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Toyota SecOC platforms should use torque control (#3086)

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* use torque control for secoc platforms

* checked 5 dongles for each platform. sienna was closer to 1.5, but within margin of error
This commit is contained in:
Shane Smiskol
2026-01-29 14:10:12 -08:00
committed by GitHub
parent 900cb87c61
commit 5e71fde25a
3 changed files with 3 additions and 3 deletions
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1
opendbc/car/torque_data/override.toml
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@@ -94,6 +94,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"ACURA_TLX_2G_MMR" = [1.7, 1.7, 0.16]
"PORSCHE_MACAN_MK1" = [2.0, 2.0, 0.2]
"LEXUS_LS" = [1.35, 1.7, 0.17]
"TOYOTA_RAV4_PRIME" = [1.7, 2.0, 0.14]
# Dashcam or fallback configured as ideal car
"MOCK" = [10.0, 10, 0.0]

3
opendbc/car/torque_data/substitute.toml
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@@ -9,8 +9,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"TOYOTA_ALPHARD_TSS2" = "TOYOTA_SIENNA"
"TOYOTA_PRIUS_V" = "TOYOTA_PRIUS"
"TOYOTA_RAV4_PRIME" = "TOYOTA_RAV4_TSS2"
"TOYOTA_SIENNA_4TH_GEN" = "TOYOTA_RAV4_TSS2"
"TOYOTA_SIENNA_4TH_GEN" = "TOYOTA_RAV4_PRIME"
"LEXUS_IS" = "LEXUS_NX"
"LEXUS_CTH" = "LEXUS_NX"
"LEXUS_ES" = "TOYOTA_CAMRY"

2
opendbc/car/toyota/interface.py
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@@ -74,7 +74,7 @@ class CarInterface(CarInterfaceBase):
# https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf
stop_and_go = candidate != CAR.TOYOTA_AVALON
elif candidate in (CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2022, CAR.TOYOTA_RAV4_TSS2_2023, CAR.TOYOTA_RAV4_PRIME, CAR.TOYOTA_SIENNA_4TH_GEN):
elif candidate in (CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2022, CAR.TOYOTA_RAV4_TSS2_2023):
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kiBP = [0.0]
ret.lateralTuning.pid.kpBP = [0.0]