From 22f3f581605dfb104ca6450142cd4508acdcf2f3 Mon Sep 17 00:00:00 2001
From: FrogAi <91348155+FrogAi@users.noreply.github.com>
Date: Sat, 20 Jan 2024 08:58:05 +0000
Subject: [PATCH] January 20, 2024 Update

---
 selfdrive/controls/controlsd.py            | 2 +-
 selfdrive/frogpilot/ui/control_settings.cc | 6 +++---
 selfdrive/frogpilot/ui/control_settings.h  | 2 +-
 selfdrive/locationd/paramsd.py             | 2 +-
 4 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 8b0d8695ec7b6e..de6b35aee9459f 100644
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -1011,7 +1011,7 @@ def update_frogpilot_params(self):
     self.green_light_alert = self.params.get_bool("GreenLightAlert")
 
     lateral_tune = self.params.get_bool("LateralTune")
-    self.steer_ratio = self.params.get_float("SteerRatioStock")
+    self.steer_ratio = self.params.get_float("SteerRatio") if lateral_tune else self.params.get_float("SteerRatioStock")
 
     longitudinal_tune = self.params.get_bool("LongitudinalTune")
     self.sport_plus = self.params.get_int("AccelerationProfile") == 3 and longitudinal_tune
diff --git a/selfdrive/frogpilot/ui/control_settings.cc b/selfdrive/frogpilot/ui/control_settings.cc
index 104496ec22cc49..fbb93a164bcdb2 100644
--- a/selfdrive/frogpilot/ui/control_settings.cc
+++ b/selfdrive/frogpilot/ui/control_settings.cc
@@ -28,7 +28,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
     {"LateralTune", "Lateral Tuning", "Modify openpilot's steering behavior.", "../frogpilot/assets/toggle_icons/icon_lateral_tune.png"},
     {"AverageCurvature", "Average Desired Curvature", "Use Pfeiferj's distance-based curvature adjustment for improved curve handling.", ""},
     {"NNFF", "NNFF - Neural Network Feedforward", "Use Twilsonco's Neural Network Feedforward for enhanced precision in lateral control.", ""},
-    {"SteerRatio", steerRatioStock != 0 ? QString("Steer Ratio (Default: " + QString::number(steerRatioStock) + ")") : "Steer Ratio", "Set a custom steer ratio for your vehicle controls.", ""},
+    {"SteerRatio", steerRatioStock != 0 ? QString("Steer Ratio (Default: %1)").arg(steerRatioStock, 0, 'f', 2) : "Steer Ratio", "Set a custom steer ratio for your vehicle controls.", ""},
 
     {"LongitudinalTune", "Longitudinal Tuning", "Modify openpilot's acceleration and braking behavior.", "../frogpilot/assets/toggle_icons/icon_longitudinal_tune.png"},
     {"AccelerationProfile", "Acceleration Profile", "Change the acceleration rate to be either sporty or eco-friendly.", ""},
@@ -195,7 +195,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
       });
       toggle = lateralTuneToggle;
     } else if (param == "SteerRatio") {
-      toggle = new FrogPilotParamValueControlFloat(param, title, desc, icon, steerRatioStock * 0.75, steerRatioStock * 1.25, std::map<int, QString>(), this, false);
+      toggle = new FrogPilotParamValueControlFloat(param, title, desc, icon, steerRatioStock * 0.75, steerRatioStock * 1.25, std::map<int, QString>(), this, false, "", 10.0);
 
     } else if (param == "LongitudinalTune") {
       FrogPilotParamManageControl *longitudinalTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
@@ -429,7 +429,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
 void FrogPilotControlsPanel::updateCarToggles() {
   FrogPilotParamValueControlFloat *steerRatioToggle = static_cast<FrogPilotParamValueControlFloat*>(toggles["SteerRatio"]);
   steerRatioStock = params.getFloat("SteerRatioStock");
-  steerRatioToggle->setTitle(steerRatioStock != 0 ? QString("Steer Ratio (Default: " + QString::number(steerRatioStock) + ")") : QString("Steer Ratio"));
+  steerRatioToggle->setTitle(steerRatioStock != 0 ? QString("Steer Ratio (Default: %1)").arg(steerRatioStock, 0, 'f', 2) : QString("Steer Ratio"));
   steerRatioToggle->updateControl(steerRatioStock * 0.75, steerRatioStock * 1.25, "", 10.0);
   steerRatioToggle->refresh();
 }
diff --git a/selfdrive/frogpilot/ui/control_settings.h b/selfdrive/frogpilot/ui/control_settings.h
index bbd3a786e547a9..b0292492e62d1f 100644
--- a/selfdrive/frogpilot/ui/control_settings.h
+++ b/selfdrive/frogpilot/ui/control_settings.h
@@ -49,5 +49,5 @@ class FrogPilotControlsPanel : public FrogPilotListWidget {
   Params paramsMemory{"/dev/shm/params"};
 
   bool isMetric = params.getBool("IsMetric");
-  int steerRatioStock = params.getFloat("SteerRatioStock");
+  float steerRatioStock = params.getFloat("SteerRatioStock");
 };
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index 678fc6bb66b5ae..bf3f4f345af7d5 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -136,7 +136,7 @@ def main():
 
   steer_ratio_stock = params_reader.get_float("SteerRatioStock")
   if steer_ratio_stock != CP.steerRatio:
-    params_reader.put_int("SteerRatio", CP.steerRatio * 100)
+    params_reader.put_float("SteerRatio", CP.steerRatio)
     params_reader.put_float("SteerRatioStock", CP.steerRatio)
     params_reader.put_bool("DoReboot", True)