Jason Wen
2.8 KiB
title
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| Torque Settings |
Torque Settings
Advanced tuning parameters for torque-based lateral (steering) control. These settings give you fine-grained control over how the steering motor responds.
Location: Settings -> Steering -> Customize Torque Params
!!! info "Toggle & Device Availability" Supported on all devices. comma four users must use sunnylink to change this setting.
!!! info "Prerequisite" Enforce Torque Lateral Control must be enabled in Steering Settings to access this sub-panel. Not available on vehicles with angle-based steering.
!!! warning "Offroad Only" All torque settings can only be changed while the vehicle is offroad (parked with ignition off).
Torque Control Tune Version
A button that opens a version selector. Choose which version of the torque control tuning algorithm to use. Newer versions may offer improved performance but can behave differently than what you are accustomed to.
Self-Tune
Enables real-time self-tuning of torque parameters based on your driving behavior. The system continuously adjusts lateral acceleration factor and friction values for optimal steering feel.
Less Restrict Settings for Self-Tune (Beta)
Uses a more relaxed self-tuning profile. The torque controller is more forgiving when learning values, which may provide a smoother but less responsive steering feel.
!!! note "Availability" This toggle only appears when Self-Tune is enabled.
Enable Custom Tuning
Enables manual override of torque control parameters. When enabled, you can set specific values for lateral acceleration and friction instead of relying on self-tuning. The values you set here override the offline values from the vehicle's tuning data files.
Manual Real-Time Tuning
Forces the torque controller to use your fixed custom values instead of the learned values from Self-Tune. Enabling this overrides Self-Tune values in real time.
!!! note "Availability" This toggle only appears when Enable Custom Tuning is enabled.
Lateral Acceleration Factor
A slider that controls the lateral acceleration gain. Use the - and + buttons to adjust. The value displays as a decimal (e.g., 1.50 means 1.50x lateral acceleration factor).
Higher values produce more aggressive steering response. Lower values produce softer response.
!!! note "Availability" This slider only appears when Enable Custom Tuning is enabled.
Friction
A slider that controls the friction compensation factor. Use the - and + buttons to adjust. The value displays as a decimal (e.g., 0.75).
Adjusts how much the system compensates for steering friction in your vehicle.
!!! note "Availability" This slider only appears when Enable Custom Tuning is enabled.