Masteryota

Masteryota This reverts commit 916f2de. 1.8 accel max 1.25 follow Copied Sport vals from SA-Eco 3 hours off / saves your 12v battery Testing if the deadzone is causing the delay Or maybe it's the high ki values. Testing old known values from previous versions of OP. No deadzone Toyota logo instead of comma 1.2 follow Fork mods Fork mods lower gain, higher prediction, stiffer wheel, higher steer ratio Fork mods commit 5c673b6399737b3e0b9d9d54e0b830e0cb04b185 Author: cfranhonda <46506059+cfranhonda@users.noreply.github.com> Date: Wed Jul 28 15:47:27 2021 -0700 Fix steer max and make ki a bit higher. commit 039cf40ab0ac72ced1c19de6854b7761a109d4e6 Author: Casey Francis <@cfranhonda> Date: Tue Jul 27 23:19:30 2021 -0700 add LQR for other bosch kids commit 95efde9a50bc4ca38a81e5cfdb86d1307db41f3c Author: Casey Francis <@cfranhonda> Date: Tue Jul 27 22:34:51 2021 -0700 add LQR tune Fork mods commit 9b45eb1 Author: Daehyuk Ahn <daehyuk@live.com> Date: Mon May 24 23:14:34 2021 -0700 Add EnableGasPedal (toggle menu) commit 4e9ac3b Author: Casey Francis <@cfranhonda> Date: Sat Aug 21 17:36:22 2021 -0700 full speed fan commit 152dec1 Author: Casey Francis <@cfranhonda> Date: Sat Aug 21 07:45:17 2021 -0700 add vision/ disable radar toggle commit 5c48f3e Author: Casey Francis <@cfranhonda> Date: Sat Aug 21 07:35:54 2021 -0700 vaggy hack to stop jerk commit 87328dd Author: cfranhonda <46506059+cfranhonda@users.noreply.github.com> Date: Mon Aug 23 07:15:05 2021 -0700 eps mod / gasmax adjust commit baffaee Author: Vehicle Researcher <user@comma.ai> Date: Sun Aug 22 22:13:11 2021 -0700 openpilot v0.8.8 release adding "," fws for modded people Update thermald.py No sound for Saturated steering remove no gps alert Update power_monitoring.py Update interface.py green instead of red path LQR toggle add LQR toggle for select Honda's add LQR toggle for modded Civic's & CRV Revert "Universal LQR tune" This reverts commit c10adf7. add LQR toggle change description Universal LQR tune Universal LQR tune This tune taken from the Toyota Rav4 has shown to be a great alternative to the standard PID tune. It's worked very well on eps mod multipliers of 2, 2.5, 3.5, 4x. It climbs the torque scale much smoother and doesn't "jitter" like PID does sometimes. fix LQR for RDX kf under PID only. add Accord to LQR toggle Conflicts: selfdrive/boardd/boardd.cc selfdrive/controls/lib/events.py selfdrive/ui/qt/offroad/settings.cc LQR toggle lower ff +25% Cruise max add to release notes paramsd cpu usage has been increasing boardd: connect to all pandas if none specified (commaai#23805) Refactor convolutions (commaai#23807) * one conv with defines * add conv * building works on C3 * this is num_outputs too, process replay is so useful cleanup import chaining of T_IDXS (commaai#23806) bump panda ui.py: fix model lead plotting Param to allow upload over cellular (commaai#23811) * param to allow upload over cellular * brackets to be consistent * move outside loop * fix tests longitudinal planner: disable change cost when stopped. not engaged or gas pressed (commaai#23639) * disable change cost completely on standstill and gas press * cleanup * set accel to zero * clean up logic around standstill * update ref onroad_test: increase camerad cpu usage after debayer changes Update raw_logger/framereader to new new ffmpeg api (commaai#23799) * Update raw_logger/framereader to new new ffmpeg api * Can be removed now * Handled by avcodec_free_context * handle EAGAIN and clean up thneed: a few asserts in the optimizer for cases it will fail docs: fix title typo cabana for your terminal Fix tici bigmodel (commaai#23817) * Fix bigmodel on tici: cam intrinsics arent static * Give TICI route own name for import * Make function useable in offline test * typo * change tici ecam focal to trained focal * No shadow variable * Fixed ref * Force update this time * Update model replay ref commit 2022 Hyundai Elantra firmware versions (commaai#23818) Added 2022 Hyundai Elantra fwdCamera, transmission, and engine fingerprints. CARS.md add 2022 elantra hyundai: custom fw version for sonata eps (commaai#23816) * hyundai: custom fw version for sonata eps * another comment HKG: Kia Sorento FPv2 (commaai#23815) * Replace Kia Sorento FPv1 with FPv2 * keep old fingerprint Subaru: add FW for Impreza Limited UDM 2017 (commaai#23802) * FPv2: Add Subaru Impreza Limited USM 2017 * test_fw_query_on_routes.py: add subaru support Fix unmetered upload over cell (fix commaai#23811) (commaai#23820) omx encoder: move writing into thread (commaai#23771) * omx encoder: move writing to separate thread * fix include * pop * log buffers sizes * split copy and write adjust comma two model timing thresholds after bigmodel Toyota: fix flaky EV detection (commaai#23825) script to clear DTCs move lock clearing to uploader (commaai#23826) * move lock clearing to uploader * test case Honda: revert to button enable on Nidec (commaai#23828) * Honda: revert to button enable on Nidec * fix test * bump panda Added (Ecu.eps) fingerprint for Hyundai Ioniq EV 2017 (commaai#23823) fix mac_setup w/ tools+plotjuggler (commaai#23552) * fix pycurl issue: * use newer curl backend for pip install * update lib paths based on brew prefix * fix cert issue when using pycurl using certifi * make output setup nicer * fix linter * typo * dont need that actually * revert * pipenv in brew * forgot this * make brew available on fresh install * undo * more undo * oops * use sytem curl, but homebrew openssl replay: use QCoreApplication (commaai#23831) scons: use correct brew prefix (commaai#23833) replay: use VideoToolbox HW decoder on Mac (commaai#23832) * replay: support VideoToolbox HW decoding * rename flag * remove debug assert Fix watch3 on mac (commaai#23834) this seems to about what my car converges to (commaai#23836) boardd: handle missing pandas Subaru: remove Impreza CAN fingerprints (commaai#23841) * Subaru: remove Impreza CAN fingerprints * fix process replay * update refs Toyota: remove outdated comment (commaai#23844) Remove unused MPC_COST_LONG class (commaai#23843) Faster cruise max Update interface.py sport torque for everyone torq boi suggestions torque for everyone Update settings.cc Update interface.py fix prius/camry tune torque for everyone add torque to hondas Update interface.py Fix Honda rename MAX_LAT_ACCEL Rename to MAX_LAT_ACCEL Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com>
