Masteryota

Masteryota

This reverts commit 916f2de.

1.8 accel max

1.25 follow

Copied Sport vals from SA-Eco

3 hours off / saves your 12v battery

Testing if the deadzone is causing the delay

Or maybe it's the high ki values. Testing old known values from previous versions of OP. No deadzone

Toyota logo instead of comma

1.2 follow

Fork mods

Fork mods

lower gain, higher prediction, stiffer wheel, higher steer ratio

Fork mods

commit 5c673b6399737b3e0b9d9d54e0b830e0cb04b185
Author: cfranhonda <[email protected]>
Date:   Wed Jul 28 15:47:27 2021 -0700

Fix steer max and make ki a bit higher.

commit 039cf40ab0ac72ced1c19de6854b7761a109d4e6
Author: Casey Francis <@cfranhonda>
Date:   Tue Jul 27 23:19:30 2021 -0700

add LQR for other bosch kids

commit 95efde9a50bc4ca38a81e5cfdb86d1307db41f3c
Author: Casey Francis <@cfranhonda>
Date:   Tue Jul 27 22:34:51 2021 -0700

add LQR tune

Fork mods

commit 9b45eb1
Author: Daehyuk Ahn <[email protected]>
Date:   Mon May 24 23:14:34 2021 -0700

Add EnableGasPedal (toggle menu)

commit 4e9ac3b
Author: Casey Francis <@cfranhonda>
Date:   Sat Aug 21 17:36:22 2021 -0700

full speed fan

commit 152dec1
Author: Casey Francis <@cfranhonda>
Date:   Sat Aug 21 07:45:17 2021 -0700

add vision/ disable radar toggle

commit 5c48f3e
Author: Casey Francis <@cfranhonda>
Date:   Sat Aug 21 07:35:54 2021 -0700

vaggy hack to stop jerk

commit 87328dd
Author: cfranhonda <[email protected]>
Date:   Mon Aug 23 07:15:05 2021 -0700

eps mod / gasmax adjust

commit baffaee
Author: Vehicle Researcher <[email protected]>
Date:   Sun Aug 22 22:13:11 2021 -0700

openpilot v0.8.8 release

adding "," fws for modded people

Update thermald.py

No sound for Saturated steering

remove no gps alert

Update power_monitoring.py

Update interface.py

green instead of red path

LQR toggle

add LQR toggle for select Honda's

add LQR toggle for modded Civic's & CRV

Revert "Universal LQR tune"

This reverts commit c10adf7.

add LQR toggle

change description

Universal LQR tune

Universal LQR tune

This tune taken from the Toyota Rav4 has shown to be a great
alternative to the standard PID tune. It's worked very well on eps mod
multipliers of 2, 2.5, 3.5, 4x. It climbs the torque scale much
smoother and doesn't "jitter" like PID does sometimes.

fix LQR for RDX

kf under PID only.

add Accord to LQR toggle

Conflicts:
	selfdrive/boardd/boardd.cc
	selfdrive/controls/lib/events.py
	selfdrive/ui/qt/offroad/settings.cc

LQR toggle

lower ff

+25% Cruise max

add to release notes

paramsd cpu usage has been increasing

boardd: connect to all pandas if none specified (commaai#23805)

Refactor convolutions (commaai#23807)

* one conv with defines

* add conv

* building works on C3

* this is num_outputs too, process replay is so useful

cleanup import chaining of T_IDXS (commaai#23806)

bump panda

ui.py: fix model lead plotting

Param to allow upload over cellular (commaai#23811)

* param to allow upload over cellular

* brackets to be consistent

* move outside loop

* fix tests

longitudinal planner: disable change cost when stopped. not engaged or gas pressed (commaai#23639)

* disable change cost completely on standstill and gas press

* cleanup

* set accel to zero

* clean up logic around standstill

* update ref

onroad_test: increase camerad cpu usage after debayer changes

Update raw_logger/framereader to new new ffmpeg api (commaai#23799)

