FrogPilot's Toyota tune

common/params.cc

@@ -268,6 +268,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"FPSCounter", PERSISTENT},
     {"FrogPilotTogglesUpdated", PERSISTENT},
     {"FrogsGoMoo", PERSISTENT},
+    {"FrogsGoMooTune", PERSISTENT},
     {"GoatScream", PERSISTENT},
     {"LaneLinesWidth", PERSISTENT},
     {"LateralTune", PERSISTENT},

selfdrive/car/toyota/carcontroller.py

@@ -53,6 +53,7 @@ class CarController:
     params = Params()
 
     self.cydia_tune = params.get_bool("CydiaTune")
+    self.frogs_go_moo_tune = params.get_bool("FrogsGoMooTune")
 
   def update(self, CC, CS, now_nanos, frogpilot_variables):
     actuators = CC.actuators
@@ -141,7 +142,7 @@ class CarController:
     if (self.CP.carFingerprint in NO_STOP_TIMER_CAR and actuators.accel < 1e-3 or stopping) or CS.out.vEgo < 1e-3:
       should_compensate = False
     # limit minimum to only positive until first positive is reached after engagement, don't calculate when long isn't active
-    if CC.longActive and should_compensate and not self.prohibit_neg_calculation and self.cydia_tune:
+    if CC.longActive and should_compensate and not self.prohibit_neg_calculation and (self.cydia_tune or self.frogs_go_moo_tune):
       accel_offset = CS.pcm_neutral_force / self.CP.mass
     else:
       accel_offset = 0.
@@ -176,7 +177,7 @@ class CarController:
     if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
       lead = hud_control.leadVisible or CS.out.vEgo < 12.  # at low speed we always assume the lead is present so ACC can be engaged
       # when stopping, send -2.5 raw acceleration immediately to prevent vehicle from creeping, else send actuators.accel
-      accel_raw = -2.5 if stopping and self.cydia_tune else actuators.accel
+      accel_raw = -2.5 if stopping and (self.cydia_tune or self.frogs_go_moo_tune) else actuators.accel
 
       # Lexus IS uses a different cancellation message
       if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:

selfdrive/car/toyota/interface.py

@@ -282,6 +282,25 @@ class CarInterface(CarInterfaceBase):
       tune.kpV = [0.8, 1.]
       tune.kiBP = [0., 5.]
       tune.kiV = [0.3, 1.]
+    elif params.get_bool("FrogsGoMooTune"):
+      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.stopAccel = -2.5
+        ret.stoppingDecelRate = 0.009  # reach stopping target smoothly
+      else:
+        ret.stopAccel = -2.5  # on stock Toyota this is -2.5
+        ret.stoppingDecelRate = 0.3  # This is okay for TSS-P
+
+      ret.vEgoStarting = 0.1
+      ret.vEgoStopping = 0.1
     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.]

selfdrive/frogpilot/ui/vehicle_settings.cc

@@ -121,6 +121,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPil
         {"StockTune", tr("Stock")},
         {"CydiaTune", tr("Cydia's")},
         {"DragonPilotTune", tr("DragonPilot's")},
+        {"FrogsGoMooTune", tr("FrogPilot's")},
       };
       toggle = new FrogPilotButtonsParamControl(param, title, desc, icon, tuneOptions);