[torqued] Extend to all Toyota and Hyundai cars (#26238)

* extend to toyota and hyundai

* remove all pid control in hyundai

* remove indi tunes

* remove toyota lat tunes

* release notes

* rm tunes.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: f6bab0cd67

RELEASES.md

@@ -6,6 +6,7 @@ Version 0.8.17 (2022-XX-XX)
   * New end-to-end distracted trigger
 * Self-tuning torque lateral controller parameters
   * Parameters learned live for each car
+* Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models
 * UI updates
   * Multi-language in navigation
   * Matched speeds shown on car's dash

selfdrive/car/hyundai/interface.py

@@ -45,141 +45,92 @@ class CarInterface(CarInterfaceBase):
     ret.steerActuatorDelay = 0.1  # Default delay
     ret.steerLimitTimer = 0.4
     tire_stiffness_factor = 1.
+    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
-      ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.766
       # Values from optimizer
       ret.steerRatio = 16.55  # 13.8 is spec end-to-end
       tire_stiffness_factor = 0.82
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
     elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID):
       ret.mass = 1513. + STD_CARGO_KG
       ret.wheelbase = 2.84
       ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
       tire_stiffness_factor = 0.65
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     elif candidate == CAR.SONATA_LF:
-      ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 4497. * CV.LB_TO_KG
       ret.wheelbase = 2.804
       ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
     elif candidate == CAR.PALISADE:
-      ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 1999. + STD_CARGO_KG
       ret.wheelbase = 2.90
       ret.steerRatio = 15.6 * 1.15
       tire_stiffness_factor = 0.63
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     elif candidate == CAR.ELANTRA:
-      ret.lateralTuning.pid.kf = 0.00006
       ret.mass = 1275. + STD_CARGO_KG
       ret.wheelbase = 2.7
       ret.steerRatio = 15.4            # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
       tire_stiffness_factor = 0.385    # stiffnessFactor settled on 1.0081302973865127
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
       ret.minSteerSpeed = 32 * CV.MPH_TO_MS
     elif candidate == CAR.ELANTRA_2021:
       ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG
       ret.wheelbase = 2.72
       ret.steerRatio = 12.9
       tire_stiffness_factor = 0.65
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     elif candidate == CAR.ELANTRA_HEV_2021:
       ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG
       ret.wheelbase = 2.72
       ret.steerRatio = 12.9
       tire_stiffness_factor = 0.65
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     elif candidate == CAR.HYUNDAI_GENESIS:
-      ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 2060. + STD_CARGO_KG
       ret.wheelbase = 3.01
       ret.steerRatio = 16.5
-      ret.lateralTuning.init('indi')
-      ret.lateralTuning.indi.innerLoopGainBP = [0.]
-      ret.lateralTuning.indi.innerLoopGainV = [3.5]
-      ret.lateralTuning.indi.outerLoopGainBP = [0.]
-      ret.lateralTuning.indi.outerLoopGainV = [2.0]
-      ret.lateralTuning.indi.timeConstantBP = [0.]
-      ret.lateralTuning.indi.timeConstantV = [1.4]
-      ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
-      ret.lateralTuning.indi.actuatorEffectivenessV = [2.3]
       ret.minSteerSpeed = 60 * CV.KPH_TO_MS
     elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
       ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.) + STD_CARGO_KG
       ret.wheelbase = 2.6
       ret.steerRatio = 13.42  # Spec
       tire_stiffness_factor = 0.385
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
-      ret.lateralTuning.pid.kf = 0.00006
       ret.mass = 1490. + STD_CARGO_KG  # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
       ret.wheelbase = 2.7
       ret.steerRatio = 13.73  # Spec
       tire_stiffness_factor = 0.385
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
       if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
         ret.minSteerSpeed = 32 * CV.MPH_TO_MS
     elif candidate == CAR.IONIQ_PHEV_2019:
       ret.mass = 1550. + STD_CARGO_KG  # weight per hyundai site https://www.hyundaiusa.com/us/en/vehicles/2019-ioniq-plug-in-hybrid/compare-specs
       ret.wheelbase = 2.7
       ret.steerRatio = 13.73
-      ret.lateralTuning.init('indi')
-      ret.lateralTuning.indi.innerLoopGainBP = [0.]
-      ret.lateralTuning.indi.innerLoopGainV = [2.5]
-      ret.lateralTuning.indi.outerLoopGainBP = [0.]
-      ret.lateralTuning.indi.outerLoopGainV = [3.5]
-      ret.lateralTuning.indi.timeConstantBP = [0.]
-      ret.lateralTuning.indi.timeConstantV = [1.4]
-      ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
-      ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
       ret.minSteerSpeed = 32 * CV.MPH_TO_MS
     elif candidate == CAR.VELOSTER:
-      ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3558. * CV.LB_TO_KG
       ret.wheelbase = 2.80
       ret.steerRatio = 13.75 * 1.15
       tire_stiffness_factor = 0.5
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
     elif candidate == CAR.TUCSON:
