Cleanup toyota tuning (#22859)

* start cleanup

* start lateral

* finish lateral

* add file

* typo

* add enu

* remove whitespace

* cleanup safetyparam

* typo

release/files_common

@@ -130,6 +130,7 @@ selfdrive/car/hyundai/carcontroller.py
 selfdrive/car/hyundai/hyundaican.py
 selfdrive/car/toyota/__init__.py
 selfdrive/car/toyota/carstate.py
+selfdrive/car/toyota/tunes.py
 selfdrive/car/toyota/interface.py
 selfdrive/car/toyota/radar_interface.py
 selfdrive/car/toyota/values.py

selfdrive/car/toyota/interface.py

@@ -1,7 +1,8 @@
 #!/usr/bin/env python3
 from cereal import car
 from selfdrive.config import Conversions as CV
-from selfdrive.car.toyota.values import Ecu, CAR, TSS2_CAR, NO_DSU_CAR, MIN_ACC_SPEED, PEDAL_HYST_GAP, CarControllerParams
+from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune
+from selfdrive.car.toyota.values import Ecu, CAR, TSS2_CAR, NO_DSU_CAR, MIN_ACC_SPEED, CarControllerParams
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
@@ -25,265 +26,206 @@ class CarInterface(CarInterfaceBase):
 
     ret.stoppingControl = False  # Toyota starts braking more when it thinks you want to stop
 
-    if candidate not in [CAR.PRIUS, CAR.RAV4, CAR.RAV4H]:  # These cars use LQR/INDI
+    # Most cars use this default safety param
-      ret.lateralTuning.init('pid')
+    ret.safetyConfigs[0].safetyParam = 73
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
 
     if candidate == CAR.PRIUS:
-      stop_and_go = True
       ret.safetyConfigs[0].safetyParam = 66  # see conversion factor for STEER_TORQUE_EPS in dbc file
+      stop_and_go = True
       ret.wheelbase = 2.70
       ret.steerRatio = 15.74   # unknown end-to-end spec
       tire_stiffness_factor = 0.6371   # hand-tune
       ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
 
-      ret.lateralTuning.init('indi')
+      set_lat_tune(ret.lateralTuning, LatTunes.INDI_PRIUS)
-      ret.lateralTuning.indi.innerLoopGainBP = [0.]
-      ret.lateralTuning.indi.innerLoopGainV = [4.0]
-      ret.lateralTuning.indi.outerLoopGainBP = [0.]
-      ret.lateralTuning.indi.outerLoopGainV = [3.0]
-      ret.lateralTuning.indi.timeConstantBP = [0.]
-      ret.lateralTuning.indi.timeConstantV = [1.0]
-      ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
-      ret.lateralTuning.indi.actuatorEffectivenessV = [1.0]
       ret.steerActuatorDelay = 0.3
 
     elif candidate in [CAR.RAV4, CAR.RAV4H]:
       stop_and_go = True if (candidate in CAR.RAV4H) else False
-      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.65
       ret.steerRatio = 16.88   # 14.5 is spec end-to-end
       tire_stiffness_factor = 0.5533
       ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      ret.lateralTuning.init('lqr')
+      set_lat_tune(ret.lateralTuning, LatTunes.LQR_RAV4)
-
-      ret.lateralTuning.lqr.scale = 1500.0
-      ret.lateralTuning.lqr.ki = 0.05
-
-      ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
-      ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
-      ret.lateralTuning.lqr.c = [1., 0.]
-      ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
-      ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
-      ret.lateralTuning.lqr.dcGain = 0.002237852961363602
 
     elif candidate == CAR.COROLLA:
-      stop_and_go = False
       ret.safetyConfigs[0].safetyParam = 88
+      stop_and_go = False
       ret.wheelbase = 2.70
       ret.steerRatio = 18.27
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
+      set_lat_tune(ret.lateralTuning, LatTunes.PID_A)
-      ret.lateralTuning.pid.kf = 0.00003   # full torque for 20 deg at 80mph means 0.00007818594
 
     elif candidate == CAR.LEXUS_RX:
       stop_and_go = True
-      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.79
       ret.steerRatio = 14.8
       tire_stiffness_factor = 0.5533
       ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.05]]
+      set_lat_tune(ret.lateralTuning, LatTunes.PID_B)
-      ret.lateralTuning.pid.kf = 0.00006
+
 
     elif candidate == CAR.LEXUS_RXH:
       stop_and_go = True
-      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.79
       ret.steerRatio = 16.  # 14.8 is spec end-to-end
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
+      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
-      ret.lateralTuning.pid.kf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
 
