPRINT" value="KIA_EV9" />
-      <env name="SKIP_FW_QUERY" value="1" />
-    </envs>
-    <option name="SDK_HOME" value="" />
-    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/selfdrive/car" />
-    <option name="IS_MODULE_SDK" value="true" />
-    <option name="ADD_CONTENT_ROOTS" value="true" />
-    <option name="ADD_SOURCE_ROOTS" value="true" />
-    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
-    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/selfdrive/car/card.py" />
-    <option name="PARAMETERS" value="" />
-    <option name="SHOW_COMMAND_LINE" value="false" />
-    <option name="EMULATE_TERMINAL" value="true" />
-    <option name="MODULE_MODE" value="false" />
-    <option name="REDIRECT_INPUT" value="false" />
-    <option name="INPUT_FILE" value="" />
-    <method v="2" />
-  </configuration>
-</component>
@@ -1,7 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Replay for controls + ui" type="Multirun" separateTabs="false" reuseTabsWithFailures="false" startOneByOne="true" markFailedProcess="true" hideSuccessProcess="false" delayTime="0.0">
-    <runConfiguration name="replay for controls" type="Native Application" />
-    <runConfiguration name="Build Debug" type="Custom Build Application" />
-    <method v="2" />
-  </configuration>
-</component>
@@ -1,7 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="replay for controls" type="CLionNativeAppRunConfigurationType" focusToolWindowBeforeRun="true" PROGRAM_PARAMS="&quot;$Prompt$&quot; --block &quot;sendcan,carState,carParams,carOutput,liveTracks,carParamsSP,carStateSP,bookmarkButton&quot;" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="true" WORKING_DIR="file://$ProjectFileDir$/tools/replay" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="replay" CONFIG_NAME="replay" version="1" RUN_PATH="replay">
-    <method v="2">
-      <option name="CLION.COMPOUND.BUILD" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -271,15 +271,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
    {"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
    {"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
-    {"TorqueControlTune", {PERSISTENT | BACKUP, FLOAT}},
+    {"TorqueControlTune", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
    {"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
    {"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
-
-    // Tuning keys
-    {"EnableHkgTuningAngleSmoothingFactor", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"HkgTuningAngleMinTorqueReductionGain", {PERSISTENT | BACKUP, INT, "10"}},
-    {"HkgTuningAngleMaxTorqueReductionGain", {PERSISTENT | BACKUP, INT, "100"}},
-    {"HkgTuningAngleActiveTorqueReductionGain", {PERSISTENT | BACKUP, INT, "100"}},
-    {"HkgTuningOverridingCycles", {PERSISTENT | BACKUP, INT, "17"}},
 };
@@ -65,7 +65,10 @@ DEVICE_CAMERAS = {
  ("unknown", "ox03c10"): _ar_ox_config,

  # simulator (emulates a tici)
-  ("pc", "unknown"): _ar_ox_config,
+  ("pc", "unknown"): _os_config,
+  # ("pc", "ar0231"): _ar_ox_config,
+  # ("pc", "ox03c10"): _ar_ox_config,
+  # ("pc", "os04c10"): _os_config,
 }
 prods = itertools.product(('tici', 'tizi', 'mici'), (('ar0231', _ar_ox_config), ('ox03c10', _ar_ox_config), ('os04c10', _os_config)))
 DEVICE_CAMERAS.update({(d, c[0]): c[1] for d, c in prods})
@@ -13,7 +13,7 @@ cd $ROOT

 FAILED=0

-IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md|layouts\/.*\.xml|.*\.ipynb"
+IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md"
 IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"

 function run() {
@@ -11,7 +11,7 @@ class LatControlAngle(LatControl):
  def __init__(self, CP, CP_SP, CI, dt):
    super().__init__(CP, CP_SP, CI, dt)
    self.sat_check_min_speed = 5.
-    self.use_steer_limited_by_safety = CP.brand in ("tesla", "hyundai")
+    self.use_steer_limited_by_safety = CP.brand == "tesla"

  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited, lat_delay):
    angle_log = log.ControlsState.LateralAngleState.new_message()
@@ -12,8 +12,7 @@ from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui.elements import (
  UiElement, RelDistElement, RelSpeedElement, SteeringAngleElement,
  DesiredLateralAccelElement, ActualLateralAccelElement, DesiredSteeringAngleElement,
  AEgoElement, LeadSpeedElement, FrictionCoefficientElement, LatAccelFactorElement,
-  SteeringTorqueEpsElement, BearingDegElement, AltitudeElement, DesiredSteeringPIDElement,
-  TorqueReductionGainElement,
+  SteeringTorqueEpsElement, BearingDegElement, AltitudeElement, DesiredSteeringPIDElement
 )
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.text_measure import measure_text_cached
@@ -54,7 +53,6 @@ class DeveloperUiRenderer(Widget):
    self.steering_torque_elem = SteeringTorqueEpsElement()
    self.bearing_elem = BearingDegElement()
    self.altitude_elem = AltitudeElement()
-    self.torque_reduction_gain_elem = TorqueReductionGainElement()

  def _update_state(self) -> None:
    self.dev_ui_mode = ui_state.developer_ui
@@ -84,16 +82,14 @@ class DeveloperUiRenderer(Widget):
    x = int(rect.x + rect.width - container_width - UI_BORDER_SIZE * 2)
    y = int(rect.y + UI_BORDER_SIZE * 1.5)

