DragonPilot's Toyota tune

Co-Authored-By: eFini <16603033+efinilan@users.noreply.github.com>
Co-Authored-By: Kumar <36933347+rav4kumar@users.noreply.github.com>

common/params.cc

@@ -247,6 +247,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DeviceShutdown", PERSISTENT},
     {"DisableOnroadUploads", PERSISTENT},
     {"DisengageVolume", PERSISTENT},
+    {"DragonPilotTune", PERSISTENT},
     {"DriveStats", PERSISTENT},
     {"DynamicPathWidth", PERSISTENT},
     {"EngageVolume", PERSISTENT},

selfdrive/car/toyota/interface.py

@@ -282,6 +282,20 @@ class CarInterface(CarInterfaceBase):
       tune.kpV = [0.8, 1.]
       tune.kiBP = [0., 5.]
       tune.kiV = [0.3, 1.]
+    elif (candidate in TSS2_CAR or ret.enableGasInterceptor) and params.get_bool("DragonPilotTune"):
+      # Credit goes to the DragonPilot team!
+      tune.deadzoneBP = [0., 16., 20., 30.]
+      tune.deadzoneV =  [0., .03, .06, .15]
+      tune.kpBP = [0., 5., 20.]
+      tune.kpV = [1.3, 1.0, 0.7]
+      # In MPH  = [  0,   27,   45,  60,  89]
+      tune.kiBP = [ 0.,  12.,  20., 27., 40.]
+      tune.kiV =  [.35, .215, .195, .10, .01]
+      if candidate in TSS2_CAR:
+        ret.vEgoStopping = 0.1         # car is near 0.1 to 0.2 when car starts requesting stopping accel
+        ret.vEgoStarting = 0.1         # needs to be > or == vEgoStopping
+        ret.stopAccel = -0.40          # Toyota requests -0.4 when stopped
+        ret.stoppingDecelRate = 0.5    # reach stopping target smoothly
     elif candidate in TSS2_CAR or ret.enableGasInterceptor:
       tune.kpBP = [0., 5., 20.]
       tune.kpV = [1.3, 1.0, 0.7]

selfdrive/frogpilot/ui/vehicle_settings.cc

@@ -12,6 +12,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPil
       std::vector<std::pair<QString, QString>> tuneOptions{
         {"StockTune", tr("Stock")},
         {"CydiaTune", tr("Cydia's")},
+        {"DragonPilotTune", tr("DragonPilot's")},
       };
       toggle = new FrogPilotButtonsParamControl(param, title, desc, icon, tuneOptions);