     elif candidate == CAR.LEXUS_RX_TSS2:
       stop_and_go = True
-      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.79
       ret.steerRatio = 14.8
       tire_stiffness_factor = 0.5533  # not optimized yet
       ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
+      set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
-      ret.lateralTuning.pid.kf = 0.00007818594
 
     elif candidate == CAR.LEXUS_RXH_TSS2:
       stop_and_go = True
-      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.79
       ret.steerRatio = 16.0  # 14.8 is spec end-to-end
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 4481.0 * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.15]]
+      set_lat_tune(ret.lateralTuning, LatTunes.PID_E)
-      ret.lateralTuning.pid.kf = 0.00007818594
 
     elif candidate in [CAR.CHR, CAR.CHRH]:
       stop_and_go = True
-      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.63906
       ret.steerRatio = 13.6
       tire_stiffness_factor = 0.7933
       ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.723], [0.0428]]
+      set_lat_tune(ret.lateralTuning, LatTunes.PID_F)
-      ret.lateralTuning.pid.kf = 0.00006
 
     elif candidate in [CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2]:
       stop_and_go = True
-      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.82448
       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.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
+      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
-      ret.lateralTuning.pid.kf = 0.00006
 
     elif candidate in [CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]:
       stop_and_go = True
-      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.84988  # 112.2 in = 2.84988 m
       ret.steerRatio = 16.0
       tire_stiffness_factor = 0.8
       ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG  # 4260 + 4-5 people
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.18], [0.015]]  # community tuning
+      set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
-      ret.lateralTuning.pid.kf = 0.00012  # community tuning
 
     elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
       stop_and_go = True
-      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.78
       ret.steerRatio = 16.0
       tire_stiffness_factor = 0.8
       ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid limited
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.18], [0.015]]  # community tuning
+      set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
-      ret.lateralTuning.pid.kf = 0.00012  # community tuning
 
     elif candidate in [CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019]:
       stop_and_go = False
-      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.82
       ret.steerRatio = 14.8  # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
       tire_stiffness_factor = 0.7983
       ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17], [0.03]]
+      set_lat_tune(ret.lateralTuning, LatTunes.PID_H)
-      ret.lateralTuning.pid.kf = 0.00006
 
     elif candidate in [CAR.RAV4_TSS2, CAR.RAV4H_TSS2]:
       stop_and_go = True
-      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.68986
       ret.steerRatio = 14.3
       tire_stiffness_factor = 0.7933
       ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG  # Average between ICE and Hybrid
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
+      set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
-      ret.lateralTuning.pid.kf = 0.00007818594
 
       # 2019+ Rav4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
       # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
       for fw in car_fw:
         if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
-          ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]]
+          set_lat_tune(ret.lateralTuning, LatTunes.PID_I)
-          ret.lateralTuning.pid.kf = 0.00004
           break
 
     elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
       stop_and_go = True
-      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.67  # Average between 2.70 for sedan and 2.64 for hatchback
       ret.steerRatio = 13.9
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
+      set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
-      ret.lateralTuning.pid.kf = 0.00007818594
 
     elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]:
       stop_and_go = True
-      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.8702
       ret.steerRatio = 16.0  # not optimized
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 3704. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
+      set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
-      ret.lateralTuning.pid.kf = 0.00007818594
 
     elif candidate == CAR.LEXUS_ESH:
       stop_and_go = True
-      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.8190
       ret.steerRatio = 16.06
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 3682. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
+      set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
-      ret.lateralTuning.pid.kf = 0.00007818594
 
     elif candidate == CAR.SIENNA:
       stop_and_go = True
-      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 3.03
       ret.steerRatio = 15.5
       tire_stiffness_factor = 0.444
       ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.02]]
+      set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
-      ret.lateralTuning.pid.kf = 0.00007818594
 
     elif candidate == CAR.LEXUS_IS:
-      stop_and_go = False
       ret.safetyConfigs[0].safetyParam = 77
+      stop_and_go = False
       ret.wheelbase = 2.79908
       ret.steerRatio = 13.3
       tire_stiffness_factor = 0.444
       ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
+      set_lat_tune(ret.lateralTuning, LatTunes.PID_L)
-      ret.lateralTuning.pid.kf = 0.00006
 
     elif candidate == CAR.LEXUS_CTH:
-      stop_and_go = True
       ret.safetyConfigs[0].safetyParam = 100
+      stop_and_go = True
       ret.wheelbase = 2.60
       ret.steerRatio = 18.6
       tire_stiffness_factor = 0.517
       ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
+      set_lat_tune(ret.lateralTuning, LatTunes.PID_M)
-      ret.lateralTuning.pid.kf = 0.00007
 