-    is_angle_car = controls_state.lateralControlState.which() == 'angleState'
-
    elements = [
      self.rel_dist_elem.update(sm, ui_state.is_metric),
-      self.torque_reduction_gain_elem.update(sm, ui_state.is_metric) if is_angle_car else self.rel_speed_elem.update(sm, ui_state.is_metric),
+      self.rel_speed_elem.update(sm, ui_state.is_metric),
      self.steering_angle_elem.update(sm, ui_state.is_metric),
    ]
    if controls_state.lateralControlState.which() == 'torqueState':
      elements.append(self.desired_lat_accel_elem.update(sm, ui_state.is_metric))
-    elif is_angle_car:
+    elif controls_state.lateralControlState.which() == 'angleState':
      elements.append(self.desired_steer_elem.update(sm, ui_state.is_metric))
    elif controls_state.lateralControlState.which() == 'pidState':
      elements.append(self.desired_pid_steer_elem.update(sm, ui_state.is_metric))
@@ -216,22 +216,6 @@ class DesiredSteeringPIDElement(LateralControlElement):
    return UiElement(value, "DESIRED STEER", self.unit, color)


-class TorqueReductionGainElement(LateralControlElement):
-  def __init__(self):
-    self.unit = ""
-
-  def update(self, sm, is_metric: bool) -> UiElement:
-    car_control = sm['carControl']
-    lat_active = car_control.latActive
-    steer_override = sm['carState'].steeringPressed
-    torque_output_can = car_control.actuators.torqueOutputCan
-
-    value = f"{torque_output_can:.2f}" if lat_active else "-"
-    color = self.get_lat_color(lat_active, steer_override)
-
-    return UiElement(value, "T.R.G.", self.unit, color)
-
-
 class AEgoElement:
  def __init__(self):
    self.unit = "m/s^2"
@@ -1,87 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * 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.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h"
-
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
-AngleTunningSettings::AngleTunningSettings(QWidget *parent) : QWidget(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(50, 20, 50, 20);
-  main_layout->setSpacing(20);
-
-  // Back button
-  PanelBackButton *back = new PanelBackButton();
-  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
-  main_layout->addWidget(back, 0, Qt::AlignLeft);
-
-  auto *list = new ListWidgetSP(this, false);
-
-  main_layout->addWidget(new QWidget());
-
-  enableHkgAngleSmoothingFactor = new ExpandableToggleRow("EnableHkgTuningAngleSmoothingFactor", tr("HKG Angle Smoothing Factor"), tr("Applies EMA (Exponential Moving Average) to the desired angle steering and avoid overcorrections."), "../assets/offroad/icon_blank.png");
-  list->addItem(enableHkgAngleSmoothingFactor);
-
-  auto first_row = new QHBoxLayout();
-  hkgTuningOverridingCycles = new OptionControlSP("HkgTuningOverridingCycles", tr("Override Ramp-Down Cycles"), tr("Number of cycles to ramp down the current amount of torque on the steering wheel.<br/>A smaller value means a faster override by the user (less effort)"), "../assets/offroad/icon_blank.png", {10, 30}, 1);
-  connect(hkgTuningOverridingCycles, &OptionControlSP::updateLabels, hkgTuningOverridingCycles, [=]() {
-    this->updateToggles(offroad);
-  });
-  first_row->addWidget(hkgTuningOverridingCycles);
-
-  hkgAngleMinTorque = new OptionControlSP("HkgTuningAngleMinTorqueReductionGain", tr("Override Steering Effort"), tr("Sets the steering effort percentage used when the driver is overriding lateral control.<br/>Higher values increase resistance and make the wheel feel stiffer."), "../assets/offroad/icon_blank.png", {5, 60}, 1);
-  connect(hkgAngleMinTorque, &OptionControlSP::updateLabels, hkgAngleMinTorque, [=]() {
-    this->updateToggles(offroad);
-  });
-  first_row->addWidget(hkgAngleMinTorque);
-  list->addItem(first_row);
-
-  auto second_row = new QHBoxLayout();
-  hkgAngleActiveTorque = new OptionControlSP("HkgTuningAngleActiveTorqueReductionGain", tr("Min Active 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", {10, 100}, 1);
-  connect(hkgAngleActiveTorque, &OptionControlSP::updateLabels, hkgAngleActiveTorque, [=]() {
