Masteryota-Final

Masteryota-Final-2 Masteryota-Final-1 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 <46506059+cfranhonda@users.noreply.github.com> 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 <daehyuk@live.com> 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 <46506059+cfranhonda@users.noreply.github.com> Date: Mon Aug 23 07:15:05 2021 -0700 eps mod / gasmax adjust commit baffaee Author: Vehicle Researcher <user@comma.ai> 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 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 Dev UI Dev UI Update img_brake_disc.png Update onroad.cc Update onroad.cc add signal for brake disc Update onroad.cc NEOS 20 Turning the speed Red rename Turning the speed Red hotFix add Rav4 to INDI Update interface.py Update longitudinal_planner.py Typo oops Co-Authored-By: Comma Device <device@comma.ai> Co-Authored-By: Willem Melching <willem.melching@gmail.com>
cfranyota · Jun 10, 2022 · 7a7c512 · 7a7c512
1 parent 129a6f2
commit 7a7c512
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diff --git a/README.md b/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 controllers for Camry/Prius/Rav4 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.**
diff --git a/RELEASES.md b/RELEASES.md
@@ -1,3 +1,7 @@
+Version 0.8.13.1 (2022-04-27)
+========================
+ * NEOS 20: improved reliability
+
 Version 0.8.13 (2022-02-18)
 ========================
  * Improved driver monitoring

diff --git a/cereal/car.capnp b/cereal/car.capnp
@@ -188,6 +188,9 @@ struct CarState {
   # clutch (manual transmission only)
   clutchPressed @28 :Bool;
 
+  lkMode @39 :Bool;
+  engineRPM @40 :Float32;
+
   # which packets this state came from
   canMonoTimes @12: List(UInt64);
 
@@ -196,7 +199,7 @@ struct CarState {
   rightBlindspot @34 :Bool; # Is there something blocking the right lane change
 
   # KRKeegan toyota distance lines
-  distanceLines @39 :UInt8;
+  distanceLines @41 :UInt8;
 
   struct WheelSpeeds {
     # optional wheel speeds

diff --git a/launch_env.sh b/launch_env.sh
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$REQUIRED_NEOS_VERSION" ]; then
-  export REQUIRED_NEOS_VERSION="19.1"
+  export REQUIRED_NEOS_VERSION="20"
 fi
 
 if [ -z "$AGNOS_VERSION" ]; then

diff --git a/selfdrive/assets/img_brake_disc.png b/selfdrive/assets/img_brake_disc.png
diff --git a/selfdrive/assets/img_chffr_wheel.png b/selfdrive/assets/img_chffr_wheel.png
diff --git a/selfdrive/assets/sounds/disengage.wav b/selfdrive/assets/sounds/disengage.wav
diff --git a/selfdrive/assets/sounds/engage.wav b/selfdrive/assets/sounds/engage.wav
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
@@ -12,6 +12,7 @@
 
 def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
   signals = [
+    ("ENGINE_RPM", "POWERTRAIN_DATA"),
     ("XMISSION_SPEED", "ENGINE_DATA"),
     ("WHEEL_SPEED_FL", "WHEEL_SPEEDS"),
     ("WHEEL_SPEED_FR", "WHEEL_SPEEDS"),
@@ -167,6 +168,7 @@ def __init__(self, CP):
     self.brake_switch_active = False
     self.cruise_setting = 0
     self.v_cruise_pcm_prev = 0
+    self.engineRPM = 0
 
   def update(self, cp, cp_cam, cp_body):
     ret = car.CarState.new_message()
@@ -229,6 +231,7 @@ def update(self, cp, cp_cam, cp_body):
     ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(
       250, cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"], cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"])
     ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1
+    self.engineRPM = cp.vl["POWERTRAIN_DATA"]["ENGINE_RPM"]
 
     if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH,
                                   CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):

diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -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
@@ -340,6 +402,8 @@ def update(self, c, can_strings):
 
     ret.canValid = self.cp.can_valid and self.cp_cam.can_valid and (self.cp_body is None or self.cp_body.can_valid)
 
+    ret.lkMode = self.CS.lkMode
+    ret.engineRPM = self.CS.engineRPM
     buttonEvents = []
 
     if self.CS.cruise_buttons != self.CS.prev_cruise_buttons:

diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.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',

diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
@@ -38,6 +38,7 @@ def update(self, cp, cp_cam):
 
     ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
     ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1
+    ret.brakeLightsDEPRECATED = bool(cp.vl["ESP_CONTROL"]["BRAKE_LIGHTS_ACC"] or ret.brakePressed or ret.brakeHoldActive)
     if self.CP.enableGasInterceptor:
       ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
       ret.gasPressed = ret.gas > 15
@@ -161,6 +162,7 @@ def get_can_parser(CP):
       ("TURN_SIGNALS", "BLINKERS_STATE"),
       ("LKA_STATE", "EPS_STATUS"),
       ("AUTO_HIGH_BEAM", "LIGHT_STALK"),
+      ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0)
     ]
 
     checks = [

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.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
@@ -122,13 +129,25 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
       ret.steerRatio = 14.3
       tire_stiffness_factor = 0.7933
       ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG  # Average between ICE and Hybrid
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
+      if Params().get_bool('LqrTune'):
+        set_lat_tune(ret.lateralTuning, LatTunes.INDI_RAV4_TSS2)
+        ret.steerActuatorDelay = 0.3
+        ret.steerRateCost = 1.25
+        ret.steerLimitTimer = 0.5
+      else:
+        set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
 
       # 2019+ Rav4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
       # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
       for fw in car_fw:
         if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
-          set_lat_tune(ret.lateralTuning, LatTunes.PID_I)
+          if Params().get_bool('LqrTune'):
+            set_lat_tune(ret.lateralTuning, LatTunes.INDI_RAV4_TSS2)
+            ret.steerActuatorDelay = 0.3
+            ret.steerRateCost = 1.25
+            ret.steerLimitTimer = 0.5
+          else:
+            set_lat_tune(ret.lateralTuning, LatTunes.PID_I)
           break
 
     elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2):
@@ -181,10 +200,16 @@ 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)
+      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 +265,7 @@ 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:

diff --git a/selfdrive/car/toyota/tunes.py b/selfdrive/car/toyota/tunes.py
@@ -24,6 +24,9 @@ class LatTunes(Enum):
   PID_L = 13
   PID_M = 14
   PID_N = 15
+  INDI_PRIUS_TSS2 = 16
+  INDI_RAV4_TSS2 = 17
+
 
 
 ###### LONG ######
@@ -61,6 +64,31 @@ 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.INDI_RAV4_TSS2:
+    tune.init('indi')
+    tune.indi.innerLoopGainBP = [5.0,  8.3,   11.1,  12.10,  13.9,  16.7,  18,    20,    25,    30]
+    tune.indi.innerLoopGainV = [3.13,  5.2,   6.66,  7.8,    8.8,   10,    10.8,  12,    15,  15]
+    tune.indi.outerLoopGainBP = [5.0,  8.3,   11.1,  12.10,  13.9,  16.7,  18,    20,    25,    30]
+    tune.indi.outerLoopGainV = [2.9, 4.97,   6.51,  7.65,  8.58,  9.78,  10.58, 11.83, 14.9, 14.998]
+     # inner - outer difference 0.23, 0.23,  0.15,  0.15,  0.22,  0.22 , 0.22,  0.16,  0.1,  0.002
+    tune.indi.timeConstantBP = [5.0,  8.33,   11.1,  13.9,   16.7,  17.5,  18,    20,  22.5, 23.88, 23.89,  30,  40]
+    tune.indi.timeConstantV = [0.1461, 0.2427, 0.27871, 0.3, 0,3,   0.3,   0.5, 0.6250, 0.85, 1.1,  2.2,   2.6,  3.2]
+    #tune.indi.timeConstantV = [0.1461, 0.2427, 0.27871, 0.312, 0,315, 0.32, 0.525, 0.6250, 0.85, 1.1, 1.2, 2.3, 2.6]
+    tune.indi.actuatorEffectivenessBP = [10, 13, 14, 25, 33]
+    tune.indi.actuatorEffectivenessV = [15, 13, 13, 15, 15]
+
+
   elif name == LatTunes.LQR_RAV4:
     tune.init('lqr')
     tune.lqr.scale = 1500.0

diff --git a/selfdrive/common/params.cc b/selfdrive/common/params.cc
@@ -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

diff --git a/selfdrive/common/version.h b/selfdrive/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.8.13"
+#define COMMA_VERSION "0.8.13.1"