cfranyota · Apr 29, 2022 · 8eb169a · 8eb169a
1 parent fd4f60e
commit 8eb169a
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diff --git a/selfdrive/assets/img_chffr_wheel.png b/selfdrive/assets/img_chffr_wheel.png
diff --git a/selfdrive/assets/img_spinner_comma.png b/selfdrive/assets/img_spinner_comma.png
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -3,6 +3,7 @@
 from panda import Panda
 from common.conversions import Conversions as CV
 from common.numpy_fast import interp
+from common.params import Params
 from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL
 from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
@@ -88,15 +89,20 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
       ret.wheelbase = CivicParams.WHEELBASE
       ret.centerToFront = CivicParams.CENTER_TO_FRONT
       ret.steerRatio = 15.38  # 10.93 is end-to-end spec
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
       if eps_modified:
-        # stock request input values:     0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
-        # stock request output values:    0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
-        # modified request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x2880, 0x3180
-        # stock filter output values:     0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108
-        # modified filter output values:  0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480
-        # note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max
-        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
+        if Params().get_bool('Torque'):
+          max_torque = 2.0
+          friction = 0.05
+
+          ret.lateralTuning.init('torque')
+          ret.lateralTuning.torque.useSteeringAngle = True
+          ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.ki = 0.5 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.friction = friction
+        else:
+          ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
       else:
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
@@ -108,9 +114,24 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
       ret.wheelbase = CivicParams.WHEELBASE
       ret.centerToFront = CivicParams.CENTER_TO_FRONT
       ret.steerRatio = 15.38  # 10.93 is end-to-end spec
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2564, 8000], [0, 2564, 3840]]
+      if eps_modified:
+        if Params().get_bool('Torque'):
+          max_torque = 2.0
+          friction = 0.05
+
+          ret.lateralTuning.init('torque')
+          ret.lateralTuning.torque.useSteeringAngle = True
+          ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.ki = 0.5 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.friction = friction
+        else:
+          ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.36], [0.108]] #minus 10% from 0.4, 0.12
+      else:
+        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
       tire_stiffness_factor = 1.
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
     elif candidate in (CAR.ACCORD, CAR.ACCORDH):
       stop_and_go = True
@@ -119,13 +140,20 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
       ret.centerToFront = ret.wheelbase * 0.39
       ret.steerRatio = 16.33  # 11.82 is spec end-to-end
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      tire_stiffness_factor = 0.8467
-
-      if eps_modified:
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
+      if Params().get_bool('Torque'):
+        max_torque = 2.0
+        friction = 0.05
+
+        ret.lateralTuning.init('torque')
+        ret.lateralTuning.torque.useSteeringAngle = True
+        ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
+        ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
+        ret.lateralTuning.torque.ki = 0.5 / MAX_LAT_ACCEL
+        ret.lateralTuning.torque.friction = friction
       else:
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
-
+      tire_stiffness_factor = 0.8467
+
     elif candidate == CAR.ACURA_ILX:
       stop_and_go = False
       ret.mass = 3095. * CV.LB_TO_KG + STD_CARGO_KG
@@ -158,7 +186,19 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
         # stock request output values:    0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
         # modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
+        # Use LQR tune if param is set
+        if Params().get_bool('Torque'):
+          max_torque = 2.0
+          friction = 0.05
+
+          ret.lateralTuning.init('torque')
+          ret.lateralTuning.torque.useSteeringAngle = True
+          ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.ki = 0.5 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.friction = friction
+        else:
+          ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
       else:
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
@@ -223,11 +263,24 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
       ret.mass = 4068. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.75
       ret.centerToFront = ret.wheelbase * 0.41
-      ret.steerRatio = 11.95  # as spec
+      ret.steerRatio = 16.0 #11.95 is spec
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
+      if Params().get_bool('Torque'):
+        max_torque = 2.0
+        friction = 0.05
+
+        ret.lateralTuning.init('torque')
+        ret.lateralTuning.torque.useSteeringAngle = True
+        ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
+        ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
+        ret.lateralTuning.torque.ki = 0.5 / MAX_LAT_ACCEL
+        ret.lateralTuning.torque.friction = friction
+      else:
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
+        ret.lateralTuning.pid.kf = 0.00007818594
       tire_stiffness_factor = 0.677
 
