Jason Wen
1.7 KiB
title
| title |
|---|
| Torque Control |
Torque Control
What It Does
Torque Control lets you fine-tune how aggressively or gently sunnypilot steers your vehicle. It provides advanced parameters for lateral acceleration, friction compensation, and self-tuning options.
How It Works
Torque-based lateral control applies steering commands as torque (rotational force) to the steering motor. The key parameters are:
- Lateral Acceleration Factor — How strongly the system turns the wheel (higher = more aggressive)
- Friction — How much the system compensates for steering resistance
- Self-Tune — Automatically adjusts these values based on your driving
Requirements
!!! info "Requirements" - Vehicle must not use angle-based steering - Enforce Torque Control must be enabled in Steering Settings - Mutually exclusive with NNLC — only one can be active at a time - Device must be offroad to change settings
How to Enable
- Go to Settings → sunnypilot → Steering
- Enable Enforce Torque Control
- Open the Torque Settings sub-panel to fine-tune
Tuning Options
| Option | Description |
|---|---|
| Self-Tune | Automatic real-time parameter adjustment |
| Relaxed Self-Tune | Less aggressive auto-tuning for smoother feel |
| Custom Tune | Manual parameter override |
| Lat Accel Factor | 0.01–5.00 (steering aggressiveness) |
| Friction | 0.01–1.00 (friction compensation) |
!!! tip Start with Self-Tune enabled. Only switch to Custom Tune if you want precise control over steering feel and are willing to experiment.
Settings Reference
See Torque Settings for all tuning parameters.