-      ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3520. * CV.LB_TO_KG
       ret.wheelbase = 2.67
       ret.steerRatio = 14.00 * 1.15
       tire_stiffness_factor = 0.385
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
     elif candidate == CAR.TUCSON_HYBRID_4TH_GEN:
       ret.mass = 1680. + STD_CARGO_KG  # average of all 3 trims
       ret.wheelbase = 2.756
       ret.steerRatio = 16.
       tire_stiffness_factor = 0.385
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     # Kia
     elif candidate == CAR.KIA_SORENTO:
-      ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 1985. + STD_CARGO_KG
       ret.wheelbase = 2.78
       ret.steerRatio = 14.4 * 1.1   # 10% higher at the center seems reasonable
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
     elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021):
-      ret.lateralTuning.pid.kf = 0.00006
       ret.mass = 1737. + STD_CARGO_KG
       ret.wheelbase = 2.7
       ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73  # Spec
       tire_stiffness_factor = 0.385
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
       if candidate == CAR.KIA_NIRO_PHEV:
         ret.minSteerSpeed = 32 * CV.MPH_TO_MS
     elif candidate == CAR.KIA_SELTOS:
@@ -187,15 +138,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.63
       ret.steerRatio = 14.56
       tire_stiffness_factor = 1
-      ret.lateralTuning.init('indi')
-      ret.lateralTuning.indi.innerLoopGainBP = [0.]
-      ret.lateralTuning.indi.innerLoopGainV = [4.]
-      ret.lateralTuning.indi.outerLoopGainBP = [0.]
-      ret.lateralTuning.indi.outerLoopGainV = [3.]
-      ret.lateralTuning.indi.timeConstantBP = [0.]
-      ret.lateralTuning.indi.timeConstantV = [1.4]
-      ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
-      ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
     elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H):
       ret.mass = 3558. * CV.LB_TO_KG
       ret.wheelbase = 2.80
@@ -203,92 +145,58 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 0.5
       if candidate == CAR.KIA_OPTIMA_G4:
         ret.minSteerSpeed = 32 * CV.MPH_TO_MS
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     elif candidate == CAR.KIA_STINGER:
-      ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 1825. + STD_CARGO_KG
       ret.wheelbase = 2.78
       ret.steerRatio = 14.4 * 1.15   # 15% higher at the center seems reasonable
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
     elif candidate == CAR.KIA_FORTE:
-      ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3558. * CV.LB_TO_KG
       ret.wheelbase = 2.80
       ret.steerRatio = 13.75
       tire_stiffness_factor = 0.5
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
     elif candidate == CAR.KIA_CEED:
-      ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 1450. + STD_CARGO_KG
       ret.wheelbase = 2.65
       ret.steerRatio = 13.75
       tire_stiffness_factor = 0.5
-      ret.lateralTuning.pid.kf = 0.00005
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
     elif candidate == CAR.KIA_K5_2021:
-      ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3228. * CV.LB_TO_KG
       ret.wheelbase = 2.85
       ret.steerRatio = 13.27  # 2021 Kia K5 Steering Ratio (all trims)
       tire_stiffness_factor = 0.5
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
     elif candidate == CAR.KIA_EV6:
       ret.mass = 2055 + STD_CARGO_KG
       ret.wheelbase = 2.9
       ret.steerRatio = 16.
       tire_stiffness_factor = 0.65
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     elif candidate == CAR.IONIQ_5:
       ret.mass = 2012 + STD_CARGO_KG
       ret.wheelbase = 3.0
       ret.steerRatio = 16.
       tire_stiffness_factor = 0.65
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN:
       ret.mass = 1767. + STD_CARGO_KG  # SX Prestige trim support only
       ret.wheelbase = 2.756
       ret.steerRatio = 13.6
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     # Genesis
     elif candidate == CAR.GENESIS_G70:
-      ret.lateralTuning.init('indi')
-      ret.lateralTuning.indi.innerLoopGainBP = [0.]
-      ret.lateralTuning.indi.innerLoopGainV = [2.5]
-      ret.lateralTuning.indi.outerLoopGainBP = [0.]
-      ret.lateralTuning.indi.outerLoopGainV = [3.5]
-      ret.lateralTuning.indi.timeConstantBP = [0.]
-      ret.lateralTuning.indi.timeConstantV = [1.4]
-      ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
-      ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
       ret.steerActuatorDelay = 0.1
       ret.mass = 1640.0 + STD_CARGO_KG
       ret.wheelbase = 2.84
       ret.steerRatio = 13.56
     elif candidate == CAR.GENESIS_G70_2020:
-      ret.lateralTuning.pid.kf = 0.
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.112], [0.004]]
       ret.mass = 3673.0 * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.83
       ret.steerRatio = 12.9
     elif candidate == CAR.GENESIS_G80:
-      ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 2060. + STD_CARGO_KG
       ret.wheelbase = 3.01
       ret.steerRatio = 16.5
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
     elif candidate == CAR.GENESIS_G90:
       ret.mass = 2200
       ret.wheelbase = 3.15
       ret.steerRatio = 12.069
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
 
