mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-08-06 13:15:45 +08:00
Jason Wen
83 lines
2.8 KiB
Markdown
83 lines
2.8 KiB
Markdown
---
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title: Torque Settings
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---
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# Torque Settings
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Advanced tuning parameters for torque-based lateral (steering) control. These settings give you fine-grained control over how the steering motor responds.
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**Location**: `Settings -> Steering -> Customize Torque Params`
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!!! info "Toggle & Device Availability"
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Supported on all devices. comma four users must use sunnylink to change this setting.
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!!! info "Prerequisite"
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**Enforce Torque Lateral Control** must be enabled in [Steering Settings](index.md) to access this sub-panel. Not available on vehicles with angle-based steering.
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!!! warning "Offroad Only"
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All torque settings can only be changed while the vehicle is offroad (parked with ignition off).
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---
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## Torque Control Tune Version
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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.
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---
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## Self-Tune
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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.
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---
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## Less Restrict Settings for Self-Tune (Beta)
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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.
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!!! note "Availability"
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This toggle only appears when **Self-Tune** is enabled.
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---
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## Enable Custom Tuning
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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.
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---
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## Manual Real-Time Tuning
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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.
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!!! note "Availability"
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This toggle only appears when **Enable Custom Tuning** is enabled.
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---
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## Lateral Acceleration Factor
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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).
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Higher values produce more aggressive steering response. Lower values produce softer response.
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!!! note "Availability"
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This slider only appears when **Enable Custom Tuning** is enabled.
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---
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## Friction
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A slider that controls the friction compensation factor. Use the **-** and **+** buttons to adjust. The value displays as a decimal (e.g., 0.75).
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Adjusts how much the system compensates for steering friction in your vehicle.
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!!! note "Availability"
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This slider only appears when **Enable Custom Tuning** is enabled.
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---
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## Related Features
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- [Torque Control](../../features/steering/torque-control.md)
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