User set steer ratio

common/params.cc

@@ -394,6 +394,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SpeedLimitChangedAlert", PERSISTENT},
     {"StandardFollow", PERSISTENT},
     {"StandardJerk", PERSISTENT},
+    {"SteerRatio", PERSISTENT},
+    {"SteerRatioStock", PERSISTENT},
     {"StockTune", PERSISTENT},
     {"StoppingDistance", PERSISTENT},
     {"StorageParamsSet", PERSISTENT},

selfdrive/controls/controlsd.py

@@ -812,7 +812,7 @@ 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
@@ -1188,6 +1188,9 @@ 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")

selfdrive/frogpilot/ui/control_settings.cc

@@ -25,6 +25,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
     {"LateralTune", "Lateral Tuning", "Modify openpilot's steering behavior.", "../frogpilot/assets/toggle_icons/icon_lateral_tune.png"},
     {"ForceAutoTune", "Force Auto Tune", "Forces comma's auto lateral tuning for unsupported vehicles.", ""},
     {"NNFF", "NNFF - Neural Network Feedforward", "Use Twilsonco's Neural Network Feedforward for enhanced precision in lateral control.", ""},
+    {"SteerRatio", steerRatioStock != 0 ? QString("Steer Ratio (Default: %1)").arg(steerRatioStock, 0, 'f', 2) : "Steer Ratio", "Set a custom steer ratio for your vehicle controls.", ""},
     {"UseLateralJerk", "Use Lateral Jerk", "Include steer torque necessary to achieve desired steer rate (lateral jerk).", ""},
 
     {"LongitudinalTune", "Longitudinal Tuning", "Modify openpilot's acceleration and braking behavior.", "../frogpilot/assets/toggle_icons/icon_longitudinal_tune.png"},
@@ -222,6 +223,8 @@ 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, "", 1, 0.01);
 
     } else if (param == "LongitudinalTune") {
       FrogPilotParamManageControl *longitudinalTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
@@ -505,6 +508,30 @@ void FrogPilotControlsPanel::updateToggles() {
 }
 
 void FrogPilotControlsPanel::updateCarToggles() {
+  steerRatioStock = params.getFloat("SteerRatioStock");
+
+  if (steerRatioStock == 0.0) {
+    QTimer *timer = new QTimer(this);
+    timer->setInterval(1000);
+    connect(timer, &QTimer::timeout, this, [this, timer]() {
+      steerRatioStock = params.getFloat("SteerRatioStock");
+      if (steerRatioStock != 0.0) {
+        timer->stop();
+        timer->deleteLater();
+
+        FrogPilotParamValueControl *steerRatioToggle = static_cast<FrogPilotParamValueControl*>(toggles["SteerRatio"]);
+        steerRatioToggle->setTitle(QString("Steer Ratio (Default: %1)").arg(steerRatioStock, 0, 'f', 2));
+        steerRatioToggle->updateControl(steerRatioStock * 0.75, steerRatioStock * 1.25, "", 0.01);
+        steerRatioToggle->refresh();
+      }
+    });
+    timer->start();
+  } else {
+    FrogPilotParamValueControl *steerRatioToggle = static_cast<FrogPilotParamValueControl*>(toggles["SteerRatio"]);
+    steerRatioToggle->setTitle(QString("Steer Ratio (Default: %1)").arg(steerRatioStock, 0, 'f', 2));
+    steerRatioToggle->updateControl(steerRatioStock * 0.75, steerRatioStock * 1.25, "", 0.01);
+    steerRatioToggle->refresh();
+  }
 }
 
 void FrogPilotControlsPanel::updateMetric() {

selfdrive/frogpilot/ui/control_settings.h

@@ -42,7 +42,7 @@ private:
   std::set<QString> conditionalExperimentalKeys = {"CECurves", "CECurvesLead", "CESlowerLead", "CENavigation", "CEStopLights", "CESignal"};
   std::set<QString> fireTheBabysitterKeys = {"NoLogging", "MuteOverheated", "NoUploads", "OfflineMode"};
   std::set<QString> laneChangeKeys = {"LaneChangeTime", "LaneDetection", "LaneDetectionWidth", "OneLaneChange"};
-  std::set<QString> lateralTuneKeys = {"ForceAutoTune", "NNFF", "UseLateralJerk"};
+  std::set<QString> lateralTuneKeys = {"ForceAutoTune", "NNFF", "SteerRatio", "UseLateralJerk"};
   std::set<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "AggressiveAcceleration", "SmoothBraking", "StoppingDistance"};
   std::set<QString> mtscKeys = {"DisableMTSCSmoothing", "MTSCAggressiveness", "MTSCCurvatureCheck", "MTSCLimit"};
   std::set<QString> qolKeys = {"DisableOnroadUploads", "HigherBitrate", "NavChill", "PauseLateralOnSignal", "ReverseCruise", "SetSpeedOffset"};
@@ -59,4 +59,6 @@ private:
 
   bool isMetric = params.getBool("IsMetric");
   bool started = false;
+
+  float steerRatioStock = params.getFloat("SteerRatioStock");
 };

selfdrive/locationd/paramsd.py

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