default carParams.stoppingControl to True (#21248)

* hyundai has full brake control

* set default stoppingControl to True

* update ref

Co-authored-by: Willem Melching <willem.melching@gmail.com>

selfdrive/car/gm/interface.py

@@ -106,7 +106,6 @@ class CarInterface(CarInterfaceBase):
     ret.longitudinalTuning.kiBP = [0.]
     ret.longitudinalTuning.kiV = [0.36]
 
-    ret.stoppingControl = True
     ret.startAccel = 0.8
 
     ret.steerLimitTimer = 0.4

selfdrive/car/honda/interface.py

@@ -429,7 +429,6 @@ class CarInterface(CarInterfaceBase):
     ret.brakeMaxBP = [5., 20.]  # m/s
     ret.brakeMaxV = [1., 0.8]   # max brake allowed
 
-    ret.stoppingControl = True
     ret.startAccel = 0.5
 
     ret.steerActuatorDelay = 0.1

selfdrive/car/interfaces.py

@@ -76,7 +76,7 @@ class CarInterfaceBase():
     ret.minSpeedCan = 0.3
     ret.stoppingBrakeRate = 0.2 # brake_travel/s while trying to stop
     ret.startingBrakeRate = 0.8 # brake_travel/s while releasing on restart
-    ret.stoppingControl = False
+    ret.stoppingControl = True
     ret.longitudinalTuning.deadzoneBP = [0.]
     ret.longitudinalTuning.deadzoneV = [0.]
     ret.longitudinalTuning.kpBP = [0.]

selfdrive/car/toyota/interface.py

@@ -24,6 +24,8 @@ class CarInterface(CarInterfaceBase):
     ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
     ret.steerLimitTimer = 0.4
 
+    ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop
+
     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.]]

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-e070867608c1d0cca04f1979db57a8743abb3ad5
+18ef295183f98d5b4e1019cceb7242b255d7d1e0