Jason Wen
3.3 KiB
title
| title |
|---|
| Torque Settings |
Torque Settings
Advanced tuning parameters for torque-based lateral (steering) control. These settings allow fine-grained control over how the steering motor responds.
Location: Settings → sunnypilot → Steering → Torque Settings
!!! info "Prerequisite" Enforce Torque Control must be enabled in Steering Settings to access these settings. 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).
Self-Tune (Live Torque)
| Property | Value |
|---|---|
| Param | LiveTorqueParamsToggle |
| Type | Toggle (On/Off) |
| Default | Off |
Enables real-time self-tuning of torque parameters based on driving behavior. The system continuously adjusts lateral acceleration factor and friction values for optimal steering feel.
Relaxed Self-Tune
| Property | Value |
|---|---|
| Param | LiveTorqueParamsRelaxedToggle |
| Type | Toggle (On/Off) |
| Default | Off |
Uses a more relaxed (less aggressive) self-tuning profile. May provide a smoother but less responsive steering feel.
!!! info "Requirements" - Self-Tune (Live Torque) must be enabled
Custom Tune
| Property | Value |
|---|---|
| Param | CustomTorqueParams |
| Type | Toggle (On/Off) |
| Default | Off |
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.
Override Enabled
| Property | Value |
|---|---|
| Param | TorqueParamsOverrideEnabled |
| Type | Toggle (On/Off) |
| Default | Off |
Master switch for applying your custom torque parameter overrides.
!!! info "Requirements" - Custom Tune must be enabled
Lateral Acceleration Factor
| Property | Value |
|---|---|
| Param | TorqueParamsOverrideLatAccelFactor |
| Type | Option selector |
| Range | 1–500 (displayed as value ÷ 100) |
| Default | 100 (displayed as 1.00) |
Controls the lateral acceleration gain. Higher values produce more aggressive steering response; lower values produce softer response.
- Display: The raw value is divided by 100 (e.g., 250 → 2.50)
- Example: A value of 150 means 1.50× lateral acceleration factor
!!! info "Requirements" - Custom Tune must be enabled
Friction
| Property | Value |
|---|---|
| Param | TorqueParamsOverrideFriction |
| Type | Option selector |
| Range | 1–100 (displayed as value ÷ 100) |
| Default | 50 (displayed as 0.50) |
Controls the friction compensation factor. Adjusts how much the system compensates for steering friction in the vehicle.
- Display: The raw value is divided by 100 (e.g., 75 → 0.75)
!!! info "Requirements" - Custom Tune must be enabled
Torque Control Tune Version
| Property | Value |
|---|---|
| Param | TorqueControlTune |
| Type | Version selector |
| Default | Latest available |
Select which version of the torque control tuning algorithm to use. Newer versions may offer improved performance but can behave differently than what you're accustomed to.