     # *** longitudinal control ***
     if candidate in CANFD_CAR:

selfdrive/car/toyota/interface.py

@@ -2,7 +2,6 @@
 from cereal import car
 from common.conversions import Conversions as CV
 from panda import Panda
-from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune
 from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
@@ -74,7 +73,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelSpeedFactor = 1.035
       tire_stiffness_factor = 0.5533
       ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
 
     elif candidate in (CAR.CHR, CAR.CHRH):
       stop_and_go = True
@@ -82,7 +80,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 13.6
       tire_stiffness_factor = 0.7933
       ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_F)
 
     elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
       stop_and_go = True
@@ -90,8 +87,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 13.7
       tire_stiffness_factor = 0.7933
       ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      if candidate not in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
-        set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
 
     elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
       stop_and_go = True
@@ -99,7 +94,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 16.0
       tire_stiffness_factor = 0.8
       ret.mass = 4516. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
 
     elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2):
       # starting from 2019, all Avalon variants have stop and go
@@ -109,7 +103,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.8  # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
       tire_stiffness_factor = 0.7983
       ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_H)
 
     elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022):
       stop_and_go = True
@@ -117,14 +110,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.3
       tire_stiffness_factor = 0.7933
       ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG  # Average between ICE and Hybrid
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
-
-      # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
-      # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
-      for fw in car_fw:
-        if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
-          set_lat_tune(ret.lateralTuning, LatTunes.PID_I)
-          break
 
     elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2):
       stop_and_go = True
@@ -139,7 +124,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 16.0  # not optimized
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 3677. * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
 
     elif candidate == CAR.SIENNA:
       stop_and_go = True
@@ -147,14 +131,12 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 15.5
       tire_stiffness_factor = 0.444
       ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
 
     elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_RC):
       ret.wheelbase = 2.79908
       ret.steerRatio = 13.3
       tire_stiffness_factor = 0.444
       ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_L)
 
     elif candidate == CAR.LEXUS_CTH:
       stop_and_go = True
@@ -162,7 +144,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 18.6
       tire_stiffness_factor = 0.517
       ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_M)
 
     elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NXH, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2):
       stop_and_go = True
@@ -170,7 +151,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.7
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
 
     elif candidate == CAR.PRIUS_TSS2:
       stop_and_go = True
@@ -178,7 +158,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 13.4   # True steerRatio from older prius
       tire_stiffness_factor = 0.6371   # hand-tune
       ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_N)
 
     elif candidate == CAR.MIRAI:
       stop_and_go = True
@@ -186,7 +165,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.8
       tire_stiffness_factor = 0.8
       ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
 
     elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2):
       stop_and_go = True
@@ -194,7 +172,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.2
       tire_stiffness_factor = 0.444
       ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
 
     ret.centerToFront = ret.wheelbase * 0.44
 
@@ -230,12 +207,23 @@ class CarInterface(CarInterfaceBase):
     # to a negative value, so it won't matter.
     ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED
 