-    this->updateToggles(offroad);
-  });
-  second_row->addWidget(hkgAngleActiveTorque);
-
-  hkgAngleMaxTorque = new OptionControlSP("HkgTuningAngleMaxTorqueReductionGain", tr("Max Torque Allowance"), tr("Sets the maximum torque reduction percentage the controller can apply during normal lateral control.<br/>"), "../assets/offroad/icon_blank.png", {10, 100}, 1);
-  connect(hkgAngleMaxTorque, &OptionControlSP::updateLabels, hkgAngleMaxTorque, [=]() {
-    this->updateToggles(offroad);
-  });
-  second_row->addWidget(hkgAngleMaxTorque);
-  list->addItem(second_row);
-  
-  QObject::connect(uiState(), &UIState::offroadTransition, this, &AngleTunningSettings::updateToggles);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-
-  auto *warning = new QLabel(tr("Reboot required for settings to apply; Tap on each setting to see more details."));
-  warning->setStyleSheet("font-size: 30px; font-weight: 500; font-family: 'Noto Color Emoji'; color: orange;");
-  main_layout->addWidget(warning, 0, Qt::AlignCenter);
-}
-
-void AngleTunningSettings::showEvent(QShowEvent *event) {
-  updateToggles(offroad);
-}
-
-void AngleTunningSettings::updateToggles(bool _offroad) {
-  auto HkgAngleSmoothingFactorValue = params.getBool("EnableHkgTuningAngleSmoothingFactor");
-  enableHkgAngleSmoothingFactor->toggleFlipped(HkgAngleSmoothingFactorValue);
-
-  auto HkgAngleMinTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMinTorqueReductionGain")).toInt();
-  hkgAngleMinTorque->setLabel(QString::number(HkgAngleMinTorqueValue)+"%");
-
-  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)+"%");
-
-  auto HkgTuningOverridingCyclesValue = QString::fromStdString(params.get("HkgTuningOverridingCycles")).toInt();
-  hkgTuningOverridingCycles->setLabel(QString::number(HkgTuningOverridingCyclesValue));
-
-  offroad = _offroad;
-}
@@ -1,39 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * 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.
- */
-
-#pragma once
-
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
-
-class AngleTunningSettings : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit AngleTunningSettings(QWidget *parent = nullptr);
-
-  void showEvent(QShowEvent *event) override;
-
-signals:
-  void backPress();
-
-public slots:
-  void updateToggles(bool _offroad);
-
-private:
-  Params params;
-  bool offroad;
-
-  ExpandableToggleRow* enableHkgAngleSmoothingFactor;
-  OptionControlSP* hkgAngleMinTorque;
-  OptionControlSP* hkgAngleActiveTorque;
-  OptionControlSP* hkgAngleMaxTorque;
-  OptionControlSP* hkgTuningOverridingCycles;
-};
@@ -29,6 +29,9 @@ lenv = env.Clone()
 # ekf filter libraries need to be linked, even if no symbols are used
 if arch != "Darwin":
  lenv["LINKFLAGS"] += ["-Wl,--no-as-needed"]
+else:
+  # On macOS, point the executable at the generated filter dylibs next to it.
+  lenv["LINKFLAGS"] += ["-Wl,-rpath,@loader_path/models/generated"]

 lenv["LIBPATH"].append(Dir(rednose_gen_dir).abspath)
 lenv["RPATH"].append(Dir(rednose_gen_dir).abspath)
@@ -227,7 +227,7 @@ def main() -> None:


 if __name__ == "__main__":
-  unblock_stdout()
+  # unblock_stdout()

  try:
    main()
@@ -457,6 +457,10 @@ class GuiApplication(GuiApplicationExt):

  def texture(self, asset_path: str, width: int | None = None, height: int | None = None,
              alpha_premultiply=False, keep_aspect_ratio=True, flip_x: bool = False) -> rl.Texture:
+    if width is not None:
+      width = int(width)
+    if height is not None:
+      height = int(height)
    cache_key = f"{asset_path}_{width}_{height}_{alpha_premultiply}_{keep_aspect_ratio}_{flip_x}"
    if cache_key in self._textures:
      return self._textures[cache_key]
@@ -24,8 +24,6 @@ SP_BRANCH_MIGRATIONS = {
  ("tizi", "staging-c3-new"): "staging",
  ("tizi", "dev-c3-new"): "dev",
  ("tizi", "master-dev-c3-new"): "master-dev",
-  ("tici", "hkg-angle-steering-2025"): "hkg-angle-steering-2025-tici",
-  ("tici", "hkg-angle-steering-2025-prebuilt"): "hkg-angle-steering-2025-tici-prebuilt"
 }