* Update raw_logger/framereader to new new ffmpeg api

* Can be removed now

* Handled by avcodec_free_context

* handle EAGAIN and clean up

thneed: a few asserts in the optimizer for cases it will fail

docs: fix title typo

cabana for your terminal

Fix tici bigmodel (commaai#23817)

* Fix bigmodel on tici: cam intrinsics arent static

* Give TICI route own name for import

* Make function useable in offline test

* typo

* change tici ecam focal to trained focal

* No shadow variable

* Fixed ref

* Force update this time

* Update model replay ref commit

2022 Hyundai Elantra firmware versions (commaai#23818)

Added 2022 Hyundai Elantra fwdCamera, transmission, and engine fingerprints.

CARS.md add 2022 elantra

hyundai: custom fw version for sonata eps (commaai#23816)

* hyundai: custom fw version for sonata eps

* another comment

HKG: Kia Sorento FPv2 (commaai#23815)

* Replace Kia Sorento FPv1 with FPv2

* keep old fingerprint

Subaru: add FW for Impreza Limited UDM 2017 (commaai#23802)

* FPv2: Add Subaru Impreza Limited USM 2017

* test_fw_query_on_routes.py: add subaru support

Fix unmetered upload over cell (fix commaai#23811) (commaai#23820)

omx encoder: move writing into thread (commaai#23771)

* omx encoder: move writing to separate thread

* fix include

* pop

* log buffers sizes

* split copy and write

adjust comma two model timing thresholds after bigmodel

Toyota: fix flaky EV detection (commaai#23825)

script to clear DTCs

move lock clearing to uploader (commaai#23826)

* move lock clearing to uploader

* test case

Honda: revert to button enable on Nidec (commaai#23828)

* Honda: revert to button enable on Nidec

* fix test

* bump panda

Added (Ecu.eps) fingerprint for Hyundai Ioniq EV 2017 (commaai#23823)

fix mac_setup w/ tools+plotjuggler (commaai#23552)

* fix pycurl issue:
* use newer curl backend for pip install
* update lib paths based on brew prefix
* fix cert issue when using pycurl using certifi
* make output setup nicer

* fix linter

* typo

* dont need that actually

* revert

* pipenv in brew

* forgot this

* make brew available on fresh install

* undo

* more undo

* oops

* use sytem curl, but homebrew openssl

replay: use QCoreApplication (commaai#23831)

scons: use correct brew prefix (commaai#23833)

replay: use VideoToolbox HW decoder on Mac (commaai#23832)

* replay: support VideoToolbox HW decoding

* rename flag

* remove debug assert

Fix watch3 on mac (commaai#23834)

this seems to about what my car converges to (commaai#23836)

boardd: handle missing pandas

Subaru: remove Impreza CAN fingerprints (commaai#23841)

* Subaru: remove Impreza CAN fingerprints

* fix process replay

* update refs

Toyota: remove outdated comment (commaai#23844)

Remove unused MPC_COST_LONG class (commaai#23843)

Faster cruise max

Update interface.py

:warning: Remove Test Branch Warning; Disable Updates; Remove Prime Ad

Disabling of not tested branch warning should only affect
users with ssh access to repo (me) and only the main Rav4-TSS2
branch.  Disabled in a way that hopefully doesn't harm comma's
metrics.

Update interface.py

faster accel max

Use INDI instead of LQR for select Toyota's

Add camry to indi

bump up gain 10% Prius tss2

INDI instead of LQR for Prius tss2

INDI

Update interface.py

Lower PID for smoother wheel

Update tunes.py

Update interface.py

Co-Authored-By: Comma Device <[email protected]>
Co-Authored-By: Willem Melching <[email protected]>

Update tunes.py

Update interface.py

almost stock accel max

This reverts commit 9c775d0.

Stockify accel

Faster accel from start

rearrange

Steering fault fix

Update safety_toyota.h

Update carcontroller.py

Steering fault fix

fault fix 1

fix conflict

Rename oops

Classic comma spinner

'2' boot logo

smaller '2'

Revert "smaller '2'"

This reverts commit 629267e.

i think its fixed now

Revert "Steering fault fix"

This reverts commit 4b33fea.

