change laneChange settings, lfa button mode, ev3 start.. (#176)

* paddle Decel sound...

* fix angle torque.. more stronger

* add lfa decel mode...

* fix..

* cruise, e2e decel limit to COMFORT BRAKE

* fix.. lanemode change...

* fix.. lfa decel..

* remove lfa undecel...

* revert cruise braking

* fix..

* add toyota

* fix.. emergency steer..

* fix.. vision track..

* fix..

* Revert "fix.."

This reverts commit 30c5a46cdf15d0db9194f1456dee3751d4784602.

* fix.. lanechange option...

* fix.. typo

* add ev3

common/params_keys.h

@@ -186,6 +186,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"ComfortBrake", PERSISTENT},
     {"JLeadFactor3", PERSISTENT},
     {"CruiseButtonMode", PERSISTENT},
+    {"LfaButtonMode", PERSISTENT},
     {"CruiseButtonTest1", PERSISTENT},
     {"CruiseButtonTest2", PERSISTENT},
     {"CruiseButtonTest3", PERSISTENT},
@@ -230,6 +231,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"UseLaneLineSpeedApply", PERSISTENT},
     {"AdjustLaneOffset", PERSISTENT},
     {"LaneChangeNeedTorque", PERSISTENT},
+    {"LaneChangeBsd", PERSISTENT},
     {"MaxAngleFrames", PERSISTENT},
     {"SoftHoldMode", PERSISTENT},
     {"LatMpcPathCost", PERSISTENT},

opendbc_repo/opendbc/car/fingerprints.py

@@ -248,6 +248,7 @@ MIGRATION = {
   "KIA EV6 PE (CV1)": HYUNDAI.KIA_EV6_PE,
   "KIA CARNIVAL 4TH GEN": HYUNDAI.KIA_CARNIVAL_4TH_GEN,
   "KIA EV9 (MV)": HYUNDAI.KIA_EV9,
+  "KIA EV3 (SV1)": HYUNDAI.KIA_EV3,
   "GENESIS GV60 ELECTRIC 1ST GEN": HYUNDAI.GENESIS_GV60_EV_1ST_GEN,
   "GENESIS G70 2018": HYUNDAI.GENESIS_G70,
   "GENESIS G70 2020": HYUNDAI.GENESIS_G70_2020,

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -160,7 +160,8 @@ class CarController(CarControllerBase):
           (1 - curve_scale) * self.angle_max_torque + curve_scale * 50,
           self.angle_max_torque
         ]        
-        base_max_torque = np.interp(CS.out.vEgo * CV.MS_TO_KPH, [0, 30, 60], torque_pts)
+        #base_max_torque = np.interp(CS.out.vEgo * CV.MS_TO_KPH, [0, 30, 60], torque_pts)
+        base_max_torque = np.interp(CS.out.vEgo * CV.MS_TO_KPH, [0, 20, 30], torque_pts)
       
       target_torque = np.interp(abs(actuators.curvature), [0.0, 0.003, 0.006], [0.5 * base_max_torque, 0.75 * base_max_torque, base_max_torque])
 

opendbc_repo/opendbc/car/hyundai/fingerprints.py

@@ -1267,6 +1267,12 @@ FW_VERSIONS = {
       b'\xf1\x00MV  MFC  AT EUR LHD 1.00 1.02 99211-DO000 230616',
     ],
   },
+  CAR.KIA_EV3: {  # (SV1)
+    (Ecu.fwdRadar, 0x7d0, None): [
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+    ],
+  },
   CAR.HYUNDAI_SANTAFE_MX5: {  # (MX5)
     (Ecu.fwdRadar, 0x7d0, None): [
     ],

opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py

@@ -85,7 +85,7 @@ def create_steering_messages_camera_scc(frame, packer, CP, CAN, CC, lat_active,
   if CP.extFlags & HyundaiExtFlags.CANFD_161.value:
     if CS.adrv_info_161 is not None:
       values = CS.adrv_info_161
-      emergency_steering = values["ALERTS_2"] in [11, 12, 13, 14, 15, 21, 22, 23, 24, 25, 26]
+      emergency_steering = values["ALERTS_1"] in [11, 12, 13, 14, 15, 21, 22, 23, 24, 25, 26]
 
 
   ret = []

