User Set Steer Ratio

common/params.cc

@@ -340,6 +340,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SpeedLimitController", PERSISTENT},
     {"StandardFollow", PERSISTENT},
     {"StandardJerk", PERSISTENT},
+    {"SteerRatio", PERSISTENT},
+    {"SteerRatioStock", PERSISTENT},
     {"StoppingDistance", PERSISTENT},
     {"TetheringEnabled", PERSISTENT},
     {"TSS2Tune", PERSISTENT},

selfdrive/controls/controlsd.py

@@ -616,7 +616,7 @@ 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)
     self.VM.update_params(x, sr)
 
     # Update Torque Params
@@ -994,6 +994,9 @@ class Controls:
 
     self.green_light_alert = self.params.get_bool("GreenLightAlert")
 
+    lateral_tune = self.params.get_bool("LateralTune")
+    self.steer_ratio = self.params.get_int("SteerRatio") / 100 if lateral_tune else self.params.get_int("SteerRatioStock") / 100
+
     longitudinal_tune = self.params.get_bool("LongitudinalTune")
     self.sport_plus = self.params.get_int("AccelerationProfile") == 3 and longitudinal_tune
 

selfdrive/frogpilot/ui/control_settings.cc

@@ -27,6 +27,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
     {"LateralTune", "Lateral Tuning", "Modify openpilot's steering behavior.", "../frogpilot/assets/toggle_icons/icon_lateral_tune.png"},
     {"AverageCurvature", "Average Desired Curvature", "Use Pfeiferj's distance-based curvature adjustment for improved curve handling.", ""},
     {"NNFF", "NNFF - Neural Network Feedforward", "Use Twilsonco's Neural Network Feedforward for enhanced precision in lateral control.", ""},
+    {"SteerRatio", steerRatioStock != 0 ? QString("Steer Ratio (Default: " + QString::number(steerRatioStock / 100.0) + ")") : "Steer Ratio", "Set a custom steer ratio for your vehicle controls.", ""},
 
     {"LongitudinalTune", "Longitudinal Tuning", "Modify openpilot's acceleration and braking behavior.", "../frogpilot/assets/toggle_icons/icon_longitudinal_tune.png"},
     {"AccelerationProfile", "Acceleration Profile", "Change the acceleration rate to be either sporty or eco-friendly.", ""},
@@ -176,6 +177,8 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
         }
       });
       toggle = lateralTuneToggle;
+    } else if (param == "SteerRatio") {
+      toggle = new FrogPilotParamValueControl(param, title, desc, icon, steerRatioStock * 0.75, steerRatioStock * 1.25, std::map<int, QString>(), this, false, "", 100);
 
     } else if (param == "LongitudinalTune") {
       FrogPilotParamManageControl *longitudinalTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
@@ -359,11 +362,17 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
   conditionalExperimentalKeys = {"CECurves", "CECurvesLead", "CESlowerLead", "CENavigation", "CEStopLights", "CESignal"};
   fireTheBabysitterKeys = {"NoLogging", "MuteDM", "MuteDoor", "MuteOverheated", "MuteSeatbelt"};
   laneChangeKeys = {"LaneChangeTime", "LaneDetection", "OneLaneChange", "PauseLateralOnSignal"};
-  lateralTuneKeys = {"AverageCurvature", "NNFF"};
+  lateralTuneKeys = {"AverageCurvature", "NNFF", "SteerRatio"};
   longitudinalTuneKeys = {"AccelerationProfile", "AggressiveAcceleration", "SmoothBraking", "StoppingDistance"};
   speedLimitControllerKeys = {"Offset1", "Offset2", "Offset3", "Offset4", "SLCFallback", "SLCOverride", "SLCPriority"};
   visionTurnControlKeys = {};
 