 BUILD_METADATA_FILENAME = "build.json"
@@ -69,7 +69,7 @@ base_frameworks = qt_env['FRAMEWORKS']
 base_libs = [common, messaging, cereal, visionipc, 'm', 'pthread'] + qt_env["LIBS"]

 if arch == "Darwin":
-  base_frameworks.append('QtCharts')
+  base_frameworks += ['QtCharts', 'CoreFoundation', 'IOKit', 'Security']
 else:
  base_libs.append('Qt5Charts')

@@ -1,183 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<root>
- <tabbed_widget parent="main_window" name="Main Window">
-  <Tab containers="1" tab_name="actuator data">
-   <Container>
-    <DockSplitter orientation="-" sizes="0.25;0.25;0.25;0.25" count="4">
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-0.100000" left="301.990881" top="0.100000" right="462.962504"/>
-       <limitY/>
-       <curve name="/carControl/actuators/torque" color="#17becf"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-130.920132" left="301.990881" top="103.993176" right="462.962504"/>
-       <limitY/>
-       <curve name="/carControl/actuators/steeringAngleDeg" color="#1f77b4"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-0.604818" left="301.990881" top="24.797527" right="462.962504"/>
-       <limitY/>
-       <curve name="/carState/vEgoRaw" color="#ff7f0e"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-0.037812" left="301.990881" top="0.047261" right="462.962504"/>
-       <limitY/>
-       <curve name="/carControl/actuators/curvature" color="#f14cc1"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <Tab containers="1" tab_name="steering messages (CAN)">
-   <Container>
-    <DockSplitter orientation="-" sizes="0.142857;0.142857;0.142857;0.142857;0.142857;0.142857;0.142857" count="7">
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
-       <limitY/>
-       <curve name="/can/128/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#1f77b4"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-128.740000" left="301.990881" top="103.940000" right="462.962504"/>
-       <limitY/>
-       <curve name="/can/128/LKAS_ALT/ADAS_StrAnglReqVal" color="#29d627"/>
-       <curve name="/can/192/LKAS_ALT/ADAS_StrAnglReqVal" color="#b41f32"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
-       <limitY/>
-       <curve name="/carState/steeringPressed" color="#d62728"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="0.975000" left="301.990881" top="2.025000" right="462.962504"/>
-       <limitY/>
-       <curve name="/sendcan/0/LKAS_ALT/LKAS_ANGLE_ACTIVE" color="#1f77b4"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
-       <limitY/>
-       <curve name="/carState/steerFaultTemporary" color="#d62728"/>
-       <curve name="/carControl/latActive" color="#1ac938"/>
-      </plot>
-     </DockArea>
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- <!-- - - - - - - - - - - - - - - -->
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-   <selected_datasources value=""/>
-  </fileInfo>
- </previouslyLoaded_Datafiles>
- <!-- - - - - - - - - - - - - - - -->
- <customMathEquations>
-  <snippet name="Angle Staturation">
-   <global></global>
-   <function>if value > .3 then 
-    return 1
-end
-
-return 0</function>
-   <linked_source>Angle Error</linked_source>
-  </snippet>
-  <snippet name="ang_cmd rate">
-   <global>firstX = 0
-firstY = 0
-is_first = true
-secondX = 0
-secondY = 0
-is_second = false</global>
-   <function>-- Wait for initial values
-if (is_first) then
-  is_first = false
-  is_second = true
-  firstX = time
-  firstY = value
-end
-
-if (is_second) then
-  is_second = false
-  secondX = time
-  secondY = value
-end
-
-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
-dx = time - firstX
-dy = value - firstY
-- Increment
-firstX = secondX
-firstY = secondY
-secondX = time
-secondY = value
-
-return dy/dx</function>
-   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
-  </snippet>
-  <snippet name="max torque lj adj">
-   <global>min=0
-max=250
-max_from_speed=96
-
-k1=200
-k2=30
-k3=1    
-k4=1
-k5=10
-
-function sign(number)
-    return number > 0 and 1 or (number == 0 and 0 or -1)
-end</global>
-   <function>return 250 - value * 20</function>
-   <linked_source>desired lateral jark</linked_source>
-  </snippet>
-  <snippet name="max torque(calc)">
-   <global>min=0
-max=250
-max_from_speed=96
-
-rate_lim = 500
-
-la_deadzone = 0.38
-
-k1=200
-k2=20
-k3=1.0
-k4=1
-k5=10
-
-old = 0
-
-function sign(number)
-    return number > 0 and 1 or (number == 0 and 0 or -1)
-end
-
-function apply_rate_limit(old, new, limit)
