no submodule for this

# Conflicts:
#	selfdrive/ui/sunnypilot/SConscript

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},
+    {"LatTorqueControlEnhancedLateralAccel", PERSISTENT | BACKUP},
     {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
     {"OffroadMode", CLEAR_ON_MANAGER_START},
     {"OffroadMode_Status", CLEAR_ON_MANAGER_START},

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc

@@ -42,8 +42,11 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
   });
   list->addItem(madsSettingsButton);
 
+  latControlTorqueCustomLatAccel = new ParamControl("LatTorqueControlEnhancedLateralAccel", tr("Enhanced Lateral Acceleration"), "", "");
+  list->addItem(latControlTorqueCustomLatAccel);
+
   toggleOffroadOnly = {
-    madsToggle,
+    madsToggle, latControlTorqueCustomLatAccel,
   };
   QObject::connect(uiState(), &UIState::offroadTransition, this, &LateralPanel::updateToggles);
 

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h

@@ -37,4 +37,5 @@ private:
   ParamControl *madsToggle;
   PushButtonSP *madsSettingsButton;
   MadsSettings *madsWidget = nullptr;
+  ParamControl *latControlTorqueCustomLatAccel = nullptr;
 };

sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py

@@ -4,10 +4,11 @@ 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.
 """
-from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase
+
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_lat_accel import LatControlTorqueEnhancedLateralAccel
 
 
-class LatControlTorqueExt(LatControlTorqueExtBase):
+class LatControlTorqueExt(LatControlTorqueEnhancedLateralAccel):
   def __init__(self, lac_torque, CP, CP_SP):
     super().__init__(lac_torque, CP, CP_SP)
 
@@ -22,5 +23,6 @@ class LatControlTorqueExt(LatControlTorqueExtBase):
     self._actual_lateral_accel = actual_lateral_accel
 
     self.update_calculations(CS, VM, desired_lateral_accel)
+    self.update_custom_lateral_acceleration(CS, roll_compensation, gravity_adjusted_lateral_accel)
 
     return self._ff, self._pid_log

sunnypilot/selfdrive/controls/lib/latcontrol_torque_lat_accel.py

@@ -0,0 +1,38 @@
+"""
+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.
+"""
+from opendbc.car.interfaces import LatControlInputs
+from openpilot.common.params import Params
+
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase
+
+
+class LatControlTorqueEnhancedLateralAccel(LatControlTorqueExtBase):
+  def __init__(self, lac_torque, CP, CP_SP):
+    super().__init__(lac_torque, CP, CP_SP)
+    self.params = Params()
+    self.enabled = self.params.get_bool("LatTorqueControlEnhancedLateralAccel")
+
+  def update_custom_lateral_acceleration(self, CS, roll_compensation, gravity_adjusted_lateral_accel):
+    if not self.enabled:
+      return
+
+    friction_input = self.update_friction_input(self._desired_lateral_accel, self._actual_lateral_accel)
+
+    torque_from_setpoint = self.torque_from_lateral_accel(
+      LatControlInputs(self._setpoint, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
+      self.lateral_jerk_setpoint, self._lateral_accel_deadzone, friction_compensation=self.enabled, gravity_adjusted=False
+    )
+
+    torque_from_measurement = self.torque_from_lateral_accel(
+      LatControlInputs(self._measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
+      self.lateral_jerk_measurement, self._lateral_accel_deadzone, friction_compensation=self.enabled, gravity_adjusted=False
+    )
+
+    self._pid_log.error = float(torque_from_setpoint - torque_from_measurement)
+    self._ff = self.torque_from_lateral_accel(LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
+                                              friction_input, self._lateral_accel_deadzone, friction_compensation=True,
+                                              gravity_adjusted=True)

system/manager/manager.py

@@ -44,12 +44,13 @@ def manager_init() -> None:
 
   sunnypilot_default_params: list[tuple[str, str | bytes]] = [
     ("DynamicExperimentalControl", "0"),
+    ("LatTorqueControlEnhancedLateralAccel", "0"),
     ("Mads", "1"),
     ("MadsMainCruiseAllowed", "1"),
     ("MadsSteeringMode", "0"),
     ("MadsUnifiedEngagementMode", "1"),
     ("ModelManager_LastSyncTime", "0"),
-    ("ModelManager_ModelsCache", "")
+    ("ModelManager_ModelsCache", ""),
   ]
 
   if params.get_bool("RecordFrontLock"):