# Page: steering
# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
id: steering
label: Steering
icon: steering_wheel
order: 1
remote_configurable: true
description: Lateral control, lane changes, and steering behavior
sections:
- id: mads
  title: Modular Assistive Driving System (MADS)
  description: ''
  items:
  - key: Mads
    widget: toggle
    title: Enable Modular Assistive Driving System (MADS)
    description: Enable MADS. Disable toggle to revert back to stock sunnypilot engagement/disengagement.
    enablement:
    - $ref: '#/macros/offroad'
  sub_panels:
  - id: mads_settings
    label: MADS Settings
    trigger_key: Mads
    trigger_condition:
      type: param
      key: Mads
      equals: true
    items:
    - key: MadsMainCruiseAllowed
      widget: toggle
      title: Toggle with Main Cruise
      description: 'Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.'
      enablement:
      - $ref: '#/macros/offroad'
      - $ref: '#/macros/mads_full_platforms'
    - key: MadsUnifiedEngagementMode
      widget: toggle
      title: Unified Engagement Mode (UEM)
      description: 'Engage lateral and longitudinal control with cruise control engagement. Note: Once lateral control is
        engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.'
      enablement:
      - $ref: '#/macros/offroad'
      - $ref: '#/macros/mads_full_platforms'
    - key: MadsSteeringMode
      widget: multiple_button
      title: Steering Mode on Brake Pedal
      description: Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
      options:
      - value: 0
        label: Remain Active
        enablement:
        - $ref: '#/macros/mads_full_platforms'
      - value: 1
        label: Pause
        enablement:
        - $ref: '#/macros/mads_full_platforms'
      - value: 2
        label: Disengage
      enablement:
      - $ref: '#/macros/offroad'
- id: blinker
  title: Blinker Control
  description: Lateral pause behavior during turn signals
  items:
  - key: BlinkerPauseLateralControl
    widget: toggle
    title: Pause Lateral Control with Blinker
    description: Pause lateral control with blinker when traveling below the desired speed selected.
    sub_items:
    - key: BlinkerMinLateralControlSpeed
      widget: option
      title: Minimum Speed to Pause Lateral Control
      min: 0
      max: 255
      step: 5
      unit:
        metric: km/h
        imperial: mph
      enablement:
      - type: param
        key: BlinkerPauseLateralControl
        equals: true
    - key: BlinkerLateralReengageDelay
      widget: option
      title: Post-Blinker Delay
      description: Delay before lateral control resumes after the turn signal ends.
      min: 0
      max: 10
      step: 1
      unit: second
      enablement:
      - type: param
        key: BlinkerPauseLateralControl
        equals: true
- id: torque
  title: Torque Control
  description: Steering torque tuning and lateral control method
  enablement:
  - type: capability
    field: torque_allowed
    equals: true
  items:
  - key: EnforceTorqueControl
    widget: toggle
    title: Enforce Torque Lateral Control
    description: Enable this to enforce sunnypilot to steer with Torque lateral control.
    visibility:
    - type: not
      condition:
        type: capability
        field: steer_control_type
        equals: angle
    enablement:
    - $ref: '#/macros/offroad'
    - type: capability
      field: torque_allowed
      equals: true
    - type: param
      key: NeuralNetworkLateralControl
      equals: false
  sub_panels:
  - id: torque_settings
    label: Torque Settings
    trigger_key: EnforceTorqueControl
    trigger_condition:
      type: param
      key: EnforceTorqueControl
      equals: true
    items:
    - key: LiveTorqueParamsToggle
      widget: toggle
      title: Self-Tune
      description: Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.
      enablement:
      - $ref: '#/macros/offroad'
    - key: LiveTorqueParamsRelaxedToggle
      widget: toggle
      title: Less Restrict Settings for Self-Tune (Beta)
      description: Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.
      enablement:
      - $ref: '#/macros/offroad'
      - type: param
        key: LiveTorqueParamsToggle
        equals: true
    - key: CustomTorqueParams
      widget: toggle
      title: Enable Custom Tuning
      description: Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below
        will override the offline values indicated in the YAML files within "opendbc/car/torque_data". The values will also
        be used live when "Manual Real-Time Tuning" toggle is enabled.
      enablement:
      - $ref: '#/macros/offroad'
    - key: TorqueParamsOverrideEnabled
      widget: toggle
      title: Manual Real-Time Tuning
      description: Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune.
        Enabling this toggle overrides Self-Tune values.
      enablement:
      - $ref: '#/macros/offroad'
      - type: param
        key: CustomTorqueParams
        equals: true
    - key: TorqueParamsOverrideLatAccelFactor
      widget: option
      title: Lateral Acceleration Factor
      title_param_suffix:
        param: TorqueParamsOverrideEnabled
        values:
          'true': (Real-Time & Offline)
          'false': (Offline Only)
      min: 0.1
      max: 5.0
      step: 0.1
      unit: m/s²
      enablement:
      - type: param
        key: CustomTorqueParams
        equals: true
      - type: any
        conditions:
        - type: param
          key: TorqueParamsOverrideEnabled
          equals: true
        - type: offroad_only
    - key: TorqueParamsOverrideFriction
      widget: option
      title: Friction
      title_param_suffix:
        param: TorqueParamsOverrideEnabled
        values:
          'true': (Real-Time & Offline)
          'false': (Offline Only)
      min: 0.0
      max: 1.0
      step: 0.01
      enablement:
      - type: param
        key: CustomTorqueParams
        equals: true
      - type: any
        conditions:
        - type: param
          key: TorqueParamsOverrideEnabled
          equals: true
        - type: offroad_only
    - key: TorqueControlTune
      widget: multiple_button
      title: Torque Control Tune Version
      description: Select the version of Torque Control Tune to use.
      options:
      - value: ''
        label: Default
      - value: 1.0
        label: v1.0
      - value: 0.0
        label: v0.0
      enablement:
      - $ref: '#/macros/offroad'
- id: lane_change
  title: Lane Change
  description: Automatic lane change timing and behavior
  items:
  - key: AutoLaneChangeTimer
    widget: option
    title: Auto Lane Change by Blinker
    description: |-
      Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
    details: |-
      Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.
    options:
    - value: -1
      label: 'Off'
    - value: 0
      label: Nudge
    - value: 1
      label: Nudgeless
    - value: 2
      label: 0.5 second
    - value: 3
      label: 1 second
    - value: 4
      label: 2 seconds
    - value: 5
      label: 3 seconds
  - key: AutoLaneChangeBsmDelay
    widget: toggle
    title: 'Auto Lane Change: Delay with Blind Spot'
    description: Toggle to enable a delay timer for lane changes when blind spot monitoring (BSM) detects a vehicle in your blind
      spot.
    enablement:
    - type: capability
      field: enable_bsm
      equals: true
    - type: param_compare
      key: AutoLaneChangeTimer
      op: '>'
      value: 0