     elif candidate in [CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2]:
       stop_and_go = True
-      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.66
       ret.steerRatio = 14.7
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
+      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
-      ret.lateralTuning.pid.kf = 0.00006
 
     elif candidate == CAR.PRIUS_TSS2:
       stop_and_go = True
-      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.70002  # from toyota online sepc.
       ret.steerRatio = 13.4   # True steerRation from older prius
       tire_stiffness_factor = 0.6371   # hand-tune
       ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.35], [0.15]]
+      set_lat_tune(ret.lateralTuning, LatTunes.PID_N)
-      ret.lateralTuning.pid.kf = 0.00007818594
 
     elif candidate == CAR.MIRAI:
       stop_and_go = True
-      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 2.91
       ret.steerRatio = 14.8
       tire_stiffness_factor = 0.8
       ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
+      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
-      ret.lateralTuning.pid.kf = 0.00006
 
     elif candidate == CAR.ALPHARD_TSS2:
       stop_and_go = True
-      ret.safetyConfigs[0].safetyParam = 73
       ret.wheelbase = 3.00
       ret.steerRatio = 14.2
       tire_stiffness_factor = 0.444
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.02]]
       ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.lateralTuning.pid.kf = 0.00007818594
+      set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
 
     ret.steerRateCost = 1.
     ret.centerToFront = ret.wheelbase * 0.44
@@ -316,28 +258,13 @@ class CarInterface(CarInterfaceBase):
     ret.communityFeature = ret.enableGasInterceptor or ret.enableDsu or smartDsu
 
     if ret.enableGasInterceptor:
-      ret.longitudinalTuning.kpBP = [0., 5., MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_HYST_GAP, 35.]
+      set_long_tune(ret.longitudinalTuning, LongTunes.PEDAL)
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.765, 2.255, 1.5]
-      ret.longitudinalTuning.kiBP = [0., MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_HYST_GAP, 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.165, 0.489, 0.36]
     elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.RAV4_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_NX_TSS2]:
-      # Improved longitudinal tune
+      set_long_tune(ret.longitudinalTuning, LongTunes.TSS2)
-      ret.longitudinalTuning.deadzoneBP = [0., 8.05]
-      ret.longitudinalTuning.deadzoneV = [.0, .14]
-      ret.longitudinalTuning.kpBP = [0., 5., 20.]
-      ret.longitudinalTuning.kpV = [1.3, 1.0, 0.7]
-      ret.longitudinalTuning.kiBP = [0., 5., 12., 20., 27.]
-      ret.longitudinalTuning.kiV = [.35, .23, .20, .17, .1]
       ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
       ret.startingAccelRate = 6.0  # release brakes fast
     else:
-      # Default longitudinal tune
+      set_long_tune(ret.longitudinalTuning, LongTunes.TSS)
-      ret.longitudinalTuning.deadzoneBP = [0., 9.]
-      ret.longitudinalTuning.deadzoneV = [0., .15]
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
-      ret.longitudinalTuning.kiV = [0.54, 0.36]
 
