stop some faults and tuning

selfdrive/car/toyota/interface.py

@@ -225,7 +225,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kiBP = [0.0]
       ret.lateralTuning.pid.kpBP = [0.0]
-      ret.lateralTuning.pid.kpV = [0.5]
+      ret.lateralTuning.pid.kpV = [1.0]
       ret.lateralTuning.pid.kiV = [0.1]
       ret.lateralTuning.pid.kf = 1.0
 

selfdrive/car/toyota/values.py

@@ -23,8 +23,8 @@ class CarControllerParams:
 
   # stock LTA is 0 to 0.05 going straight
   # and 0.1 to 0.4 when turning (max seen is 0.6303)
-  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., .8, .15])
-  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., 3.5, 0.4])
+  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[2., 2., 2.])
+  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[2., 2., 2.])
 
   # needs to be within +-3 degrees of current angle to avoid windup
   ANGLE_DELTA_MAX = 3.0