opendbc_repo/opendbc/car/hyundai/values.py

@@ -780,7 +780,13 @@ class CAR(Platforms):
     CarSpecs(mass=2625, wheelbase=3.1, steerRatio=16.02),
     flags=HyundaiFlags.EV | HyundaiFlags.ANGLE_CONTROL,
   )
-
+  KIA_EV3 = HyundaiCanFDPlatformConfig(
+    [
+      HyundaiCarDocs("KIA EV3 (SV1)", car_parts=CarParts.common([CarHarness.hyundai_n])),
+    ],
+    CarSpecs(mass=2055, wheelbase=2.90, steerRatio=16.0, tireStiffnessFactor=0.65),
+    flags=HyundaiFlags.EV,
+  )
 
 class Buttons:
   NONE = 0

opendbc_repo/opendbc/car/torque_data/params.toml

@@ -50,6 +50,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "KIA_SORENTO" = [2.464854685101844, 1.5335274218367956, 0.12056170567599558]
 "KIA_STINGER" = [2.7499043387418967, 1.849652021986449, 0.12048334239559202]
 "KIA_EV9" = [1.75, 1.75, 0.15]
+"KIA_EV3" = [3.2, 2.093457, 0.005]
 "LEXUS_ES_TSS2" = [2.0357564999999997, 1.999082295195227, 0.101533]
 "LEXUS_NX" = [2.3525924753753613, 1.9731412277641067, 0.15168101064205927]
 "LEXUS_NX_TSS2" = [2.4331999786982936, 2.1045680431705414, 0.14099899317761067]

opendbc_repo/opendbc/car/toyota/values.py

@@ -620,3 +620,13 @@ SECOC_CAR = CAR.with_flags(ToyotaFlags.SECOC)
 NO_STOP_TIMER_CAR = CAR.with_flags(ToyotaFlags.NO_STOP_TIMER)
 
 DBC = CAR.create_dbc_map()
+
+
+if __name__ == "__main__":
+  cars = []
+  for platform in CAR:
+    for doc in platform.config.car_docs:
+      cars.append(doc.name)
+  cars.sort()
+  for c in cars:
+    print(c)

selfdrive/car/car_specific.py

@@ -48,6 +48,7 @@ class CarSpecificEvents:
     self.frame = 0
     self.mute_door = False
     self.mute_seatbelt = False
+    self.vCruise_prev = 250
 
   def update_params(self):
     if self.frame % 100 == 0:
@@ -170,6 +171,12 @@ class CarSpecificEvents:
     else:
       events = self.create_common_events(CS, CS_prev)
 
+    if CC.enabled:
+      if self.vCruise_prev == 0 and CS.vCruise > 0:
+        events.add(EventName.audioPrompt)
+
+    self.vCruise_prev = CS.vCruise
+
     return events
 
   def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
@@ -269,4 +276,5 @@ class CarSpecificEvents:
         events.add(EventName.buttonCancel)
       if CS.softHoldActive > 0:
         events.add(EventName.softHold)
+
     return events

selfdrive/car/cruise.py

@@ -169,6 +169,7 @@ class VCruiseCarrot:
     self._cruise_speed_min, self._cruise_speed_max = 5, 161
     self._cruise_speed_unit = 10
     self._cruise_button_mode = 2
+    self._lfa_button_mode = 0
 
     self._gas_pressed_count = 0
     self._gas_pressed_count_last = 0
@@ -250,6 +251,7 @@ class VCruiseCarrot:
       self._cruise_speed_unit = self.params.get_int("CruiseSpeedUnit")
       self._paddle_mode = self.params.get_int("PaddleMode")
       self._cruise_button_mode = self.params.get_int("CruiseButtonMode")
+      self._lfa_button_mode = self.params.get_int("LfaButtonMode")
       self.cruiseOnDist = self.params.get_float("CruiseOnDist") * 0.01
 
