limit torque inside EPS when overriding (no huge windup in edge cases when overriding)

selfdrive/car/toyota/carcontroller.py

@@ -76,9 +76,9 @@ class CarController:
       apply_angle = actuators.steeringAngleDeg + CS.out.steeringAngleOffsetDeg
       torque_sensor_angle = CS.out.steeringAngleDeg + CS.out.steeringAngleOffsetDeg
 
-      # driver torque blending
-      percentage = interp(abs(CS.out.steeringTorque), [40, 100], [100, 0])
-      apply_angle = interp(percentage, [-10, 100], [torque_sensor_angle, apply_angle])
+      # driver torque blending  - NOW HANDLED IN TOYOTACAN
+      # percentage = interp(abs(CS.out.steeringTorque), [40, 100], [100, 0])
+      # apply_angle = interp(percentage, [-10, 100], [torque_sensor_angle, apply_angle])
 
       # limit max angle error between cmd and actual to reduce EPS integral windup
       # TODO: can we configure this with a signal?
@@ -133,7 +133,8 @@ class CarController:
     angle_control = self.CP.steerControlType == SteerControlType.angle
     can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req and not angle_control))
     if TSS2_CAR:
-      can_sends.append(create_lta_steer_command(self.packer, apply_angle, apply_steer_req and angle_control, self.op_params))
+      limit_torque = CS.out.steeringPressed
+      can_sends.append(create_lta_steer_command(self.packer, apply_angle, apply_steer_req and angle_control, limit_torque, self.op_params))
 
     self.last_angle = apply_angle
     self.last_steer = apply_steer

selfdrive/car/toyota/toyotacan.py

@@ -12,7 +12,7 @@ def create_steer_command(packer, steer, steer_req):
   return packer.make_can_msg("STEERING_LKA", 0, values)
 
 
-def create_lta_steer_command(packer, apply_steer, steer_req, op_params):
+def create_lta_steer_command(packer, apply_steer, steer_req, limit_torque, op_params):
   """Creates a CAN message for the Toyota LTA Steer Command."""
 
   values = {
@@ -32,9 +32,9 @@ def create_lta_steer_command(packer, apply_steer, steer_req, op_params):
     "PERCENTAGE": op_params.get("PERCENTAGE"),
 
     # ramps to 0 smoothly then back on falling edge of STEER_REQUEST if BIT isn't 1
-    # but on 2023 RAV4, it was constant 100 on falling edge and BIT was 0
-    # TODO: figure out if important. torque wind down? maybe user torque blending?
-    "SETME_X64": op_params.get("SETME_X64"),
+    # stock system sometimes uses this signal to wind down torque
+    # TODO: figure out why 99 is so much less torque than 100
+    "SETME_X64": 99 if limit_torque else 100,
 
     # TODO: need to understand this better, it's always 1.5-2x higher than angle cmd
     # TODO: revisit on 2023 RAV4