+    tune = ret.longitudinalTuning
     if candidate in TSS2_CAR or ret.enableGasInterceptor:
-      set_long_tune(ret.longitudinalTuning, LongTunes.TSS2)
+      tune.deadzoneBP = [0., 8.05]
+      tune.deadzoneV = [.0, .14]
+      tune.kpBP = [0., 5., 20.]
+      tune.kpV = [1.3, 1.0, 0.7]
+      tune.kiBP = [0., 5., 12., 20., 27.]
+      tune.kiV = [.35, .23, .20, .17, .1]
       if candidate in TSS2_CAR:
         ret.stoppingDecelRate = 0.3 # reach stopping target smoothly
     else:
-      set_long_tune(ret.longitudinalTuning, LongTunes.TSS)
+      tune.deadzoneBP = [0., 9.]
+      tune.deadzoneV = [.0, .15]
+      tune.kpBP = [0., 5., 35.]
+      tune.kiBP = [0., 35.]
+      tune.kpV = [3.6, 2.4, 1.5]
+      tune.kiV = [0.54, 0.36]
 
     return ret
 

selfdrive/car/toyota/tunes.py

@@ -1,102 +0,0 @@
-#!/usr/bin/env python3
-from enum import Enum
-
-class LongTunes(Enum):
-  TSS2 = 0
-  TSS = 1
-
-class LatTunes(Enum):
-  INDI_PRIUS = 0
-  LQR_RAV4 = 1
-  PID_A = 2
-  PID_B = 3
-  PID_C = 4
-  PID_D = 5
-  PID_E = 6
-  PID_F = 7
-  PID_G = 8
-  PID_I = 9
-  PID_H = 10
-  PID_J = 11
-  PID_K = 12
-  PID_L = 13
-  PID_M = 14
-  PID_N = 15
-
-
-###### LONG ######
-def set_long_tune(tune, name):
-  # Improved longitudinal tune
-  if name == LongTunes.TSS2:
-    tune.deadzoneBP = [0., 8.05]
-    tune.deadzoneV = [.0, .14]
-    tune.kpBP = [0., 5., 20.]
-    tune.kpV = [1.3, 1.0, 0.7]
-    tune.kiBP = [0., 5., 12., 20., 27.]
-    tune.kiV = [.35, .23, .20, .17, .1]
-  # Default longitudinal tune
-  elif name == LongTunes.TSS:
-    tune.deadzoneBP = [0., 9.]
-    tune.deadzoneV = [.0, .15]
-    tune.kpBP = [0., 5., 35.]
-    tune.kiBP = [0., 35.]
-    tune.kpV = [3.6, 2.4, 1.5]
-    tune.kiV = [0.54, 0.36]
-  else:
-    raise NotImplementedError('This longitudinal tune does not exist')
-
-
-###### LAT ######
-def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0, use_steering_angle=True):
-  if 'PID' in str(name):
-    tune.init('pid')
-    tune.pid.kiBP = [0.0]
-    tune.pid.kpBP = [0.0]
-    if name == LatTunes.PID_A:
-      tune.pid.kpV = [0.2]
-      tune.pid.kiV = [0.05]
-      tune.pid.kf = 0.00003
-    elif name == LatTunes.PID_C:
-      tune.pid.kpV = [0.6]
-      tune.pid.kiV = [0.1]
-      tune.pid.kf = 0.00006
-    elif name == LatTunes.PID_D:
-      tune.pid.kpV = [0.6]
-      tune.pid.kiV = [0.1]
-      tune.pid.kf = 0.00007818594
-    elif name == LatTunes.PID_F:
-      tune.pid.kpV = [0.723]
-      tune.pid.kiV = [0.0428]
-      tune.pid.kf = 0.00006
-    elif name == LatTunes.PID_G:
-      tune.pid.kpV = [0.18]
-      tune.pid.kiV = [0.015]
-      tune.pid.kf = 0.00012
-    elif name == LatTunes.PID_H:
-      tune.pid.kpV = [0.17]
-      tune.pid.kiV = [0.03]
-      tune.pid.kf = 0.00006
-    elif name == LatTunes.PID_I:
-      tune.pid.kpV = [0.15]
-      tune.pid.kiV = [0.05]
-      tune.pid.kf = 0.00004
-    elif name == LatTunes.PID_J:
-      tune.pid.kpV = [0.19]
-      tune.pid.kiV = [0.02]
-      tune.pid.kf = 0.00007818594
-    elif name == LatTunes.PID_L:
-      tune.pid.kpV = [0.3]
-      tune.pid.kiV = [0.05]
-      tune.pid.kf = 0.00006
-    elif name == LatTunes.PID_M:
-      tune.pid.kpV = [0.3]
-      tune.pid.kiV = [0.05]
-      tune.pid.kf = 0.00007
-    elif name == LatTunes.PID_N:
-      tune.pid.kpV = [0.35]
-      tune.pid.kiV = [0.15]
-      tune.pid.kf = 0.00007818594
-    else:
-      raise NotImplementedError('This PID tune does not exist')
-  else:
-    raise NotImplementedError('This lateral tune does not exist')