update tune, rate limits not permanent

Author: sshane

selfdrive/car/toyota/interface.py

@@ -25,7 +25,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
 
     ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop
 
-    if candidate not in [CAR.PRIUS, CAR.RAV4, CAR.RAV4H, CAR.CAMRYH_TSS2]:  # These cars use LQR/INDI
+    if candidate not in [CAR.PRIUS, CAR.RAV4, CAR.RAV4H]:  # These cars use LQR/INDI
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
 
@@ -134,18 +134,8 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
       ret.steerRatio = 13.7
       tire_stiffness_factor = 0.7933
       ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      ret.lateralTuning.init('indi')
-      ret.lateralTuning.indi.innerLoopGainBP = [20, 24, 30]
-      ret.lateralTuning.indi.innerLoopGainV = [7.25, 7.5, 9]
-      ret.lateralTuning.indi.outerLoopGainBP = [20, 24, 30]
-      ret.lateralTuning.indi.outerLoopGainV = [6, 7.25, 6]
-      ret.lateralTuning.indi.timeConstantBP = [20, 24]
-      ret.lateralTuning.indi.timeConstantV = [2.0, 2.2]
-      ret.lateralTuning.indi.actuatorEffectivenessBP = [20, 24]
-      ret.lateralTuning.indi.actuatorEffectivenessV = [2, 3]
-      ret.steerActuatorDelay = 0.3
-      ret.steerRateCost = 1.25
-      ret.steerLimitTimer = 0.5
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.4], [0.1]]
+      ret.lateralTuning.pid.kf = 0.00006
 
     elif candidate in [CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]:
       stop_and_go = True

selfdrive/car/toyota/values.py

@@ -16,9 +16,9 @@ class CarControllerParams:
   ACCEL_MIN = -3.5  # m/s2
 
   STEER_MAX = 1500
-  STEER_DELTA_UP = 10       # 1.5s time to peak torque
+  STEER_DELTA_UP = 12       # 1.5s time to peak torque
   STEER_DELTA_DOWN = 25     # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50)
-  STEER_ERROR_MAX = 350     # max delta between torque cmd and torque motor
+  STEER_ERROR_MAX = 450     # max delta between torque cmd and torque motor
 
 class CAR:
   PRIUS = "TOYOTA PRIUS 2017"