let's just change a tune here

.github/workflows/selfdrive_tests.yaml

@@ -319,7 +319,8 @@ jobs:
     - name: Upload reference logs
       if: ${{ failure() }}
       run: |
-        echo "Uploading reference logs"
+        ${{ env.RUN }} "scons -j$(nproc) && \
+                        FILEREADER_CACHE=1 CI=1 python selfdrive/test/process_replay/update_refs.py --only-upload"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v2
     - name: Print diff

selfdrive/car/toyota/interface.py

@@ -136,7 +136,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 13.9
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.0, FRICTION=0.07)
+      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.5, FRICTION=0.07)
 
     elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH):
       stop_and_go = True

selfdrive/test/process_replay/test_processes.py

@@ -143,7 +143,6 @@ if __name__ == "__main__":
     sys.exit(1)
 
   print(f"***** testing against commit {ref_commit} *****")
-  sys.exit(1)
 
   # check to make sure all car brands are tested
   if FULL_TEST:

selfdrive/test/process_replay/update_refs.py

@@ -48,4 +48,4 @@ if __name__ == "__main__":
         upload_file(log_fn, os.path.basename(log_fn))
         os.remove(log_fn)
 
-  print("done")
+  print("Updated reference logs for commit: {}".format(ref_commit))