-    return math.min(math.max(new, old - limit), old + limit)
-end
-
-function apply_deadzone(val, deadzone)
-    if math.abs(val) &lt;= deadzone then
-        return 0.0
-    elseif val &lt; 0.0 then
-        return val + deadzone
-    else
-        return val - deadzone
-    end
-end</global>
-   <function>la = apply_deadzone(v2, la_deadzone)
-lj = v3
-
-if la == 0.0 then
-    lj = 0.0
-end
-
-fla = math.min(math.abs(k1 * la)^k3, max)
-flj = math.min(math.abs(k2 * lj)^k4, max)
-
-out = fla
-
-flv = math.min(max_from_speed, k5 * v4)
-
-out = out + flv
-
-out = math.max(math.min(out, max), min)
-
-if sign(la) == sign(lj) then
-    out = out - flj
-else
-    out = out + flj
-end
-
-
-if v5 == 1.0 then
-    out = 0.0
-end
-
-out = math.max(math.min(out, max), min)
-out = apply_rate_limit(old, out, rate_lim)
-old = out
-
-return out</function>
-   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
-   <additional_sources>
-    <v1>ang_cmd rate</v1>
-    <v2>desired lat accel</v2>
-    <v3>desired lateral jark</v3>
-    <v4>/carState/vEgo</v4>
-    <v5>/can/1/LFA_ALT/LKAS_ANGLE_ACTIVE</v5>
-   </additional_sources>
-  </snippet>
-  <snippet name="carState.vEgo mph">
-   <global></global>
-   <function>return value * 2.23694</function>
-   <linked_source>/carState/vEgo</linked_source>
-  </snippet>
-  <snippet name="abs(des la accel)">
-   <global></global>
-   <function>return math.abs(value)</function>
-   <linked_source>desired lat accel</linked_source>
-  </snippet>
-  <snippet name="roll compensated lateral acceleration">
-   <global></global>
-   <function>if (v3 == 0 and v4 == 1) then
-  return  (value * v1 ^ 2) - (v2 * 9.81)
-end
-return 0</function>
-   <linked_source>/controlsState/curvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
-    <v3>/carState/steeringPressed</v3>
-    <v4>/carControl/latActive</v4>
-   </additional_sources>
-  </snippet>
-  <snippet name="Zero">
-   <global></global>
-   <function>return (0)</function>
-   <linked_source>/carState/canValid</linked_source>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_ms^2">
-   <global></global>
-   <function>return  value * -9.8</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="desired lat accel">
-   <global></global>
-   <function>return value * v1^2</function>
-   <linked_source>/controlsState/desiredCurvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-   </additional_sources>
-  </snippet>
-  <snippet name="engaged_accel_actuator">
-   <global>engage_delay = 5
-last_bad_time = -engage_delay</global>
-   <function>accel = value
-brake = v1
-gas = v2
-enabled = v3
-
-if (brake ~= 0 or gas ~= 0 or enabled == 0) then
-  last_bad_time = time
-end
-
-if (time > last_bad_time + engage_delay) then
-  return value
-else
-  return 0
-end</function>
-   <linked_source>/carControl/actuators/accel</linked_source>
-   <additional_sources>
-    <v1>/carState/brakePressed</v1>
-    <v2>/carState/gasPressed</v2>
-    <v3>/carControl/enabled</v3>
-   </additional_sources>
-  </snippet>
-  <snippet name="Angle Error">
-   <global>last_angle_requested = 0</global>
-   <function>angle_error = last_angle_requested - v1
-
-
-last_angle_requested = value
-return angle_error</function>
-   <linked_source>/carControl/actuators/steeringAngleDeg</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringAngleDeg</v1>
-   </additional_sources>
-  </snippet>
-  <snippet name="carState.vEgo kmh">
-   <global></global>
-   <function>return value * 3.6</function>
-   <linked_source>/carState/vEgo</linked_source>
-  </snippet>
-  <snippet name="engaged_accel_plan">
-   <global>engage_delay = 5
-last_bad_time = -engage_delay</global>
-   <function>accel = value
-brake = v1
-gas = v2
-enabled = v3
-
-if (brake ~= 0 or gas ~= 0 or enabled == 0) then
-  last_bad_time = time
-end
-
-if (time > last_bad_time + engage_delay) then
-  return value
-else
-  return 0
-end</function>
-   <linked_source>/longitudinalPlan/accels/0</linked_source>
-   <additional_sources>
-    <v1>/carState/brakePressed</v1>
-    <v2>/carState/gasPressed</v2>
-    <v3>/carControl/enabled</v3>
-   </additional_sources>
-  </snippet>
-  <snippet name="engaged_accel_actual">
-   <global>engage_delay = 5
-last_bad_time = -engage_delay</global>
-   <function>accel = value
-brake = v1
-gas = v2
-enabled = v3
-
-if (brake ~= 0 or gas ~= 0 or enabled == 0) then
-  last_bad_time = time
-end
-
-if (time > last_bad_time + engage_delay) then
-  return value
-else