   def update_v_cruise(self, CS, sm, is_metric):
@@ -507,8 +509,14 @@ class VCruiseCarrot:
         self.params.put_int_nonblocking('LongitudinalPersonality', personality)
         #self.events.append(EventName.personalityChanged)
       elif button_type == ButtonType.lfaButton:
+        if self._lfa_button_mode == 0:
           self._lat_enabled = not self._lat_enabled
           self._add_log("Lateral " + "enabled" if self._lat_enabled else "disabled")
+        else:
+          if False: #CC.enabled and self._paddle_decel_active:  # 수정필요...
+            self._paddle_decel_active = False
+          else:          
+            self._paddle_decel_active = True
         print("lfaButton")
       elif button_type == ButtonType.cancel:
         self._paddle_decel_active = False
@@ -615,6 +623,7 @@ class VCruiseCarrot:
 
   def _update_cruise_state(self, CS, CC, v_cruise_kph):
     if not CC.enabled:
+      self._pause_auto_speed_up = False
       if self._brake_pressed_count == -1 and self._soft_hold_active > 0:
         self._soft_hold_active = 2
         self._cruise_control(1, -1, "Cruise on (soft hold)")

selfdrive/carrot_settings.json

@@ -547,6 +547,19 @@
       "default": 0,
       "unit": 1
     },
+    {
+      "group": "버튼설정",
+      "name": "LfaButtonMode",
+      "title": "LFA버튼작동모드(0)",
+      "descr": "0:일반,1:감속정지&Ready",
+      "egroup": "BUTN",
+      "etitle": "LFA Button Mode(0)",
+      "edescr": "0:General,1:Decel&Stop, leadCar ready",
+      "min": 0,
+      "max": 1,
+      "default": 0,
+      "unit": 1
+    },
     {
       "group": "버튼설정",
       "name": "CruiseButtonTest1",
@@ -603,10 +616,10 @@
       "group": "버튼설정",
       "name": "PaddleMode",
       "title": "패들시프트모드(0)",
-      "descr": "회생제동작동후, 0:크루즈ON, 1:크루즈대기, 2: 자동감속",
+      "descr": "회생패들작동 후, 0:크루즈ON, 1:크루즈대기, 2: 자동감속",
       "egroup": "BUTN",
       "etitle": "PaddleShift Mode(0)",
-      "edescr": "After Regen, 0:Cruise ON, 1:Cruise Ready, 2: decel & cruise ready",
+      "edescr": "After Regen paddle, 0:Cruise ON, 1:Cruise Ready, 2: decel & cruise ready",
       "min": 0,
       "max": 2,
       "default": 1,
@@ -1046,12 +1059,25 @@
       "group": "조향일반",
       "name": "LaneChangeNeedTorque",
       "title": "차선변경 조향토크 사용",
-      "descr": "1: 차선변경시 조향토크를 줘야 작동함, 2: 깜박이 차선변경안함, 3: BSD무시함, 4:토크우선",
+      "descr": "0: 즉시 차선변경, 1: 토크필요, -1:자동차선변경사용안함",
       "egroup": "LAT",
       "etitle": "LaneChange use steering torque",
-      "edescr": "1: need torque, 2:no lanechange, 3:ignore BSD, 4:torque always",
+      "edescr": "1: need torque",
-      "min": 0,
+      "min": -1,
-      "max": 4,
+      "max": 1,
+      "default": 0,
+      "unit": 1
+    },
+    {
+      "group": "조향일반",
+      "name": "LaneChangeBsd",
+      "title": "차선변경 BSD",
+      "descr": "0:BSD검출(조향토크허용), 1: 조향토크불허, -1: BSD사용안함",
+      "egroup": "LAT",
+      "etitle": "LaneChange BSD",
+      "edescr": "0:BSD detect(allow steer torque), 1: block steer torque, -1: ignore BSD",
+      "min": -1,
+      "max": 1,
       "default": 0,
       "unit": 1
     },

selfdrive/controls/lib/desire_helper.py

@@ -92,6 +92,7 @@ class ExistCounter:
 class DesireHelper:
   def __init__(self):
     self.params = Params()
+    self.frame = 0
     self.lane_change_state = LaneChangeState.off
     self.lane_change_direction = LaneChangeDirection.none
     self.lane_change_timer = 0.0
@@ -127,8 +128,7 @@ class DesireHelper:
     self.object_detected_count = 0
 
     self.laneChangeNeedTorque = 0
-    self.ignore_bsd = False
+    self.laneChangeBsd = 0
-    self.torque_always = False
     self.driver_blinker_state = BLINKER_NONE
     self.atc_type = ""
 