+  QObject::connect(uiState(), &UIState::offroadTransition, this, [this](bool offroad) {
+    if (!offroad) {
+      updateCarToggles();
+    }
+  });
+
   QObject::connect(device(), &Device::interactiveTimeout, this, &FrogPilotControlsPanel::hideSubToggles);
   QObject::connect(parent, &SettingsWindow::closeParentToggle, this, &FrogPilotControlsPanel::hideSubToggles);
   QObject::connect(parent, &SettingsWindow::updateMetric, this, &FrogPilotControlsPanel::updateMetric);
@@ -372,6 +381,14 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
   updateMetric();
 }
 
+void FrogPilotControlsPanel::updateCarToggles() {
+  FrogPilotParamValueControl *steerRatioToggle = static_cast<FrogPilotParamValueControl*>(toggles["SteerRatio"]);
+  steerRatioStock = params.getInt("SteerRatioStock");
+  steerRatioToggle->setTitle(steerRatioStock != 0 ? QString("Steer Ratio (Default: " + QString::number(steerRatioStock / 100.0) + ")") : QString("Steer Ratio"));
+  steerRatioToggle->updateControl(steerRatioStock * 0.75, steerRatioStock * 1.25, "", 100);
+  steerRatioToggle->refresh();
+}
+
 void FrogPilotControlsPanel::updateToggles() {
   std::thread([this]() {
     paramsMemory.putBool("FrogPilotTogglesUpdated", true);

selfdrive/frogpilot/ui/control_settings.h

@@ -19,6 +19,7 @@ private:
   void hideEvent(QHideEvent *event);
   void hideSubToggles();
   void parentToggleClicked();
+  void updateCarToggles();
   void updateMetric();
   void updateToggles();
 
@@ -46,4 +47,5 @@ private:
   Params paramsMemory{"/dev/shm/params"};
 
   bool isMetric = params.getBool("IsMetric");
+  int steerRatioStock = params.getInt("SteerRatioStock");
 };

selfdrive/frogpilot/ui/frogpilot_functions.h

@@ -179,8 +179,8 @@ class FrogPilotParamToggleControl : public ParamControl {
   Q_OBJECT
 public:
   FrogPilotParamToggleControl(const QString &param, const QString &title, const QString &desc,
-                     const QString &icon, const std::vector<QString> &button_params, 
+                     const QString &icon, const std::vector<QString> &button_params,
-                     const std::vector<QString> &button_texts, QWidget *parent = nullptr, 
+                     const std::vector<QString> &button_texts, QWidget *parent = nullptr,
                      const int minimum_button_width = 225)
     : ParamControl(param, title, desc, icon, parent) {
 
@@ -313,10 +313,11 @@ public:
     valueLabel->setStyleSheet("QLabel { color: #E0E879; }");
   }
 
-  void updateControl(int newMinValue, int newMaxValue, const QString &newLabel) {
+  void updateControl(int newMinValue, int newMaxValue, const QString &newLabel, int newDivision = 1) {
     minValue = newMinValue;
     maxValue = newMaxValue;
     labelText = newLabel;
+    division = newDivision;
   }
 
   void showEvent(QShowEvent *event) override {
@@ -492,10 +493,11 @@ public:
     valueLabel->setStyleSheet("QLabel { color: #E0E879; }");
   }
 
-  void updateControl(int newMinValue, int newMaxValue, const QString &newLabel) {
+  void updateControl(int newMinValue, int newMaxValue, const QString &newLabel, int newDivision) {
     minValue = newMinValue;
     maxValue = newMaxValue;
     labelText = newLabel;
+    division = newDivision;
   }
 
   void showEvent(QShowEvent *event) override {

selfdrive/locationd/paramsd.py

@@ -134,6 +134,11 @@ def main():
     CP = msg
   cloudlog.info("paramsd got CarParams")
 
+  steer_ratio_stock = params_reader.get_int("SteerRatioStock")
+  if steer_ratio_stock != CP.steerRatio * 100:
+    params_reader.put_int("SteerRatio", CP.steerRatio * 100)
+    params_reader.put_int("SteerRatioStock", CP.steerRatio * 100)
+
   min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio
 
   params = params_reader.get("LiveParameters")