-  return 0
-end</function>
-   <linked_source>/carState/aEgo</linked_source>
-   <additional_sources>
-    <v1>/carState/brakePressed</v1>
-    <v2>/carState/gasPressed</v2>
-    <v3>/carControl/enabled</v3>
-   </additional_sources>
-  </snippet>
-  <snippet name="desired lateral jark">
-   <global>firstX = 0
-firstY = 0
-is_first = true
-secondX = 0
-secondY = 0
-is_second = false</global>
-   <function>-- Wait for initial values
-if (is_first) then
-  is_first = false
-  is_second = true
-  firstX = time
-  firstY = value
-end
-
-if (is_second) then
-  is_second = false
-  secondX = time
-  secondY = value
-end
-
-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
-dx = time - firstX
-dy = value - firstY
-- Increment
-firstX = secondX
-firstY = secondY
-secondX = time
-secondY = value
-
-return dy/dx</function>
-   <linked_source>desired lat accel</linked_source>
-  </snippet>
-  <snippet name="engaged curvature plan">
-   <global>engage_delay = 5
-last_bad_time = -engage_delay</global>
-   <function>curvature = value
-pressed = v1
-enabled = v2
-
-if (pressed == 1 or enabled == 0) then
-  last_bad_time = time
-end
-
-if (time > last_bad_time + engage_delay) then
-  return value
-else
-  return 0
-end</function>
-   <linked_source>/lateralPlan/curvatures/0</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/enabled</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="abs(ang_cmd)">
-   <global></global>
-   <function>return math.abs(value)</function>
-   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
-  </snippet>
-  <snippet name="zero">
-   <global>min=0
-max=250
-max_from_speed=96
-
-rate_lim = 500
-
-la_deadzone = 0.38
-
-k1=200
-k2=20
-k3=1.0
-k4=1
-k5=10
-
-old = 0
-
-function sign(number)
-    return number > 0 and 1 or (number == 0 and 0 or -1)
-end
-
-function apply_rate_limit(old, new, limit)
-    return math.min(math.max(new, old - limit), old + limit)
-end
-
-function apply_deadzone(val, deadzone)
-    if math.abs(val) &lt;= deadzone then
-        return 0.0
-    elseif val &lt; 0.0 then
-        return val + deadzone
-    else
-        return val - deadzone
-    end
-end</global>
-   <function>return 0</function>
-   <linked_source>/carState/aEgo</linked_source>
-  </snippet>
-  <snippet name="engaged curvature vehicle model">
-   <global>engage_delay = 5
-last_bad_time = -engage_delay</global>
-   <function>curvature = value
-pressed = v1
-enabled = v2
-
-if (pressed == 1 or enabled == 0) then
-  last_bad_time = time
-end
-
-if (time > last_bad_time + engage_delay) then
-  return value
-else
-  return 0
-end</function>
-   <linked_source>/controlsState/curvature</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/enabled</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="Actual lateral accel (roll compensated)">
-   <global></global>
-   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/curvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_ms^2_roll_compensated">
-   <global></global>
-   <function>if (v1 == 0 and v2 == 1) then
-  return  (value * -9.8) - (v3 * 9.81)
-end
--return 0
-  return  (value * -9.8) - (v3 * 9.81)</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-    <v3>/liveParameters/roll</v3>
-   </additional_sources>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_Ms^2">
-   <global></global>
-   <function>if (v1 == 0 and v2 == 1) then
-  return  value * -9.8
-end
-return 0</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="engaged curvature yaw">
-   <global>engage_delay = 5
-last_bad_time = -engage_delay</global>
-   <function>curvature = value / v3
-pressed = v1
-enabled = v2
-
-if (pressed == 1 or enabled == 0) then
-  last_bad_time = time
-end
-
-if (time > last_bad_time + engage_delay) then
-  return curvature
-else
-  return 0
-end</function>
-   <linked_source>/liveLocationKalman/angularVelocityCalibrated/value/2</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/enabled</v2>
-    <v3>/liveLocationKalman/velocityCalibrated/value/0</v3>
-   </additional_sources>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_Ms^3">
-   <global></global>
-   <function>return  value * -9.8</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="Desired lateral accel (roll compensated)">
-   <global></global>
-   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/desiredCurvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
-   </additional_sources>
-  </snippet>
- </customMathEquations>
- <snippets/>
- <!-- - - - - - - - - - - - - - - -->
