test stuff

selfdrive/car/toyota/interface.py

@@ -224,6 +224,8 @@ class CarInterface(CarInterfaceBase):
     if ret.steerControlType == car.CarParams.SteerControlType.angle:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA
 
+      ret.steerActuatorDelay = 0.0  # + 0.2
+
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kiBP = [0.0]
       ret.lateralTuning.pid.kpBP = [0.0]

selfdrive/car/toyota/toyotacan.py

@@ -34,11 +34,13 @@ def create_lta_steer_command(packer, apply_steer, steer_req, limit_torque, op_pa
     # ramps to 0 smoothly then back on falling edge of STEER_REQUEST if BIT isn't 1
     # 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,
+    # "SETME_X64": 99 if limit_torque else 100,
+    "SETME_X64": op_params.get("SETME_X64"),
 
     # TODO: need to understand this better, it's always 1.5-2x higher than angle cmd
     # TODO: revisit on 2023 RAV4
-    "ANGLE": op_params.get("ANGLE"),
+    # "ANGLE": op_params.get("ANGLE"),
+    "ANGLE": 0 if abs(apply_steer) < 10 else 10 if apply_steer > 0 else -10,
 
     # seems to just be desired angle cmd
     # TODO: does this have offset on cars where accurate steering angle signal has offset?