Toyota interface.py: Create separate section for custom long tune (#20021)

* Move custom long tune section

* Move default tune to else statement
old-commit-hash: 18382f7819

selfdrive/car/toyota/interface.py

@@ -24,6 +24,18 @@ class CarInterface(CarInterfaceBase):
     ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
     ret.steerLimitTimer = 0.4
 
+    # Improved longitudinal tune
+    if candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
+      ret.longitudinalTuning.deadzoneBP = [0., 8.05]
+      ret.longitudinalTuning.deadzoneV = [.0, .14]
+      ret.longitudinalTuning.kpBP = [0., 5., 20.]
+      ret.longitudinalTuning.kpV = [1.3, 1.0, 0.7]
+      ret.longitudinalTuning.kiBP = [0., 5., 12., 20., 27.]
+      ret.longitudinalTuning.kiV = [.35, .23, .20, .17, .1]
+      ret.stoppingBrakeRate = 0.1 # reach stopping target smoothly
+      ret.startingBrakeRate = 2.0 # release brakes fast
+      ret.startAccel = 1.2 # Accelerate from 0 faster
+    else:
       # Default longitudinal tune
       ret.longitudinalTuning.deadzoneBP = [0., 9.]
       ret.longitudinalTuning.deadzoneV = [0., .15]
@@ -215,16 +227,6 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
       ret.lateralTuning.pid.kf = 0.00007818594
-      # Longitudinal tune
-      ret.longitudinalTuning.deadzoneBP = [0., 8.05]
-      ret.longitudinalTuning.deadzoneV = [.0, .14]
-      ret.longitudinalTuning.kpBP = [0., 5., 20.]
-      ret.longitudinalTuning.kpV = [1.3, 1.0, 0.7]
-      ret.longitudinalTuning.kiBP = [0., 5., 12., 20., 27.]
-      ret.longitudinalTuning.kiV = [.35, .23, .20, .17, .1]
-      ret.stoppingBrakeRate = 0.1 # reach stopping target smoothly
-      ret.startingBrakeRate = 2.0 # release brakes fast
-      ret.startAccel = 1.2 # Accelerate from 0 faster
 
     elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]:
       stop_and_go = True