-</root>
-
@@ -1,281 +0,0 @@
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-<root>
- <tabbed_widget name="Main Window" parent="main_window">
-  <Tab containers="1" tab_name="tab1">
-   <Container>
-    <DockSplitter sizes="0.500397;0.499603" count="2" orientation="-">
-     <DockArea name="...">
-      <plot flip_x="false" flip_y="false" mode="TimeSeries" style="Lines">
-       <range top="256.250000" left="0.000000" right="421.102293" bottom="-6.250000"/>
-       <limitY/>
-       <curve color="#1ac938" name="/can/1/LFA_ALT/LKAS_ANGLE_MAX_TORQUE"/>
-       <curve color="#17becf" name="max torque(calc)">
-        <transform name="Moving Average" alias="max torque(calc)[Moving Average]">
-         <options compensate_offset="true" value="10"/>
-        </transform>
-       </curve>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot flip_x="false" flip_y="false" mode="TimeSeries" style="Lines">
-       <range top="2.776497" left="0.000000" right="421.102293" bottom="-2.918548"/>
-       <limitY/>
-       <curve color="#f14cc1" name="desired lat accel"/>
-       <curve color="#888888" name="zero"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <currentTabIndex index="0"/>
- </tabbed_widget>
- <use_relative_time_offset enabled="1"/>
- <!-- - - - - - - - - - - - - - - -->
- <!-- - - - - - - - - - - - - - - -->
- <Plugins>
-  <plugin ID="DataLoad CSV">
-   <default time_axis="" delimiter="0"/>
-  </plugin>
-  <plugin ID="DataLoad MCAP"/>
-  <plugin ID="DataLoad Rlog"/>
-  <plugin ID="DataLoad ULog"/>
-  <plugin ID="Cereal Subscriber"/>
-  <plugin ID="UDP Server"/>
-  <plugin ID="WebSocket Server"/>
-  <plugin ID="ZMQ Subscriber"/>
-  <plugin ID="Fast Fourier Transform"/>
-  <plugin ID="Quaternion to RPY"/>
-  <plugin ID="Reactive Script Editor">
-   <library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix:     prefix of the timeseries, before the index of the array&#xa; suffix_X:   suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y:   suffix to complete the name of the series containing the Y value&#xa; timestamp:   usually the tracker_time variable&#xa;              &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa;   /trajectory/node.{X}/position/x&#xa;   /trajectory/node.{X}/position/y&#xa;   &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa;   new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa;   CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa;  &#xa;  --- clear previous values&#xa;  new_series:clear()&#xa;  &#xa;  --- Append points to new_series&#xa;  index = 0&#xa;  while(true) do&#xa;&#xa;    x = index;&#xa;    -- if not nil, get the X coordinate from a series&#xa;    if suffix_X ~= nil then &#xa;      series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa;      if series_x == nil then break end&#xa;      x = series_x:atTime(timestamp)&#x9; &#xa;    end&#xa;    &#xa;    series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa;    if series_y == nil then break end &#xa;    y = series_y:atTime(timestamp)&#xa;    &#xa;    new_series:push_back(x,y)&#xa;    index = index+1&#xa;  end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa;  -- GetSeriesNames(9 is a built-in function&#xa;  all_names = GetSeriesNames()&#xa;  filtered_names = {}&#xa;  for i, name in ipairs(all_names)  do&#xa;    -- check the prefix&#xa;    if name:find(prefix, 1, #prefix) then&#xa;      table.insert(filtered_names, name);&#xa;    end&#xa;  end&#xa;  return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa;  &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa;  -- use C++ indeces, not Lua indeces&#xa;  for index=0, series:size()-1 do&#xa;    x,y = series:at(index)&#xa;    series:set(index, x + delta_x, y + delta_y)&#xa;  end&#xa;end&#xa;"/>
-   <scripts/>
-  </plugin>
-  <plugin ID="CSV Exporter"/>
- </Plugins>
- <!-- - - - - - - - - - - - - - - -->
- <previouslyLoaded_Datafiles>
-  <fileInfo prefix="" filename="../tmpa_e8kwpj.rlog">
-   <selected_datasources value=""/>
-  </fileInfo>
- </previouslyLoaded_Datafiles>
- <!-- - - - - - - - - - - - - - - -->
- <customMathEquations>
-  <snippet name="zero">
-   <global>min=0
-max=250
-max_from_speed=96
-
-rate_lim = 500
-
-la_deadzone = 0.38
-
-k1=200
-k2=20
-k3=1.0
-k4=1
-k5=10
-
-old = 0
-
-function sign(number)
-    return number > 0 and 1 or (number == 0 and 0 or -1)
-end
-
-function apply_rate_limit(old, new, limit)
-    return math.min(math.max(new, old - limit), old + limit)
-end
-
