Latcontrol torque: max_torque rename (#24265)

selfdrive/car/toyota/interface.py

@@ -51,7 +51,7 @@ class CarInterface(CarInterfaceBase):
       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
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_TORQUE=2.5, FRICTION=0.06)
+      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.5, FRICTION=0.06)
 
     elif candidate == CAR.COROLLA:
       ret.wheelbase = 2.70
@@ -132,7 +132,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 13.9
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_TORQUE=3.0, FRICTION=0.08)
+      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=3.0, FRICTION=0.08)
 
     elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH):
       stop_and_go = True

selfdrive/car/toyota/tunes.py

@@ -50,13 +50,13 @@ def set_long_tune(tune, name):
 
 
 ###### LAT ######
-def set_lat_tune(tune, name, MAX_TORQUE=2.5, FRICTION=.1):
+def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=.1):
   if name == LatTunes.TORQUE:
     tune.init('torque')
     tune.torque.useSteeringAngle = True
-    tune.torque.kp = 2.0 / MAX_TORQUE
+    tune.torque.kp = 2.0 / MAX_LAT_ACCEL
-    tune.torque.kf = 1.0 / MAX_TORQUE
+    tune.torque.kf = 1.0 / MAX_LAT_ACCEL
-    tune.torque.ki = 0.5 / MAX_TORQUE
+    tune.torque.ki = 0.5 / MAX_LAT_ACCEL
     tune.torque.friction = FRICTION
   elif name == LatTunes.INDI_PRIUS:
     tune.init('indi')