sunnypilot/docs_sp/features/models.md

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Models & AI

Models & AI

What It Does

Select and configure the driving model used by sunnypilot. Different models offer different driving characteristics — some may be smoother, others more responsive. Advanced parameters let you fine-tune model behavior.

Key Features

• Model Selection — Choose from available driving models (offroad only)
• Lane Turn Desire — Enhance lane positioning during turns
• LAGD (Live Lateral Delay Compensation) — Dynamically measures and compensates for steering actuator delay using real-time signal correlation

Advanced Parameters

Advanced parameters are only visible when Show Advanced Controls is enabled in Developer Settings:

• Lane Turn Value — Intensity of lane turn desire (500–2000)
• LAGD Delay — Fixed steering delay offset in milliseconds when LAGD is disabled (5–50)

How to Configure

Settings → Models

Settings Reference

See Models Settings for all configuration options.