Revert "rearrange"

This reverts commit b054950.

Revert "Faster accel from start"

This reverts commit 03dac75.

Remove op long toggle since it's broken

fixed traffic TF

This reverts commit 6be8366.

fixed traffic TF

Revert ":warning: Remove Test Branch Warning; Disable Updates; Remove Prime Ad"

This reverts commit 11afa4c.

tiny bit more boost at take-off

Features list

Features list

Update README.md

offset to match dash

not just prius

speed factor hack for Prius

speed factor hack for Prius

Update carstate.py

offset speed to match dash

Co-Authored-By: Comma Device <[email protected]>
Co-Authored-By: Willem Melching <[email protected]>

Author: 3 people

README.md

@@ -1,3 +1,25 @@
+*Based off of Keegans stuff*
+*This fork includes the following additions*:
+
+- 3 follow distances, 1.8, 1.45, 1.2 m/s (Toyota only) (Thanks @Keegan)
+- Red mph when braking (Thanks @alexandresato)
+- Brake disc icon when braking (Thanks @Berno22)
+- DevUI with steering angles and lead distance (Thanks @wirelessnet2)
+- Rainbow path (changes colors when turning) 
+- Legacy engage/disgage sounds
+- NEOS 20 for bootloop fix (Thanks @Erich)
+- INDI steer controller for Camry/Prius Tss 2.0 (toggle) (Thanks @kumar)
+- LQR steer controller for Civic / Accord / CRV (toggle)
+- No disengage on brake (toggle)
+- Device turns off 3 hours after shutting the car down
+- Modded fw detection and tuning for eps mod, Civics / CRV.
+
+- If this fork has helped you, please consider donating to my paypal: 
+- https://www.paypal.com/donate/?hosted_button_id=ZJQD2YEQEFVHY
+- ![myqrcode](https://user-images.githubusercontent.com/46506059/172424461-c195174a-6450-4b84-ac25-e8632d49fceb.png)
+
+
+
 WARNING
 ------
 
@@ -112,4 +134,4 @@ User shall indemnify and hold harmless Author and its directors, officers, emplo
 
 **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
 YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
-NO WARRANTY EXPRESSED OR IMPLIED.**
+NO WARRANTY EXPRESSED OR IMPLIED.**

