Shane Smiskol 57c4d78869 Toyota: add 2023 RAV4/RAV4 Hybrid as dashcam (#27609) ...

* test out lta message

* correctly send

* percentage is percentage driver isn't overriding

* closer to stock system

* should be able to send LTA at 100hz, counter is the same as LKA

* small amount of torque towards desired

* Offset commanded torque correctly

* Too little torque

* use car's SETME's

* Revert "use car's SETME's"

This reverts commit c88856969995f97cc5ec4e2b24a5cc4e3ef4721a.

* try cutting steer every second

* Didn't seem to matter

This reverts commit 6923498b2a9eed8beb3998f441899f1df4948f6f.

* steer to 0

* let packer set counter

* add for camry

* log steer faults

* comments

* bump opendbc

* add opParams

* add lta safety

* set safety param

* fix torque control bug

* bump panda

* fix missing signal

* [experiment] apply some rate limiting and anti-windup

* no faults, clip to 90 deg, decent torque blending

* clean up blending

* toyota angle rate limits

* use std angle limits

* assert we only add angle control to TSS2 cars

* clean up carcontroller a bit

* space space

* bump opendbc

* clean up toyotacan from opendbc change

* bump panda

* will tests run?

* steer at zero

* refactor angle to use LatControlPID with zero gains

* stop some faults and tuning

* possibly fix integral wind up at max torque

* Add 2023 rav4

* limit torque inside EPS when overriding (no huge windup in edge cases when overriding)

* fix wind up issue after turns (or prolonged saturation)

* this doesn't work that well

* try these limits

* try this

* log the angle!

* global variable

* Apply suggestions from code review

* clip angle to 3 m/s/s

* some tolerance for roll

* raise limits a bit

* bumppanda

* fix faults

* still not good

* offsetting causing hugging?

* Revert "offsetting causing hugging?"

This reverts commit a42ec0b772ed74a1fd54b7fef2e7c275a3e8333b.

* reduce kp

* class var not needed

* limit up angle delta

* fix saturation check

* feedforward includes offset

* some threshold for roll

* bump panda

* surely we don't need this

* test stuff

* Toyota: Add FW for 2023 RAV4 Hybrid (#27494)

* Toyota: Add FW for 2023 RAV4 Hybrid

* Set RAVH_TSS2_2022 to use angle SteerControlType

* bump panda

* remove extras

* Revert "remove extras"

This reverts commit 87378e734915c107f57f99a5feef4dcb2b2a9a37.

* no max angle limit for now

* add as separate platforms

* remove debug scripts

* revert to master

* remove these FW versions from 2022

* dashcam these cars :(

* fix test

* interface

* add to untested routes

* never send torque with LTA cars

* fix values

* clean up controlsd

* reset lat control files

* use the car param

* add to params

* bump panda to master

* Update selfdrive/car/toyota/carcontroller.py

* don't set torque params if angle control (fixes controlsd bug)

* reset controlsd

* keyword

* in another pr

* simplify test

* rm line

* Update selfdrive/car/toyota/tests/test_toyota.py

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Co-authored-by: crispbee <84819466+crispbee@users.noreply.github.com>

2023-03-17 00:03:21 -07:00

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