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Updated RT-TUNE and TUNE-OTHER commands #85

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Updated RT-TUNE and TUNE-OTHER commands #85

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f1b2f98
RT_TUNE: add mahonykp, turntilt start angle, and faster on/off speed
surfdado Oct 21, 2025
2c06bd1
TUNE_OTHER: Flags for DMF, SensorBeep and Parking Brake Mode, Negativ…
surfdado Apr 17, 2025
287d0ef
TUNE_TILT: Allow setting speed pushback in km/h
surfdado May 21, 2026
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46 changes: 42 additions & 4 deletions src/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1538,8 +1538,12 @@ static void cmd_runtime_tune(Data *d, unsigned char *cfg, int len) {

split(cfg[7], &h1, &h2);
d->float_conf.atr_angle_limit = h1 + 5;
d->float_conf.atr_on_speed = (h2 & 0x3) + 3;
d->float_conf.atr_off_speed = (h2 >> 2) + 2;
if (h2 > 0) {
// kept for compatibility reasons
// wider ranges can be set with byte[18]
d->float_conf.atr_on_speed = (h2 & 0x3) + 3;
d->float_conf.atr_off_speed = (h2 >> 2) + 2;
}

split(cfg[8], &h1, &h2);
d->float_conf.atr_response_boost = ((float) h1) / 10 + 1;
Expand Down Expand Up @@ -1576,7 +1580,7 @@ static void cmd_runtime_tune(Data *d, unsigned char *cfg, int len) {
split(cfg[15], &h1, &h2);
float onspd = h1;
float offspd = h2;
d->float_conf.torquetilt_on_speed = onspd / 2;
d->float_conf.torquetilt_on_speed = onspd + 3;
d->float_conf.torquetilt_off_speed = offspd + 3;
}
if (len >= 17) {
Expand All @@ -1585,6 +1589,20 @@ static void cmd_runtime_tune(Data *d, unsigned char *cfg, int len) {
d->float_conf.kp2_brake = ((float) h2) / 10;
beep_alert(d, 1, 1);
}
if (len >= 18) {
split(cfg[17], &h1, &h2);
if (h1 > 0) {
d->float_conf.mahony_kp_roll = ((float) h1) / 10 + 1.0;
}
if (h2 > 0) {
d->float_conf.turntilt_start_angle = h2;
}
split(cfg[18], &h1, &h2);
if ((h1 > 0) && (h2 > 0)) {
d->float_conf.atr_on_speed = h1 * 2;
d->float_conf.atr_off_speed = h2 * 2;
}
}

reconfigure(d);
}
Expand Down Expand Up @@ -1662,6 +1680,9 @@ static void cmd_runtime_tune_tilt(Data *d, unsigned char *cfg, int len) {
d->float_conf.tiltback_duty = (float) cfg[2] / 100.0;
d->float_conf.tiltback_duty_angle = (float) cfg[3] / 10.0;
d->float_conf.tiltback_duty_speed = (float) cfg[4] / 10.0;
if (len >= 6) {
d->float_conf.tiltback_speed = (float) cfg[5];
}

beep_alert(d, 3, 0);
}
Expand Down Expand Up @@ -1709,7 +1730,12 @@ static void cmd_runtime_tune_other(Data *d, unsigned char *cfg, int len) {
if (tiltspeed > 0) {
d->float_conf.noseangling_speed = tiltspeed / 10;
}
d->float_conf.tiltback_variable = tiltvarrate / 100;
if (tiltvarrate > 100) {
// numbers above 100 are negative
d->float_conf.tiltback_variable = (tiltvarrate - 100) / (-100);
} else {
d->float_conf.tiltback_variable = tiltvarrate / 100;
}
d->float_conf.tiltback_variable_max = tiltvarmax / 10;
d->float_conf.tiltback_variable_erpm = cfg[11] * 100;
}
Expand All @@ -1725,6 +1751,18 @@ static void cmd_runtime_tune_other(Data *d, unsigned char *cfg, int len) {
}
}

if (len >= 15) {
int flags2 = cfg[14];
// bits 0 & 1:
d->float_conf.fault_moving_fault_disabled = ((flags2 & 0x1) == 0x1);
d->float_conf.is_footbeep_enabled = ((flags2 & 0x2) == 0x2);
d->switch_warn_beep_erpm = d->float_conf.is_footbeep_enabled ? 2000 : 100000;
// bits 2 & 3:
int pbmode = (flags2 >> 2) & 0x3;
d->motor_control.parking_brake_mode = pbmode;
d->float_conf.parking_brake_mode = pbmode;
}

reconfigure(d);
}

Expand Down