tuning for corolla, add alert when user disengages long control

cereal/car.capnp

@@ -84,6 +84,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     laneChange @59;
     invalidGiraffeToyota @60;
     internetConnectivityNeeded @61;
+    longControlDisabled @62;
   }
 }
 

common/op_params.py

@@ -32,7 +32,7 @@ def __init__(self):
     self.read_timeout = 1.0  # max frequency to read with self.get(...) (sec)
     self.default_params = {'camera_offset': 0.06, 'awareness_factor': 2.0, 'lane_hug_direction': None,
                            'lane_hug_mod': 1.2, 'lane_hug_angle': 10, 'use_car_caching': True, 'osm': True,
-                           'speed_offset': 0, 'keep_openpilot_engaged': True}
+                           'speed_offset': 0, 'keep_openpilot_engaged': True, 'force_pedal': False}
     self.force_update = False  # replaces values with default params if True, not just add add missing key/value pairs
     self.run_init()  # restores, reads, and updates params
 

selfdrive/car/toyota/interface.py

@@ -56,6 +56,17 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), vin="", has_relay
 
     ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
 
+    if ret.enableGasInterceptor:
+      ret.gasMaxBP = [0., 9., 55]
+      ret.gasMaxV = [0.2, 0.5, 0.7]
+      ret.longitudinalTuning.kpV = [0.50, 0.4, 0.3]  # braking tune
+      ret.longitudinalTuning.kiV = [0.0135, 0.01]
+    else:
+      ret.gasMaxBP = [0., 9., 55]
+      ret.gasMaxV = [0.2, 0.5, 0.7]
+      ret.longitudinalTuning.kpV = [0.325, 0.325, 0.325]  # braking tune from rav4h
+      ret.longitudinalTuning.kiV = [0.001, 0.0010]
+
     if candidate not in [CAR.PRIUS, CAR.RAV4, CAR.RAV4H]: # These cars use LQR/INDI
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
@@ -111,11 +122,14 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), vin="", has_relay
       stop_and_go = False
       ret.safetyParam = 100
       ret.wheelbase = 2.70
-      ret.steerRatio = 18.27
+      ret.steerRatio = 17.8
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
-      ret.lateralTuning.pid.kf = 0.00003   # full torque for 20 deg at 80mph means 0.00007818594
+      ret.lateralTuning.pid.kf = 0.0000275  # full torque for 20 deg at 80mph means 0.00007818594
+      if ret.enableGasInterceptor:
+        ret.longitudinalTuning.kpV = [1.0, 0.66, 0.42]
+        ret.longitudinalTuning.kiV = [0.135, 0.09]
 
     elif candidate == CAR.LEXUS_RXH:
       stop_and_go = True
@@ -252,7 +266,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), vin="", has_relay
     ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
     ret.enableDsu = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.DSU) or (has_relay and candidate in TSS2_CAR)
     ret.enableApgs = False  # is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.APGS)
-    ret.enableGasInterceptor = 0x201 in fingerprint[0]
+    ret.enableGasInterceptor = 0x201 in fingerprint[0] or opParams().get('force_pedal', False)
     ret.openpilotLongitudinalControl = ret.enableCamera and ret.enableDsu
     cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
     cloudlog.warning("ECU DSU Simulated: %r", ret.enableDsu)
@@ -272,17 +286,6 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), vin="", has_relay
     ret.stoppingControl = False
     ret.startAccel = 0.0
 
-    if ret.enableGasInterceptor:
-      ret.gasMaxBP = [0., 9., 55]
-      ret.gasMaxV = [0.2, 0.5, 0.7]
-      ret.longitudinalTuning.kpV = [0.50, 0.4, 0.3] # braking tune
-      ret.longitudinalTuning.kiV = [0.0135, 0.01]
-    else:
-      ret.gasMaxBP = [0., 9., 55]
-      ret.gasMaxV = [0.2, 0.5, 0.7]
-      ret.longitudinalTuning.kpV = [0.325, 0.325, 0.325]  # braking tune from rav4h
-      ret.longitudinalTuning.kiV = [0.001, 0.0010]
-
     return ret
 
   # returns a car.CarState
@@ -333,12 +336,16 @@ def update(self, c, can_strings):
     ret.steeringTorqueEps = self.CS.steer_torque_motor
     ret.steeringPressed = self.CS.steer_override
 
+    # events
+    events = []
+
     # cruise state
     if not self.cruise_enabled_prev:
       ret.cruiseState.enabled = self.CS.pcm_acc_active
     else:
       ret.cruiseState.enabled = bool(self.CS.main_on)
       if not self.CS.pcm_acc_active:
+        events.append(create_event('longControlDisabled', [ET.WARNING]))
         ret.brakePressed = True
     if self.CS.v_ego < 1 or not self.keep_openpilot_engaged:
       ret.cruiseState.enabled = self.CS.pcm_acc_active
@@ -375,10 +382,6 @@ def update(self, c, can_strings):
     ret.seatbeltUnlatched = not self.CS.seatbelt
 
     ret.genericToggle = self.CS.generic_toggle
-
-    # events
-    events = []
-    # todo: arne, do we need this section below? it's not present in 066
 
     if ret.cruiseState.enabled and not self.cruise_enabled_prev:  # this lets us modularize which checks we want to turn off op if cc was engaged previoiusly or not
       disengage_event = True

selfdrive/controls/lib/alerts.py

@@ -87,6 +87,13 @@ def __gt__(self, alert2):
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 2., 3.),
 
+  Alert(
+    "longControlDisabled",
+    "BRAKE PRESSED",
+    "Longitudinal Control Disabled",
+    AlertStatus.userPrompt, AlertSize.mid,
+    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning1, .4, 2., 3.),
+
   Alert(
       "steerTempUnavailable",
       "TAKE CONTROL",