+
     elif candidate == CAR.ODYSSEY:
       stop_and_go = False
       ret.mass = 4471. * CV.LB_TO_KG + STD_CARGO_KG

diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
@@ -535,6 +535,15 @@ class Footnote(Enum):
       b'39990-TGG-J510\x00\x00',
       b'39990-TGL-E130\x00\x00',
       b'39990-TGN-E120\x00\x00',
+      b'39990-TBA,C020\x00\x00',
+      b'39990-TBA,C120\x00\x00',
+      b'39990-TEA,T820\x00\x00',
+      b'39990-TEZ,T020\x00\x00',
+      b'39990-TGG,A020\x00\x00',
+      b'39990-TGG,A120\x00\x00',
+      b'39990-TGG,J510\x00\x00',
+      b'39990-TGL,E130\x00\x00',
+      b'39990-TGN,E120\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-TBA-A060\x00\x00',

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -2,6 +2,8 @@
 from cereal import car
 from common.conversions import Conversions as CV
 from panda import Panda
+from common.numpy_fast import interp
+from common.params import Params
 from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune
 from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
@@ -87,7 +89,10 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
       ret.steerRatio = 13.7
       tire_stiffness_factor = 0.7933
       ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
+      if Params().get_bool('Torque'):
+        set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.0, FRICTION=0.10)
+      else:
+        set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
 
     elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
       stop_and_go = True
@@ -183,7 +188,10 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
       ret.steerRatio = 13.4   # True steerRatio from older prius
       tire_stiffness_factor = 0.6371   # hand-tune
       ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_N)
+      if Params().get_bool('Torque'):
+        set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.0, FRICTION=0.10)
+      else:
+        set_lat_tune(ret.lateralTuning, LatTunes.PID_N)
 