@@ -169,7 +169,10 @@ class DesireHelper:
 
   def update(self, carstate, modeldata, lateral_active, lane_change_prob, carrotMan, radarState):
 
+    if self.frame % 100 == 0:
       self.laneChangeNeedTorque = self.params.get_int("LaneChangeNeedTorque")
+      self.laneChangeBsd = self.params.get_int("LaneChangeBsd")
+    self.frame += 1
 
     self.carrot_lane_change_count = max(0, self.carrot_lane_change_count - 1)
 
@@ -181,13 +184,11 @@ class DesireHelper:
     driver_blinker_changed = driver_blinker_state != self.driver_blinker_state
     self.driver_blinker_state = driver_blinker_state
     driver_desire_enabled = driver_blinker_state in [BLINKER_LEFT, BLINKER_RIGHT]
-    if self.laneChangeNeedTorque == 2:
+    if self.laneChangeNeedTorque < 0: # 운전자가 깜박이 켜도 차선변경 안함.
       driver_desire_enabled = False
 
-    if self.laneChangeNeedTorque == 3:
+    ignore_bsd = True if self.laneChangeBsd < 0 else False
-      self.ignore_bsd = True
+    block_lanechange_bsd = True if self.laneChangeBsd == 1 else False
-    if self.laneChangeNeedTorque == 4:
-      self.torque_always = True
 
     self.blindspot_detected_counter = max(0, self.blindspot_detected_counter - 1)
 
@@ -304,7 +305,7 @@ class DesireHelper:
         torque_applied = carstate.steeringPressed and torque_cond
         blindspot_detected = blindspot_cond
 
-        if blindspot_detected and not self.ignore_bsd:
+        if blindspot_detected and not ignore_bsd:
           self.blindspot_detected_counter = int(1.5 / DT_MDL)
           # BSD검출시.. 아래 두줄로 자동차선변경 해제함.. 위험해서 자동차선변경기능은 안하는걸로...
           #self.lane_change_state = LaneChangeState.off
@@ -313,14 +314,14 @@ class DesireHelper:
           self.lane_change_state = LaneChangeState.off
           self.lane_change_direction = LaneChangeDirection.none
         else:
-          if self.blindspot_detected_counter > 0 or self.torque_always:
+          if lane_available:
-            if torque_applied and lane_available or self.torque_always:
+            if self.blindspot_detected_counter > 0 and not ignore_bsd:  # BSD검출시
+              if torque_applied and not block_lanechange_bsd:
                 self.lane_change_state = LaneChangeState.laneChangeStarting
-          elif self.laneChangeNeedTorque == 1:  # 1: need torque, 2: no lanechange, 3: ignore bsd
+            elif self.laneChangeNeedTorque > 0: # 조향토크필요
-            if torque_applied and lane_available:
+              if torque_applied:
                 self.lane_change_state = LaneChangeState.laneChangeStarting
-          # 운전자가 깜박이켠경우는 바로 차선변경 시작
+            elif driver_desire_enabled:
-          elif driver_desire_enabled and lane_available:
               self.lane_change_state = LaneChangeState.laneChangeStarting
             # ATC작동인경우 차선이 나타나거나 차선이 생기면 차선변경 시작
             # lane_appeared: 차선이 생기는건 안함.. 위험.

selfdrive/controls/lib/lane_planner_2.py

@@ -70,6 +70,7 @@ class LanePlanner:
     self.lane_offset_filtered = FirstOrderFilter(0.0, 2.0, DT_MDL)
 
     self.lanefull_mode = False
+    self.d_prob_count = 0
 
     self.params = Params()
 
@@ -231,7 +232,8 @@ class LanePlanner:
 
     adjustLaneTime = 0.05 #self.params.get_int("AdjustLaneTime") * 0.01
     laneline_active = False
-    if self.lanefull_mode and self.d_prob > 0.3:
+    self.d_prob_count = self.d_prob_count + 1 if self.d_prob > 0.3 else 0
+    if self.lanefull_mode and self.d_prob_count > int(1 / DT_MDL):
       laneline_active = True
       use_dist_mode = False  ## 아무리생각해봐도.. 같은 방법인듯...
       if use_dist_mode:

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -422,6 +422,8 @@ class LongitudinalMpc:
 
       if v_cruise == 0 and self.source == 'cruise':
         self.params[:,0] = - carrot.autoNaviSpeedDecelRate
+      #elif self.source in ['cruise', 'e2e']:
+      #  self.params[:,0] = - COMFORT_BRAKE
 
       # These are not used in ACC mode
       x[:], v[:], a[:], j[:] = 0.0, 0.0, 0.0, 0.0

selfdrive/controls/radard.py

@@ -299,7 +299,7 @@ class VisionTrack:
       self.yRel = float(-lead_msg.y[0])
       dPath = self.yRel + np.interp(self.dRel, md.position.x, md.position.y)
       a_lead_vision = lead_msg.a[0]
-      if self.cnt < 2 or self.prob < 0.97:
+      if self.cnt < 20 or self.prob < 0.97: # 레이더측정시 cnt는 0, 레이더사라지고 1초간 비젼데이터 그대로 사용
         self.vRel = lead_v_rel_pred
         self.vLead = float(v_ego + lead_v_rel_pred)
         self.aLead = a_lead_vision
@@ -366,6 +366,8 @@ class RadarD:
     self.params = Params()
     self.enable_radar_tracks = self.params.get_int("EnableRadarTracks")
 
+    self.radar_detected = False
+
 
   def update(self, sm: messaging.SubMaster, rr: car.RadarData):
     self.ready = sm.seen['modelV2']
@@ -426,13 +428,16 @@ class RadarD:
     if len(leads_v3) > 1:
 
       if model_updated:
+        if self.radar_detected:
+          self.vision_tracks[0].cnt = 0
+          self.vision_tracks[1].cnt = 0
         self.vision_tracks[0].update(leads_v3[0], model_v_ego, self.v_ego, sm['modelV2'])
         self.vision_tracks[1].update(leads_v3[1], model_v_ego, self.v_ego, sm['modelV2'])
 
       #self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, low_speed_override=False)
       #self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, low_speed_override=False)
-      self.radar_state.leadOne = self.get_lead(sm['modelV2'], self.tracks, 0, leads_v3[0], model_v_ego, low_speed_override=False)
+      self.radar_state.leadOne, self.radar_detected = self.get_lead(sm['modelV2'], self.tracks, 0, leads_v3[0], model_v_ego, low_speed_override=False)
-      self.radar_state.leadTwo = self.get_lead(sm['modelV2'], self.tracks, 1, leads_v3[1], model_v_ego, low_speed_override=False)
+      self.radar_state.leadTwo, _ = self.get_lead(sm['modelV2'], self.tracks, 1, leads_v3[1], model_v_ego, low_speed_override=False)
 
       # ll, lc, lr, leadCenter, self.radar_state.leadLeft, self.radar_state.leadRight = get_lead_side(self.v_ego, self.tracks, sm['modelV2'],
       #                                                                                               sm['lateralPlan'].laneWidth, model_v_ego)
@@ -482,9 +487,11 @@ class RadarD:
     #      track = None
 
     lead_dict = {'status': False}
+    radar = False
     if track is not None:
       #lead_dict = track.get_RadarState(md, lead_msg.prob, self.vision_tracks[0].yRel, self.vision_tracks[0].vLat)
       lead_dict = track.get_RadarState(md, lead_msg.prob, self.vision_tracks[0].yRel)
+      radar = True
     elif (track is None) and ready and (lead_msg.prob > .8):
       #if self.mixRadarInfo == 4 and v_ego * 3.6 > 30 and lead_msg.prob < 0.99: ##
       #  pass
@@ -501,7 +508,7 @@ class RadarD:
           #lead_dict = closest_track.get_RadarState(md, lead_msg.prob, self.vision_tracks[0].yRel, self.vision_tracks[0].vLat)
           lead_dict = closest_track.get_RadarState(md, lead_msg.prob, self.vision_tracks[0].yRel)
 
