zhudongjer/carrot
1
1
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Controls - Lateral Tuning - Force Auto Tune

Browse Source 
Forces comma's auto lateral tuning for unsupported vehicles.
This commit is contained in:
FrogAi 2024-05-10 12:01:47 -07:00
parent fb6da7c78c
commit d3beed675a
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
selfdrive/controls/controlsd.py
View File

@ -574,7 +574,7 @@ class Controls:
# Update Torque Params
if self.CP.lateralTuning.which() == 'torque':
torque_params = self.sm['liveTorqueParameters']
if self.sm.all_checks(['liveTorqueParameters']) and torque_params.useParams:
if self.sm.all_checks(['liveTorqueParameters']) and (torque_params.useParams or self.frogpilot_toggles.force_auto_tune):
self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
torque_params.frictionCoefficientFiltered)