     elif candidate == CAR.MIRAI:
       stop_and_go = True
@@ -236,7 +244,12 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
       set_long_tune(ret.longitudinalTuning, LongTunes.PEDAL)
     elif candidate in TSS2_CAR:
       set_long_tune(ret.longitudinalTuning, LongTunes.TSS2)
-      ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
+      # Improved longitudinal tune settings from sshane
+      ret.vEgoStopping = 0.2  # car is near 0.1 to 0.2 when car starts requesting stopping accel
+      ret.vEgoStarting = 0.2  # needs to be > or == vEgoStopping
+      ret.stoppingDecelRate = 0.3  # reach stopping target smoothly - seems to take 0.5 seconds to go from 0 to -0.4
+      ret.longitudinalActuatorDelayLowerBound = 0.3
+      ret.longitudinalActuatorDelayUpperBound = 0.3
     else:
       set_long_tune(ret.longitudinalTuning, LongTunes.TSS)
 

diff --git a/selfdrive/common/params.cc b/selfdrive/common/params.cc
@@ -177,6 +177,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
     {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
     {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
+    {"Torque", PERSISTENT},
 };
 
 } // namespace

diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
@@ -246,10 +246,10 @@ def calibration_incomplete_alert(CP: car.CarParams, sm: messaging.SubMaster, met
 def no_gps_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
   gps_integrated = sm['peripheralState'].pandaType in (log.PandaState.PandaType.uno, log.PandaState.PandaType.dos)
   return Alert(
-    "Poor GPS reception",
-    "Hardware malfunctioning if sky is visible" if gps_integrated else "Check GPS antenna placement",
-    AlertStatus.normal, AlertSize.mid,
-    Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=300.)
+    "",
+    "If sky is visible, contact support" if gps_integrated else "",
+    AlertStatus.normal, AlertSize.none,
+    Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2)
 
 # *** debug alerts ***
 
@@ -509,7 +509,7 @@ def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, sof
       "Take Control",
       "Turn Exceeds Steering Limit",
       AlertStatus.userPrompt, AlertSize.mid,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 1.),
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, 1., 1., 1.),
   },
 
   # Thrown when the fan is driven at >50% but is not rotating

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
@@ -17,8 +17,8 @@
 LON_MPC_STEP = 0.2  # first step is 0.2s
 AWARENESS_DECEL = -0.2  # car smoothly decel at .2m/s^2 when user is distracted
 A_CRUISE_MIN = -1.2
-A_CRUISE_MAX_VALS = [1.2, 1.2, 0.8, 0.6]
-A_CRUISE_MAX_BP = [0., 15., 25., 40.]
+A_CRUISE_MAX_VALS = [2.5, 3.0, 2.5, 1.5, 1.2]  # Sets the limits of the planner accel, PID may exceed
+A_CRUISE_MAX_BP = [0., 5., 10., 20., 55.]
 
 # Lookup table for turns
 _A_TOTAL_MAX_V = [1.7, 3.2]

diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
@@ -41,6 +41,7 @@ def manager_init() -> None:
     ("DisengageOnAccelerator", "1"),
     ("HasAcceptedTerms", "0"),
     ("OpenpilotEnabledToggle", "1"),
+    ("DisableRadar_Allow", "1"),
   ]
   if not PC:
     default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')))

diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py
@@ -20,7 +20,7 @@
 
 VBATT_PAUSE_CHARGING = 11.0           # Lower limit on the LPF car battery voltage
 VBATT_INSTANT_PAUSE_CHARGING = 7.0    # Lower limit on the instant car battery voltage measurements to avoid triggering on instant power loss
-MAX_TIME_OFFROAD_S = 30*3600
+MAX_TIME_OFFROAD_S = 3*3600 #3 hours
 MIN_ON_TIME_S = 3600
 
 class PowerMonitoring:

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
@@ -71,6 +71,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "When enabled, pressing the accelerator pedal will disengage openpilot.",
       "../assets/offroad/icon_disengage_on_accelerator.svg",
     },
+    {
+      "Torque",
+      "Use Torque Tune",
+      "Use Torque tuning values. For select models only..",
+      "../assets/offroad/icon_openpilot.png",
+    },
 #ifdef ENABLE_MAPS
     {
       "NavSettingTime24h",