Merge branch 'ui-models-current-top' into hkg-angle-steering-2025-software

# Conflicts: # system/ui/sunnypilot/widgets/tree_dialog.py
ui: improve TreeOptionDialog node selection and item handling
2026-08-24 04:23:47 +08:00 · 2025-12-07 01:23:31 -05:00 · 2025-12-07 01:23:07 -05:00 · 2025-12-07 00:56:23 -05:00 · 2025-12-07 00:50:38 -05:00 · 2025-12-07 00:39:04 -05:00
22 changed files with 4021 additions and 16 deletions
@@ -2,5 +2,6 @@ Wen
 REGIST
 PullRequest
 cancelled
 indeces
 FOF
 NoO
@@ -21,5 +21,12 @@
        </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>
@@ -20,4 +20,11 @@
      <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$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
+  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
    <envs>
      <env name="QT_DBL_CLICK_DIST" value="150" />
    </envs>
@@ -0,0 +1,27 @@
 <component name="ProjectRunConfigurationManager">
  <configuration default="false" name="Debug Route Controls" type="PythonConfigurationType" factoryName="Python">
    <module name="openpilot-special" />
    <option name="ENV_FILES" value="" />
    <option name="INTERPRETER_OPTIONS" value="" />
    <option name="PARENT_ENVS" value="true" />
    <envs>
      <env name="PYTHONUNBUFFERED" value="1" />
      <env name="FINGERPRINT" value="KIA_EV9" />
      <env name="SKIP_FW_QUERY" value="1" />
    </envs>
    <option name="SDK_HOME" value="" />
    <option name="WORKING_DIRECTORY" value="$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$/selfdrive/car/card.py" />
    <option name="PARAMETERS" value="" />
    <option name="SHOW_COMMAND_LINE" value="false" />
    <option name="EMULATE_TERMINAL" value="true" />
    <option name="MODULE_MODE" value="false" />
    <option name="REDIRECT_INPUT" value="false" />
    <option name="INPUT_FILE" value="" />
    <method v="2" />
  </configuration>
 </component>
@@ -0,0 +1,7 @@
 <component name="ProjectRunConfigurationManager">
  <configuration default="false" name="Replay for controls + ui" type="Multirun" separateTabs="false" reuseTabsWithFailures="false" startOneByOne="true" markFailedProcess="true" hideSuccessProcess="false" delayTime="0.0">
    <runConfiguration name="replay for controls" type="Native Application" />
    <runConfiguration name="Build Debug" type="Custom Build Application" />
    <method v="2" />
  </configuration>
 </component>
@@ -0,0 +1,7 @@
 <component name="ProjectRunConfigurationManager">
  <configuration default="false" name="replay for controls" type="CLionNativeAppRunConfigurationType" focusToolWindowBeforeRun="true" PROGRAM_PARAMS="&quot;$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>
@@ -262,4 +262,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"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"}},
 };
@@ -13,7 +13,7 @@ cd $ROOT
 FAILED=0
-IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md"
+IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md|layouts\/.*\.xml|.*\.ipynb"
 IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
 function run() {
@@ -12,7 +12,7 @@ from openpilot.selfdrive.ui.layouts.settings import settings as OP
 from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.device import DeviceLayoutSP
 from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
-from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.software import SoftwareLayoutSP
 from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
 from openpilot.system.ui.lib.application import gui_app, MousePos
 from openpilot.system.ui.lib.multilang import tr_noop
@@ -114,7 +114,7 @@ class SettingsLayoutSP(OP.SettingsLayout):
      OP.PanelType.NETWORK: PanelInfo(tr_noop("Network"), NetworkUISP(wifi_manager), icon="icons/network.png"),
      OP.PanelType.SUNNYLINK: PanelInfo(tr_noop("sunnylink"), SunnylinkLayout(), icon="icons/wifi_strength_full.png"),
      OP.PanelType.TOGGLES: PanelInfo(tr_noop("Toggles"), TogglesLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
-      OP.PanelType.SOFTWARE: PanelInfo(tr_noop("Software"), SoftwareLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
+      OP.PanelType.SOFTWARE: PanelInfo(tr_noop("Software"), SoftwareLayoutSP(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
      OP.PanelType.MODELS: PanelInfo(tr_noop("Models"), ModelsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_models.png"),
      OP.PanelType.STEERING: PanelInfo(tr_noop("Steering"), SteeringLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
      OP.PanelType.CRUISE: PanelInfo(tr_noop("Cruise"), CruiseLayout(), icon="icons/speed_limit.png"),
@@ -0,0 +1,96 @@
 """
 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.