-    return lead_dict
+    return lead_dict, radar
 
 # fuses camera and radar data for best lead detection
 def main() -> None:

selfdrive/ui/qt/offroad/settings.cc

@@ -654,6 +654,7 @@ CarrotPanel::CarrotPanel(QWidget* parent) : QWidget(parent) {
 
   cruiseToggles = new ListWidget(this);
   cruiseToggles->addItem(new CValueControl("CruiseButtonMode", "Button: Cruise Button Mode", "0:Normal,1:User1,2:User2", "../assets/offroad/icon_road.png", 0, 2, 1));
+  cruiseToggles->addItem(new CValueControl("LfaButtonMode", "Button: LFA Button Mode", "0:Normal,1:Decel&Stop&LeadCarReady", "../assets/offroad/icon_road.png", 0, 1, 1));
   cruiseToggles->addItem(new CValueControl("CruiseSpeedUnit", "Button: Cruise Speed Unit", "", "../assets/offroad/icon_road.png", 1, 20, 1));
   cruiseToggles->addItem(new CValueControl("CruiseEcoControl", "CRUISE: Eco control(4km/h)", "Temporarily increasing the set speed to improve fuel efficiency.", "../assets/offroad/icon_road.png", 0, 10, 1));
   //cruiseToggles->addItem(new CValueControl("CruiseSpeedMin", "CRUISE: Speed Lower limit(10)", "Cruise control MIN speed", "../assets/offroad/icon_road.png", 5, 50, 1));
@@ -694,7 +695,8 @@ CarrotPanel::CarrotPanel(QWidget* parent) : QWidget(parent) {
   latLongToggles->addItem(new CValueControl("RadarReactionFactor", "LONG: Radar reaction factor(100)", "", "../assets/offroad/icon_logic.png", 0, 200, 10));
   //latLongToggles->addItem(new CValueControl("StartAccelApply", "LONG: StartingAccel 2.0x(0)%", "정지->출발시 가속도의 가속율을 지정합니다 0: 사용안함.", "../assets/offroad/icon_road.png", 0, 100, 10));
   //latLongToggles->addItem(new CValueControl("StopAccelApply", "LONG: StoppingAccel -2.0x(0)%", "정지유지시 브레이크압을 조정합니다. 0: 사용안함. ", "../assets/offroad/icon_road.png", 0, 100, 10));
-  latLongToggles->addItem(new CValueControl("LaneChangeNeedTorque", "LaneChange need torque", "1:need torque, 2:no lanechange, 3:ignore BSD, 4:torque always", "../assets/offroad/icon_logic.png", 0, 4, 1));
+  latLongToggles->addItem(new CValueControl("LaneChangeNeedTorque", "LaneChange need torque", "-1:Disable lanechange, 0: no need torque, 1:need torque", "../assets/offroad/icon_logic.png", -1, 1, 1));
+  latLongToggles->addItem(new CValueControl("LaneChangeBsd", "LaneChange Bsd", "-1:ignore bsd, 0:BSD detect, 1: block steer torque", "../assets/offroad/icon_logic.png", -1, 1, 1));
   latLongToggles->addItem(new CValueControl("StoppingAccel", "LONG: StoppingStartAccelx0.01(-40)", "", "../assets/offroad/icon_logic.png", -100, 0, 5));
   latLongToggles->addItem(new CValueControl("StopDistanceCarrot", "LONG: StopDistance (600)cm", "", "../assets/offroad/icon_logic.png", 300, 1000, 10));
   //latLongToggles->addItem(new CValueControl("TraffStopDistanceAdjust", "LONG: TrafficStopDistance adjust(150)cm", "", "../assets/offroad/icon_road.png", -1000, 1000, 10));

system/manager/manager.py

@@ -85,7 +85,8 @@ def get_default_params():
     ("StoppingAccel", "0"),
     ("StopDistanceCarrot", "550"),
     ("JLeadFactor3", "0"),
-    ("CruiseButtonMode", "2"),
+    ("CruiseButtonMode", "0"),
+    ("LfaButtonMode", "0"),
     ("CruiseButtonTest1", "8"),
     ("CruiseButtonTest2", "30"),
     ("CruiseButtonTest3", "1"),
@@ -125,6 +126,7 @@ def get_default_params():
     ("UseLaneLineSpeedApply", "0"),
     ("AdjustLaneOffset", "0"),
     ("LaneChangeNeedTorque", "0"),
+    ("LaneChangeBsd", "0"),
     ("MaxAngleFrames", "89"),
     ("LateralTorqueCustom", "0"),
     ("LateralTorqueAccelFactor", "2500"),