selfdrive/assets/img_chffr_wheel.png

@@ -97,7 +97,19 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
         # modified filter output values:  0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480
         # note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
+        # Use LQR tune if param is set
+        if Params().get_bool('LqrTune'):
+          ret.lateralTuning.init('lqr')
+          ret.lateralTuning.lqr.scale = 1200.0
+          ret.lateralTuning.lqr.ki = 0.02
+          ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
+          ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
+          ret.lateralTuning.lqr.c = [1., 0.]
+          ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
+          ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
+          ret.lateralTuning.lqr.dcGain = 0.002737852961363602
+        else:
+          ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
       else:
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
@@ -109,9 +121,25 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
       ret.wheelbase = CivicParams.WHEELBASE
       ret.centerToFront = CivicParams.CENTER_TO_FRONT
       ret.steerRatio = 15.38  # 10.93 is end-to-end spec
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
+      if eps_modified:
+        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2564, 8000], [0, 2564, 3840]]
+        # Use LQR tune if param is set
+        if Params().get_bool('LqrTune'):
+          ret.lateralTuning.init('lqr')
+          ret.lateralTuning.lqr.scale = 1200.0
+          ret.lateralTuning.lqr.ki = 0.1
+          ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
+          ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
+          ret.lateralTuning.lqr.c = [1., 0.]
+          ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
+          ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
+          ret.lateralTuning.lqr.dcGain = 0.002237852961363602
+        else:
+          ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.36], [0.108]] #minus 10% from 0.4, 0.12
+      else:
+        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
       tire_stiffness_factor = 1.
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
     elif candidate in (CAR.ACCORD, CAR.ACCORDH):
       stop_and_go = True
@@ -120,13 +148,21 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
       ret.centerToFront = ret.wheelbase * 0.39
       ret.steerRatio = 16.33  # 11.82 is spec end-to-end
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      tire_stiffness_factor = 0.8467
-
-      if eps_modified:
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
+      # Use LQR tune if param is set
+      if Params().get_bool('LqrTune'):
+        ret.lateralTuning.init('lqr')
+        ret.lateralTuning.lqr.scale = 1200.0
+        ret.lateralTuning.lqr.ki = 0.1
+        ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
+        ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
+        ret.lateralTuning.lqr.c = [1., 0.]
+        ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
+        ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
+        ret.lateralTuning.lqr.dcGain = 0.002237852961363602
       else:
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
-
+      tire_stiffness_factor = 0.8467
+        
     elif candidate == CAR.ACURA_ILX:
       stop_and_go = False
       ret.mass = 3095. * CV.LB_TO_KG + STD_CARGO_KG
@@ -159,7 +195,19 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
         # stock request output values:    0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
         # modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
+        # Use LQR tune if param is set
+        if Params().get_bool('LqrTune'):
+          ret.lateralTuning.init('lqr')
+          ret.lateralTuning.lqr.scale = 1200.0
+          ret.lateralTuning.lqr.ki = 0.1
+          ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
+          ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
+          ret.lateralTuning.lqr.c = [1., 0.]
+          ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
+          ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
+          ret.lateralTuning.lqr.dcGain = 0.002237852961363602
+        else:
+          ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
       else:
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
@@ -224,11 +272,25 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
       ret.mass = 4068. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.75
       ret.centerToFront = ret.wheelbase * 0.41
-      ret.steerRatio = 11.95  # as spec
+      ret.steerRatio = 16.0 #11.95 is spec
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
+      # Use LQR tune if param is set
+      if Params().get_bool('LqrTune'):
+        ret.lateralTuning.init('lqr')
+        ret.lateralTuning.lqr.scale = 1200.0
+        ret.lateralTuning.lqr.ki = 0.1
+        ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
+        ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
+        ret.lateralTuning.lqr.c = [1., 0.]
+        ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
+        ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
+        ret.lateralTuning.lqr.dcGain = 0.002237852961363602
+      else:
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
+        ret.lateralTuning.pid.kf = 0.00007818594
       tire_stiffness_factor = 0.677
 
+
     elif candidate == CAR.ODYSSEY:
       stop_and_go = False
       ret.mass = 4471. * CV.LB_TO_KG + STD_CARGO_KG

selfdrive/car/honda/interface.py

@@ -493,6 +493,15 @@ class CAR:
       b'39990-TGG-J510\x00\x00',
       b'39990-TGL-E130\x00\x00',
       b'39990-TGN-E120\x00\x00',
+      b'39990-TBA,C020\x00\x00',
+      b'39990-TBA,C120\x00\x00',
+      b'39990-TEA,T820\x00\x00',
+      b'39990-TEZ,T020\x00\x00',
+      b'39990-TGG,A020\x00\x00',
+      b'39990-TGG,A120\x00\x00',
+      b'39990-TGG,J510\x00\x00',
+      b'39990-TGL,E130\x00\x00',
+      b'39990-TGN,E120\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-TBA-A060\x00\x00',

selfdrive/car/honda/values.py

@@ -92,7 +92,7 @@ def update(self, cp, cp_cam):
       ret.cruiseState.speed = cp.vl["DSU_CRUISE"]["SET_SPEED"] * CV.KPH_TO_MS
     else:
       ret.cruiseState.available = cp.vl["PCM_CRUISE_2"]["MAIN_ON"] != 0
-      ret.cruiseState.speed = cp.vl["PCM_CRUISE_2"]["SET_SPEED"] * CV.KPH_TO_MS
+      ret.cruiseState.speed = cp.vl["PCM_CRUISE_2"]["SET_SPEED"] * CV.KPH_TO_MS * self.CP.wheelSpeedFactor
 
     if self.CP.carFingerprint in TSS2_CAR:
       self.acc_type = cp_cam.vl["ACC_CONTROL"]["ACC_TYPE"]

