Move couple toyotas to torque table values (commaai#24849)

* Move couple toyotas to torque table values

* Dont set for all cars yet

* Dont regress docs

* update ref

selfdrive/car/toyota/interface.py

@@ -4,6 +4,7 @@
 from panda import Panda
 from common.numpy_fast import interp
 from common.params import Params
+from selfdrive.controls.lib.latcontrol_torque import set_torque_tune
 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
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
@@ -37,26 +38,31 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
 
     stop_and_go = False
     torque_params = CarInterfaceBase.get_torque_params(candidate)
+    steering_angle_deadzone_deg = 0.0
+    set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)
 
     if candidate == CAR.PRIUS:
       stop_and_go = True
       ret.wheelbase = 2.70
       ret.steerRatio = 15.74   # unknown end-to-end spec
       tire_stiffness_factor = 0.6371   # hand-tune
       ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
-      if Params().get_bool('Torque'):
-        set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=1.7, FRICTION=0.06), steering_angle_deadzone_deg=1.0)
-      else:
-        set_lat_tune(ret.lateralTuning, LatTunes.INDI_PRIUS)
-        ret.steerActuatorDelay = 0.3
+      # Only give steer angle deadzone to for bad angle sensor prius
+      for fw in car_fw:
+        if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00':
+          steering_angle_deadzone_deg = 1.0
+          set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)
 
     elif candidate == CAR.PRIUS_V:
       stop_and_go = True
       ret.wheelbase = 2.78
       ret.steerRatio = 17.4
       tire_stiffness_factor = 0.5533
-      ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=1.8, FRICTION=0.06)
+      ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG
+      # TODO override until there is enough data
+      ret.maxLateralAccel = 1.8
+      torque_params = CarInterfaceBase.get_torque_params(CAR.PRIUS)
+      set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)
 
     elif candidate in (CAR.RAV4, CAR.RAV4H):
       stop_and_go = True if (candidate in CAR.RAV4H) else False