From 682d738ffac3432549643a9889e1424192f88291 Mon Sep 17 00:00:00 2001
From: Amy Jeanes <amyjeanes23@gmail.com>
Date: Sun, 2 Nov 2025 02:47:30 +0000
Subject: [PATCH] Tesla: Coop Steering (#1283)

* Tesla: Coop Steering

* bump

* bump

* sync with opendbc/master

* resolve comment

* add oscillation warning and add confirmation

* styling desc

* beta

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 common/params_keys.h                          |  1 +
 opendbc_repo                                  |  2 +-
 .../settings/vehicle/tesla_settings.cc        | 34 +++++++++++++++++++
 .../offroad/settings/vehicle/tesla_settings.h |  2 +-
 sunnypilot/selfdrive/car/interfaces.py        |  5 +++
 5 files changed, 42 insertions(+), 2 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index d8485be15..df53261eb 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -208,6 +208,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"HyundaiLongitudinalTuning", {PERSISTENT | BACKUP, INT, "0"}},
     {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
diff --git a/opendbc_repo b/opendbc_repo
index e0e162682..c7126f8ba 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit e0e1626820d6a18a984ae69eebc012180699d41c
+Subproject commit c7126f8ba620eb06fe345013081e97503331bbe1
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc
index 50ab02302..2fffdb8ad 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc
@@ -8,7 +8,41 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h"
 
 TeslaSettings::TeslaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  constexpr int coopSteeringMinKmh = 23; // minimum speed for cooperative steering (enforced by Tesla firmware)
+  constexpr int oemSteeringMinKmh = 48; // minimum speed for OEM lane departure avoidance (enforced by Tesla firmware)
+  bool is_metric = params.getBool("IsMetric");
+  QString unit = is_metric ? "km/h" : "mph";
+  int display_value_coop;
+  int display_value_oem;
+  if (is_metric) {
+    display_value_coop = coopSteeringMinKmh;
+    display_value_oem = oemSteeringMinKmh;
+  } else {
+    display_value_coop = static_cast<int>(std::round(coopSteeringMinKmh * KM_TO_MILE));
+    display_value_oem = static_cast<int>(std::round(oemSteeringMinKmh * KM_TO_MILE));
+  }
+  const QString coop_desc = QString("<b>%1</b><br><br>"
+                                    "%2<br>"
+                                    "%3<br>")
+                            .arg(tr("Warning: May experience steering oscillations below %5 %6 during turns, recommend disabling this feature if you experience these."))
+                            .arg(tr("Allows the driver to provide limited steering input while openpilot is engaged."))
+                            .arg(tr("Only works above %4 %6."))
+                            .arg(display_value_coop)
+                            .arg(display_value_oem)
+                            .arg(unit);
+
+  coopSteeringToggle = new ParamControlSP(
+    "TeslaCoopSteering",
+    tr("Cooperative Steering (Beta)"),
+    coop_desc,
+    "",
+    this
+  );
+  list->addItem(coopSteeringToggle);
+  coopSteeringToggle->showDescription();
+  coopSteeringToggle->setConfirmation(true, false);
 }
 
 void TeslaSettings::updateSettings() {
+  coopSteeringToggle->setEnabled(offroad);
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h
index 37f2936cd..a1294513e 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h
@@ -22,5 +22,5 @@ public:
   void updateSettings() override;
 
 private:
-  bool offroad = false;
+  ParamControlSP *coopSteeringToggle = nullptr;
 };
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index 7d63d3c5b..59cfeabd6 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -115,4 +115,9 @@ def initialize_params(params) -> list[dict[str, Any]]:
     "SubaruStopAndGoManualParkingBrake",
   ])
 
+  # tesla
+  keys.extend([
+    "TeslaCoopSteering",
+  ])
+
   return [{k: params.get(k, return_default=True)} for k in keys]