Toyota interface.py refactor. Move default long tune before candidate check. (#19652)

old-commit-hash: d632cddabb

selfdrive/car/toyota/interface.py

@@ -24,6 +24,14 @@ class CarInterface(CarInterfaceBase):
     ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
     ret.steerLimitTimer = 0.4
 
+    # Default longitudinal tune
+    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]
+
     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.]]
@@ -307,21 +315,11 @@ class CarInterface(CarInterfaceBase):
     # intercepting the DSU is a community feature since it requires unofficial hardware
     ret.communityFeature = ret.enableGasInterceptor or ret.enableDsu or smartDsu
 
-    ret.longitudinalTuning.deadzoneBP = [0., 9.]
-    ret.longitudinalTuning.deadzoneV = [0., .15]
-    ret.longitudinalTuning.kpBP = [0., 5., 35.]
-    ret.longitudinalTuning.kiBP = [0., 35.]
-
     if ret.enableGasInterceptor:
       ret.gasMaxBP = [0., 9., 35]
       ret.gasMaxV = [0.2, 0.5, 0.7]
       ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
       ret.longitudinalTuning.kiV = [0.18, 0.12]
-    else:
-      ret.gasMaxBP = [0.]
-      ret.gasMaxV = [0.5]
-      ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
-      ret.longitudinalTuning.kiV = [0.54, 0.36]
 
     return ret