Toyota: longitudinal tune condition cleanup (#25676)

* Toyota: clean up long tunes a bit

* Update selfdrive/car/toyota/interface.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

selfdrive/car/toyota/interface.py

@@ -230,11 +230,10 @@ class CarInterface(CarInterfaceBase):
     # to a negative value, so it won't matter.
     ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED
 
-    if ret.enableGasInterceptor:
-      set_long_tune(ret.longitudinalTuning, LongTunes.PEDAL)
-    elif candidate in TSS2_CAR:
+    if candidate in TSS2_CAR or ret.enableGasInterceptor:
       set_long_tune(ret.longitudinalTuning, LongTunes.TSS2)
-      ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
+      if candidate in TSS2_CAR:
+        ret.stoppingDecelRate = 0.3 # reach stopping target smoothly
     else:
       set_long_tune(ret.longitudinalTuning, LongTunes.TSS)
 

selfdrive/car/toyota/tunes.py

@@ -2,9 +2,8 @@
 from enum import Enum
 
 class LongTunes(Enum):
-  PEDAL = 0
-  TSS2 = 1
-  TSS = 2
+  TSS2 = 0
+  TSS = 1
 
 class LatTunes(Enum):
   INDI_PRIUS = 0
@@ -28,7 +27,7 @@ class LatTunes(Enum):
 ###### LONG ######
 def set_long_tune(tune, name):
   # Improved longitudinal tune
-  if name == LongTunes.TSS2 or name == LongTunes.PEDAL:
+  if name == LongTunes.TSS2:
     tune.deadzoneBP = [0., 8.05]
     tune.deadzoneV = [.0, .14]
     tune.kpBP = [0., 5., 20.]