     return ret
 

selfdrive/car/toyota/tunes.py

@@ -0,0 +1,142 @@
+#!/usr/bin/env python3
+from enum import Enum
+from selfdrive.car.toyota.values import MIN_ACC_SPEED, PEDAL_HYST_GAP
+
+
+class LongTunes(Enum):
+  PEDAL = 0
+  TSS2 = 1
+  TSS = 2
+
+class LatTunes(Enum):
+  INDI_PRIUS = 0
+  LQR_RAV4 = 1
+  PID_A = 2
+  PID_B = 3
+  PID_C = 4
+  PID_D = 5
+  PID_E = 6
+  PID_F = 7
+  PID_G = 8
+  PID_I = 9
+  PID_H = 10
+  PID_J = 11
+  PID_K = 12
+  PID_L = 13
+  PID_M = 14
+  PID_N = 15
+
+
+###### LONG ######
+def set_long_tune(tune, name):
+  if name == LongTunes.PEDAL:
+    tune.deadzoneBP = [0.]
+    tune.deadzoneV = [0.]
+    tune.kpBP = [0., 5., MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_HYST_GAP, 35.]
+    tune.kpV = [1.2, 0.8, 0.765, 2.255, 1.5]
+    tune.kiBP = [0., MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_HYST_GAP, 35.]
+    tune.kiV = [0.18, 0.165, 0.489, 0.36]
+  # Improved longitudinal tune
+  elif name == LongTunes.TSS2:
+    tune.deadzoneBP = [0., 8.05]
+    tune.deadzoneV = [.0, .14]
+    tune.kpBP = [0., 5., 20.]
+    tune.kpV = [1.3, 1.0, 0.7]
+    tune.kiBP = [0., 5., 12., 20., 27.]
+    tune.kiV = [.35, .23, .20, .17, .1]
+  # Default longitudinal tune
+  elif name == LongTunes.TSS:
+    tune.deadzoneBP = [0., 9.]
+    tune.deadzoneV = [0., .15]
+    tune.kpBP = [0., 5., 35.]
+    tune.kiBP = [0., 35.]
+    tune.kpV = [3.6, 2.4, 1.5]
+    tune.kiV = [0.54, 0.36]
+  else:
+    raise NotImplementedError('This longitudinal tune does not exist')
+
+
+###### LAT ######
+def set_lat_tune(tune, name):
+  if name == LatTunes.INDI_PRIUS:
+    tune.init('indi')
+    tune.indi.innerLoopGainBP = [0.]
+    tune.indi.innerLoopGainV = [4.0]
+    tune.indi.outerLoopGainBP = [0.]
+    tune.indi.outerLoopGainV = [3.0]
+    tune.indi.timeConstantBP = [0.]
+    tune.indi.timeConstantV = [1.0]
+    tune.indi.actuatorEffectivenessBP = [0.]
+    tune.indi.actuatorEffectivenessV = [1.0]
+
+  elif name == LatTunes.LQR_RAV4:
+    tune.init('lqr')
+    tune.lqr.scale = 1500.0
+    tune.lqr.ki = 0.05
+    tune.lqr.a = [0., 1., -0.22619643, 1.21822268]
+    tune.lqr.b = [-1.92006585e-04, 3.95603032e-05]
+    tune.lqr.c = [1., 0.]
+    tune.lqr.k = [-110.73572306, 451.22718255]
+    tune.lqr.l = [0.3233671, 0.3185757]
+    tune.lqr.dcGain = 0.002237852961363602
+
+  elif 'PID' in str(name):
+    tune.init('pid')
+    tune.pid.kiBP = [0.0]
+    tune.pid.kpBP = [0.0]
+    if name == LatTunes.PID_A:
+      tune.pid.kpV = [0.2]
+      tune.pid.kiV = [0.05]
+      tune.pid.kf = 0.00003
+    elif name == LatTunes.PID_B:
+      tune.pid.kpV = [0.6]
+      tune.pid.kiV = [0.05]
+      tune.pid.kf = 0.00006
+    elif name == LatTunes.PID_C:
+      tune.pid.kpV = [0.6]
+      tune.pid.kiV = [0.1]
+      tune.pid.kf = 0.00006
+    elif name == LatTunes.PID_D:
+      tune.pid.kpV = [0.6]
+      tune.pid.kiV = [0.1]
+      tune.pid.kf = 0.00007818594
+    elif name == LatTunes.PID_E:
+      tune.pid.kpV = [0.6]
+      tune.pid.kiV = [0.15]
+      tune.pid.kf = 0.00007818594
+    elif name == LatTunes.PID_F:
+      tune.pid.kpV = [0.723]
+      tune.pid.kiV = [0.0428]
+      tune.pid.kf = 0.00006
+    elif name == LatTunes.PID_G:
+      tune.pid.kpV = [0.18]
+      tune.pid.kiV = [0.015]
+      tune.pid.kf = 0.00012
+    elif name == LatTunes.PID_H:
+      tune.pid.kpV = [0.17]
+      tune.pid.kiV = [0.03]
+      tune.pid.kf = 0.00006
+    elif name == LatTunes.PID_I:
+      tune.pid.kpV = [0.15]
+      tune.pid.kiV = [0.05]
+      tune.pid.kf = 0.00004
+    elif name == LatTunes.PID_J:
+      tune.pid.kpV = [0.19]
+      tune.pid.kiV = [0.02]
+      tune.pid.kf = 0.00007818594
+    elif name == LatTunes.PID_L:
+      tune.pid.kpV = [0.3]
+      tune.pid.kiV = [0.05]
+      tune.pid.kf = 0.00006
+    elif name == LatTunes.PID_M:
+      tune.pid.kpV = [0.3]
+      tune.pid.kiV = [0.05]
+      tune.pid.kf = 0.00007
+    elif name == LatTunes.PID_N:
+      tune.pid.kpV = [0.35]
+      tune.pid.kiV = [0.15]
+      tune.pid.kf = 0.00007818594
+    else:
+      raise NotImplementedError('This PID tune does not exist')
+  else:
+    raise NotImplementedError('This lateral tune does not exist')