selfdrive/car/toyota/carstate.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
 from common.numpy_fast import interp
+from common.params import Params
 from selfdrive.config import Conversions as CV
 from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune
 from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams
@@ -91,7 +92,13 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
       ret.steerRatio = 13.7
       tire_stiffness_factor = 0.7933
       ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
+      if Params().get_bool('LqrTune'):
+        set_lat_tune(ret.lateralTuning, LatTunes.INDI_PRIUS_TSS2)
+        ret.steerActuatorDelay = 0.3
+        ret.steerRateCost = 1.25
+        ret.steerLimitTimer = 0.5
+      else:
+        set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
 
     elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
       stop_and_go = True
@@ -181,10 +188,17 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
     elif candidate == CAR.PRIUS_TSS2:
       stop_and_go = True
       ret.wheelbase = 2.70002  # from toyota online sepc.
-      ret.steerRatio = 13.4   # True steerRatio from older prius
+      ret.steerRatio = 13.4   # unknown end-to-end spec
       tire_stiffness_factor = 0.6371   # hand-tune
       ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_N)
+      ret.wheelSpeedFactor = 1.035 # Offset to match speeds
+      if Params().get_bool('LqrTune'):
+        set_lat_tune(ret.lateralTuning, LatTunes.INDI_PRIUS_TSS2)
+        ret.steerActuatorDelay = 0.3
+        ret.steerRateCost = 1.25
+        ret.steerLimitTimer = 0.5
+      else:
+        set_lat_tune(ret.lateralTuning, LatTunes.PID_N)
 
     elif candidate == CAR.MIRAI:
       stop_and_go = True
@@ -240,7 +254,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
       # Improved longitudinal tune settings from sshane
       ret.vEgoStopping = 0.2  # car is near 0.1 to 0.2 when car starts requesting stopping accel
       ret.vEgoStarting = 0.2  # needs to be > or == vEgoStopping
-      ret.stoppingDecelRate = 0.4  # reach stopping target smoothly - seems to take 0.5 seconds to go from 0 to -0.4
+      ret.stoppingDecelRate = 0.3  # reach stopping target smoothly - seems to take 0.5 seconds to go from 0 to -0.4
       ret.longitudinalActuatorDelayLowerBound = 0.3
       ret.longitudinalActuatorDelayUpperBound = 0.3
     else:

selfdrive/car/toyota/interface.py

@@ -24,6 +24,8 @@ class LatTunes(Enum):
   PID_L = 13
   PID_M = 14
   PID_N = 15
+  INDI_PRIUS_TSS2 = 16
+  
 
 
 ###### LONG ######
@@ -61,6 +63,18 @@ def set_lat_tune(tune, name):
     tune.indi.actuatorEffectivenessBP = [0.]
     tune.indi.actuatorEffectivenessV = [1.0]
 
+  elif name == LatTunes.INDI_PRIUS_TSS2:
+    tune.init('indi')
+    tune.indi.innerLoopGainBP = [20, 24, 30]
+    tune.indi.innerLoopGainV = [7.25, 7.5, 9]
+    tune.indi.outerLoopGainBP = [20, 24, 30]
+    tune.indi.outerLoopGainV = [6, 7.25, 6]
+    tune.indi.timeConstantBP = [20, 24]
+    tune.indi.timeConstantV = [2.0, 2.2]
+    tune.indi.actuatorEffectivenessBP = [20, 24]
+    tune.indi.actuatorEffectivenessV = [2, 3]
+
+
   elif name == LatTunes.LQR_RAV4:
     tune.init('lqr')
     tune.lqr.scale = 1500.0

selfdrive/car/toyota/tunes.py

@@ -177,6 +177,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
     {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
     {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
+    {"LqrTune", PERSISTENT},
 };
 