-function apply_deadzone(val, deadzone)
-    if math.abs(val) &lt;= deadzone then
-        return 0.0
-    elseif val &lt; 0.0 then
-        return val + deadzone
-    else
-        return val - deadzone
-    end
-end</global>
-   <function>return 0</function>
-   <linked_source>/carState/aEgo</linked_source>
-  </snippet>
-  <snippet name="max torque lj adj">
-   <global>min=0
-max=250
-max_from_speed=96
-
-k1=200
-k2=30
-k3=1    
-k4=1
-k5=10
-
-function sign(number)
-    return number > 0 and 1 or (number == 0 and 0 or -1)
-end</global>
-   <function>return 250 - value * 20</function>
-   <linked_source>desired lateral jark</linked_source>
-  </snippet>
-  <snippet name="ang_cmd rate">
-   <global>firstX = 0
-firstY = 0
-is_first = true
-secondX = 0
-secondY = 0
-is_second = false</global>
-   <function>-- Wait for initial values
-if (is_first) then
-  is_first = false
-  is_second = true
-  firstX = time
-  firstY = value
-end
-
-if (is_second) then
-  is_second = false
-  secondX = time
-  secondY = value
-end
-
-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
-dx = time - firstX
-dy = value - firstY
-- Increment
-firstX = secondX
-firstY = secondY
-secondX = time
-secondY = value
-
-return dy/dx</function>
-   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
-  </snippet>
-  <snippet name="max torque(calc)">
-   <global>min=0
-max=250
-max_from_speed=96
-
-rate_lim = 500
-
-la_deadzone = 0.38
-
-k1=200
-k2=20
-k3=1.0
-k4=1
-k5=10
-
-old = 0
-
-function sign(number)
-    return number > 0 and 1 or (number == 0 and 0 or -1)
-end
-
-function apply_rate_limit(old, new, limit)
-    return math.min(math.max(new, old - limit), old + limit)
-end
-
-function apply_deadzone(val, deadzone)
-    if math.abs(val) &lt;= deadzone then
-        return 0.0
-    elseif val &lt; 0.0 then
-        return val + deadzone
-    else
-        return val - deadzone
-    end
-end</global>
-   <function>la = apply_deadzone(v2, la_deadzone)
-lj = v3
-
-if la == 0.0 then
-    lj = 0.0
-end
-
-fla = math.min(math.abs(k1 * la)^k3, max)
-flj = math.min(math.abs(k2 * lj)^k4, max)
-
-out = fla
-
-flv = math.min(max_from_speed, k5 * v4)
-
-out = out + flv
-
-out = math.max(math.min(out, max), min)
-
-if sign(la) == sign(lj) then
-    out = out - flj
-else
-    out = out + flj
-end
-
-
-if v5 == 1.0 then
-    out = 0.0
-end
-
-out = math.max(math.min(out, max), min)
-out = apply_rate_limit(old, out, rate_lim)
-old = out
-
-return out</function>
-   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
-   <additional_sources>
-    <v1>ang_cmd rate</v1>
-    <v2>desired lat accel</v2>
-    <v3>desired lateral jark</v3>
-    <v4>/carState/vEgo</v4>
-    <v5>/can/1/LFA_ALT/LKAS_ANGLE_ACTIVE</v5>
-   </additional_sources>
-  </snippet>
-  <snippet name="desired lateral jark">
-   <global>firstX = 0
-firstY = 0
-is_first = true
-secondX = 0
-secondY = 0
-is_second = false</global>
-   <function>-- Wait for initial values
-if (is_first) then
-  is_first = false
-  is_second = true
-  firstX = time
-  firstY = value
-end
-
-if (is_second) then
-  is_second = false
-  secondX = time
-  secondY = value
-end
-
-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
-dx = time - firstX
-dy = value - firstY
-- Increment
-firstX = secondX
-firstY = secondY
-secondX = time
-secondY = value
-
-return dy/dx</function>
-   <linked_source>desired lat accel</linked_source>
-  </snippet>
-  <snippet name="abs(des la accel)">
-   <global></global>
-   <function>return math.abs(value)</function>
-   <linked_source>desired lat accel</linked_source>
-  </snippet>
-  <snippet name="desired lat accel">
-   <global></global>
-   <function>return value * v1^2</function>
-   <linked_source>/controlsState/desiredCurvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-   </additional_sources>
-  </snippet>
-  <snippet name="abs(ang_cmd)">
-   <global></global>
-   <function>return math.abs(value)</function>
-   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
-  </snippet>
- </customMathEquations>
- <snippets/>
- <!-- - - - - - - - - - - - - - - -->
-</root>
-
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Author	SHA1	Message	Date
royjr	13c07838e4	Revert "Update rednose_repo" This reverts commit `23ac14d802`.	2026-03-24 12:40:49 -04:00
royjr	23ac14d802	Update rednose_repo	2026-03-24 12:26:46 -04:00
royjr	bb0f0c9c69	init	2026-03-24 12:25:46 -04:00
Jason Wen	1658898498	Controls: default Torque Lateral Control to v0 Tune	2026-03-18 08:45:27 -04:00