From da5eb5c5ae2c51b05f389f2bbe64aaf9adc50170 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 3 May 2022 17:10:34 -0700
Subject: [PATCH] let's just change a tune here

---
 .github/workflows/selfdrive_tests.yaml          | 3 ++-
 selfdrive/car/toyota/interface.py               | 2 +-
 selfdrive/test/process_replay/test_processes.py | 1 -
 selfdrive/test/process_replay/update_refs.py    | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 429a8184ef..7840940c75 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.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
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 433058b3c0..c2e66dd09c 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/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
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index c44115d4c0..9476144fd5 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/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:
diff --git a/selfdrive/test/process_replay/update_refs.py b/selfdrive/test/process_replay/update_refs.py
index c683ba8391..589e72ee27 100755
--- a/selfdrive/test/process_replay/update_refs.py
+++ b/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))