 """
 import os
 from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.multilang import tr, tr_noop
 from openpilot.system.ui.widgets import DialogResult
 from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
 from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
 from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
 DESCRIPTIONS = {
  'disable_updates_offroad': tr_noop(
    "When enabled, automatic software updates will be off.<br><b>This requires a reboot to take effect.</b>"
  ),
  'disable_updates_onroad': tr_noop(
    "Please enable \"Always Offroad\" mode or turn off the vehicle to adjust these toggles."
  )
 }
 class SoftwareLayoutSP(SoftwareLayout):
  def __init__(self):
    super().__init__()
    self.disable_updates_toggle = toggle_item_sp(
      lambda: tr("Disable Updates"),
      description="",
      initial_state=ui_state.params.get_bool("DisableUpdates"),
      callback=self._on_disable_updates_toggled,
    )
    self._scroller.add_widget(self.disable_updates_toggle)
  def _handle_reboot(self, result):
    if result == DialogResult.CONFIRM:
      ui_state.params.put_bool("DisableUpdates", self.disable_updates_toggle.action_item.get_state())
      ui_state.params.put_bool("DoReboot", True)
    else:
      self.disable_updates_toggle.action_item.set_state(ui_state.params.get_bool("DisableUpdates"))
  def _on_disable_updates_toggled(self, enabled):
    dialog = ConfirmDialog(tr("System reboot required for changes to take effect. Reboot now?"), tr("Reboot"))
    gui_app.set_modal_overlay(dialog, callback=self._handle_reboot)
  def _on_select_branch(self):
    current_git_branch = ui_state.params.get("GitBranch") or ""
    branches_str = ui_state.params.get("UpdaterAvailableBranches") or ""
    branches = [b for b in branches_str.split(",") if b]
    current_target = ui_state.params.get("UpdaterTargetBranch") or ""
    top_level_branches = [current_git_branch, "release-mici", "release-tizi", "staging", "dev", "master"]
    if HARDWARE.get_device_type() == "tici":
      top_level_branches = ["release-tici", "staging-tici"]
      branches = [b for b in branches if b.endswith("-tici")]
    top_level_nodes = [TreeNode(b, {'display_name': b}) for b in top_level_branches if b in branches]
    remaining_branches = [b for b in branches if b not in top_level_branches]
    prebuilt_nodes = [TreeNode(b, {'display_name': b}) for b in remaining_branches if b.endswith("-prebuilt")]
    non_prebuilt_nodes = [TreeNode(b, {'display_name': b}) for b in remaining_branches if not b.endswith("-prebuilt")]
    folders = [
      TreeFolder("", top_level_nodes),
      TreeFolder("Prebuilt Branches", prebuilt_nodes),
      TreeFolder("Non-Prebuilt Branches", non_prebuilt_nodes),
    ]
    def _on_branch_selected(result):
      if result == DialogResult.CONFIRM and self._branch_dialog is not None:
        selection = self._branch_dialog.selection_ref
        if selection:
          ui_state.params.put("UpdaterTargetBranch", selection)
          self._branch_btn.action_item.set_value(selection)
          os.system("pkill -SIGUSR1 -f system.updated.updated")
      self._branch_dialog = None
    self._branch_dialog = TreeOptionDialog(tr("Select a branch"), folders, current_target, "",
                                           on_exit=_on_branch_selected)
    gui_app.set_modal_overlay(self._branch_dialog, callback=_on_branch_selected)
  def _update_state(self):
    super()._update_state()
    show_advanced = ui_state.params.get_bool("ShowAdvancedControls")
    self.disable_updates_toggle.action_item.set_enabled(ui_state.is_offroad())
    self.disable_updates_toggle.set_visible(show_advanced)
    disable_updates_desc = tr(DESCRIPTIONS["disable_updates_offroad"] if ui_state.is_offroad() else DESCRIPTIONS["disable_updates_onroad"])
    self.disable_updates_toggle.set_description(disable_updates_desc)
@@ -0,0 +1,87 @@
 /**
 * 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;
 }
@@ -0,0 +1,39 @@
 /**
 * 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;
 };
@@ -101,18 +101,22 @@ class TreeOptionDialog(MultiOptionDialog):
    self.search_dialog = None
    self._search_pressed = False
-    if current_ref:
+    self.selection_node = None
-      found = False
+    # Try to match by ref, by display text, or fall back to "Default" when no ref is set
-      for folder in folders:
+    for folder in self.folders:
-        for node in folder.nodes:
+      for node in folder.nodes:
-          if node.ref == current_ref:
+        display = self.display_func(node)
-            display = self.display_func(node)
+        if (
-            self.selection = display
+          node.ref == current_ref or
-            self.current = display
+          display == current_ref or
-            found = True
+          (not current_ref and node.ref == "Default")
-            break
+        ):
-        if found:
+          self.selection = display
          self.current = display
          self.selection_node = node
          break
      if self.selection_node is not None:
        break
    self._build_visible_items()
@@ -155,6 +159,17 @@ class TreeOptionDialog(MultiOptionDialog):
  def _build_visible_items(self, reset_scroll=True):
    self.visible_items = []
    # Pinned selected item at the very top (if any)
    if getattr(self, "selection_node", None) is not None:
      node = self.selection_node
      display = self.display_func(node)
      self.selection = self.current = display
      favorite_cb = (lambda node_ref=node: self._toggle_favorite(node_ref)) if self.fav_param and node.ref != "Default" else None
      self.visible_items.append(TreeItemWidget(self.display_func(node), node.ref, False, 0,
                                               lambda node_ref=node: self._select_node(node_ref),
                                               favorite_cb, node.ref in self.favorites, is_expanded=True))
    for folder in self.folders:
      nodes = [node for node in folder.nodes if not self.query or search_from_list(self.query, [search_func(node) for search_func in self.search_funcs])]
      if not nodes and self.query:
@@ -165,6 +180,10 @@ class TreeOptionDialog(MultiOptionDialog):
                                                 lambda folder_ref=folder: self._toggle_folder(folder_ref)))
      if expanded:
        for node in nodes:
          # Skip duplicate root-level item for the selected node
          if self.selection_node is not None and node.ref == self.selection_node.ref and not folder.folder:
            continue
          favorite_cb = (lambda node_ref=node: self._toggle_favorite(node_ref)) if self.fav_param and node.ref != "Default" else None
          self.visible_items.append(TreeItemWidget(self.display_func(node), node.ref, False, 1 if folder.folder else 0,
                                                   lambda node_ref=node: self._select_node(node_ref),
@@ -24,6 +24,8 @@ 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"
@@ -0,0 +1,183 @@
 <?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">
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 <!-- - - - - - - - - - - - - - - -->
 <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/>
 <!-- - - - - - - - - - - - - - - -->
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@@ -0,0 +1,281 @@
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  <Tab containers="1" tab_name="tab1">
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       <curve color="#1ac938" name="/can/1/LFA_ALT/LKAS_ANGLE_MAX_TORQUE"/>
       <curve color="#17becf" name="max torque(calc)">
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       <curve color="#f14cc1" name="desired lat accel"/>
       <curve color="#888888" name="zero"/>
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  </plugin>
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  <plugin ID="DataLoad ULog"/>
  <plugin ID="Cereal Subscriber"/>
  <plugin ID="UDP Server"/>
  <plugin ID="WebSocket Server"/>
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   <selected_datasources value=""/>
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 </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/>
 <!-- - - - - - - - - - - - - - - -->
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   <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>
 <!-- - - - - - - - - - - - - - - -->
 <!-- - - - - - - - - - - - - - - -->
 <customMathEquations>
  <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="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="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="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="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</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="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="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>