 } // namespace

selfdrive/common/params.cc

@@ -245,10 +245,10 @@ def calibration_incomplete_alert(CP: car.CarParams, sm: messaging.SubMaster, met
 def no_gps_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
   gps_integrated = sm['peripheralState'].pandaType in (log.PandaState.PandaType.uno, log.PandaState.PandaType.dos)
   return Alert(
-    "Poor GPS reception",
-    "If sky is visible, contact support" if gps_integrated else "Check GPS antenna placement",
-    AlertStatus.normal, AlertSize.mid,
-    Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=300.)
+    "",
+    "If sky is visible, contact support" if gps_integrated else "",
+    AlertStatus.normal, AlertSize.none,
+    Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2)
 
 
 def wrong_car_mode_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
@@ -490,7 +490,7 @@ def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, sof
       "Take Control",
       "Turn Exceeds Steering Limit",
       AlertStatus.userPrompt, AlertSize.mid,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 1.),
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, 1., 1., 1.),
   },
 
   # Thrown when the fan is driven at >50% but is not rotating

selfdrive/controls/lib/events.py

@@ -339,15 +339,11 @@ def set_accel_limits(self, min_a, max_a):
 
   def update_TF(self, carstate):
     if carstate.distanceLines == 1: # Traffic
-      # At slow speeds more time, decrease time up to 60mph
-      # in mph ~= 5     10   15   20  25     30    35     40  45     50    55     60  65     70    75     80  85     90
-      x_vel = [0, 2.25, 4.5, 6.75, 9, 11.25, 13.5, 15.75, 18, 20.25, 22.5, 24.75, 27, 29.25, 31.5, 33.75, 36, 38.25, 40.5]
-      y_dist = [1.25, 1.24, 1.23, 1.22, 1.21, 1.20, 1.18, 1.16, 1.13, 1.11, 1.09, 1.07, 1.05, 1.05, 1.05, 1.05, 1.05, 1.05, 1.05]
-      self.desired_TF = np.interp(carstate.vEgo, x_vel, y_dist)
+      self.desired_TF = 1.2
     elif carstate.distanceLines == 2: # Relaxed
-      self.desired_TF = 1.25
+      self.desired_TF = 1.45
     else:
-      self.desired_TF = T_FOLLOW
+      self.desired_TF = 1.8
 
   def update(self, carstate, radarstate, v_cruise):
     self.update_TF(carstate)

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -40,6 +40,7 @@ def manager_init() -> None:
     ("CompletedTrainingVersion", "0"),
     ("HasAcceptedTerms", "0"),
     ("OpenpilotEnabledToggle", "1"),
+    #("DisableRadar_Allow", "1"),
   ]
   if not PC:
     default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')))

selfdrive/manager/manager.py

@@ -20,7 +20,7 @@
 
 VBATT_PAUSE_CHARGING = 11.0           # Lower limit on the LPF car battery voltage
 VBATT_INSTANT_PAUSE_CHARGING = 7.0    # Lower limit on the instant car battery voltage measurements to avoid triggering on instant power loss
-MAX_TIME_OFFROAD_S = 30*3600
+MAX_TIME_OFFROAD_S = 3*3600 #3 hours
 MIN_ON_TIME_S = 3600
 
 class PowerMonitoring:

selfdrive/thermald/power_monitoring.py

@@ -102,7 +102,7 @@ def set_eon_fan(val):
 # temp thresholds to control fan speed - low hysteresis
 _TEMP_THRS_L = [42.5, 57.5, 72.5, 10000]
 # fan speed options
-_FAN_SPEEDS = [0, 16384, 32768, 65535]
+_FAN_SPEEDS = [0, 65535, 65535, 65535]
 
 
 def handle_fan_eon(controller, max_cpu_temp, fan_speed, ignition):

selfdrive/thermald/thermald.py

@@ -77,6 +77,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "In this mode openpilot will ignore lanelines and just drive how it thinks a human would.",
       "../assets/offroad/icon_road.png",
     },
+    {
+      "LqrTune",
+      "Use LQR/INDI Tune",
+      "Use LQR tuning values for select Hondas. Use INDI for select Toyotas..",
+      "../assets/offroad/icon_openpilot.png",
+    },
 #ifdef ENABLE_MAPS
     {
       "NavSettingTime24h",