Apply suggestions from code review

selfdrive/car/interfaces.py

@@ -155,7 +155,6 @@ class CarInterfaceBase(ABC):
 
     # standard ALC params
     ret.steerControlType = car.CarParams.SteerControlType.torque
-    # TODO: set PID gains?
     ret.minSteerSpeed = 0.
     ret.wheelSpeedFactor = 1.0
 

selfdrive/car/toyota/carcontroller.py

@@ -85,9 +85,9 @@ class CarController:
 
       # limit max angle error between cmd and actual to reduce EPS integral windup
       # TODO: can we configure this with a signal?
-      # apply_angle = clip(apply_angle,
-      #                    torque_sensor_angle - self.params.ANGLE_DELTA_MAX,
-      #                    torque_sensor_angle + self.params.ANGLE_DELTA_MAX)
+      apply_angle = clip(apply_angle,
+                         torque_sensor_angle - self.params.ANGLE_DELTA_MAX,
+                         torque_sensor_angle + self.params.ANGLE_DELTA_MAX)
 
       # Angular rate limit based on speed
       apply_angle = apply_std_steer_angle_limits(apply_angle, self.last_angle, CS.out.vEgo, self.params)

selfdrive/car/toyota/values.py

@@ -23,11 +23,11 @@ class CarControllerParams:
 
   # stock LTA is 0 to 0.05 going straight
   # and 0.1 to 0.4 when turning (max seen is 0.6303)
-  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[3.5, 0.8, .15])
-  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[3.5, 3.5, 0.4])
+  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[2.5, 1.5, 0.5])
+  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[2.5, 2.5, 1.5])
 
   # needs to be within +-3 degrees of current angle to avoid windup
-  ANGLE_DELTA_MAX = 15
+  ANGLE_DELTA_MAX = 5
 
   def __init__(self, CP):
     if CP.lateralTuning.which == 'torque':