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User set steer ratio

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FrogAi
2024-02-27 16:34:47 -07:00
parent d10d422fcf
commit 596cb7e653
5 changed files with 41 additions and 2 deletions
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5
selfdrive/controls/controlsd.py
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@@ -863,7 +863,7 @@ class Controls:
# Update VehicleModel
lp = self.sm['liveParameters']
x = max(lp.stiffnessFactor, 0.1)
sr = max(lp.steerRatio, 0.1)
sr = max(self.steer_ratio, 0.1) if self.use_custom_steer_ratio else max(lp.steerRatio, 0.1)
self.VM.update_params(x, sr)
# Update Torque Params
@@ -1241,6 +1241,9 @@ class Controls:
lateral_tune = self.params.get_bool("LateralTune")
self.force_auto_tune = lateral_tune and self.params.get_float("ForceAutoTune")
stock_steer_ratio = self.params.get_float("SteerRatioStock")
self.steer_ratio = self.params.get_float("SteerRatio") if lateral_tune else stock_steer_ratio
self.use_custom_steer_ratio = self.steer_ratio != stock_steer_ratio
self.frogpilot_variables.lock_doors = self.params.get_bool("LockDoors")
self.frogpilot_variables.long_pitch = self.params.get_bool("LongPitch")