tabs:
  '0':
    name: Lateral Plan Conformance
    panel_layout:
      type: split
      orientation: 1
      proportions:
      - 0.3333333333333333
      - 0.3333333333333333
      - 0.3333333333333333
      children:
      - type: panel
        panel:
          type: timeseries
          title: desired vs actual
          series_paths:
          - controlsState/lateralControlState/torqueState/desiredLateralAccel
          - controlsState/lateralControlState/torqueState/actualLateralAccel
      - type: panel
        panel:
          type: timeseries
          title: ff vs output
          series_paths:
          - controlsState/lateralControlState/torqueState/f
          - carState/steeringPressed
          - carControl/actuators/torque
      - type: panel
        panel:
          type: timeseries
          title: vehicle speed
          series_paths:
          - carState/vEgo
  '1':
    name: Actuator Performance
    panel_layout:
      type: split
      orientation: 1
      proportions:
      - 0.3333333333333333
      - 0.3333333333333333
      - 0.3333333333333333
      children:
      - type: panel
        panel:
          type: timeseries
          title: calc vs learned latAccelFactor
          series_paths:
          - liveTorqueParameters/latAccelFactorFiltered
          - liveTorqueParameters/latAccelFactorRaw
          - carParams/lateralTuning/torque/latAccelFactor
      - type: panel
        panel:
          type: timeseries
          title: learned latAccelOffset
          series_paths:
          - liveTorqueParameters/latAccelOffsetRaw
          - liveTorqueParameters/latAccelOffsetFiltered
      - type: panel
        panel:
          type: timeseries
          title: calc vs learned friction
          series_paths:
          - liveTorqueParameters/frictionCoefficientFiltered
          - liveTorqueParameters/frictionCoefficientRaw
          - carParams/lateralTuning/torque/friction
  '2':
    name: Vehicle Dynamics
    panel_layout:
      type: split
      orientation: 1
      proportions:
      - 0.3333333333333333
      - 0.3333333333333333
      - 0.3333333333333333
      children:
      - type: panel
        panel:
          type: timeseries
          title: initial vs learned steerRatio
          series_paths:
          - carParams/steerRatio
          - liveParameters/steerRatio
      - type: panel
        panel:
          type: timeseries
          title: initial vs learned tireStiffnessFactor
          series_paths:
          - carParams/tireStiffnessFactor
          - liveParameters/stiffnessFactor
      - type: panel
        panel:
          type: timeseries
          title: live steering angle offsets
          series_paths:
          - liveParameters/angleOffsetDeg
          - liveParameters/angleOffsetAverageDeg
  '3':
    name: Controller PIF Terms
    panel_layout:
      type: split
      orientation: 1
      proportions:
      - 0.3333333333333333
      - 0.3333333333333333
      - 0.3333333333333333
      children:
      - type: panel
        panel:
          type: timeseries
          title: ff vs output
          series_paths:
          - carControl/actuators/torque
          - controlsState/lateralControlState/torqueState/f
          - carState/steeringPressed
      - type: panel
        panel:
          type: timeseries
          title: PIF terms
          series_paths:
          - controlsState/lateralControlState/torqueState/f
          - controlsState/lateralControlState/torqueState/p
          - controlsState/lateralControlState/torqueState/i
      - type: panel
        panel:
          type: timeseries
          title: road roll angle
          series_paths:
          - liveParameters/roll