December 7th, 2024 Patch

cereal/log.capnp

@@ -622,6 +622,7 @@ struct RadarState @0x9a185389d6fdd05f {
   leadRight @14 :LeadData;
   leadLeftFar @15 :LeadData;
   leadRightFar @16 :LeadData;
+  leadsLead @17 :LeadData;
   cumLagMs @5 :Float32;
 
   struct LeadData {

panda/board/safety/safety_toyota.h

@@ -49,10 +49,18 @@ const int TOYOTA_GAS_INTERCEPTOR_THRSLD = 805;
 #define TOYOTA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2U) // avg between 2 tracks
 
 // Stock longitudinal
-#define TOYOTA_COMMON_TX_MSGS                                                                                     \
-  {0x2E4, 0, 5}, {0x191, 0, 8}, {0x412, 0, 8}, {0x343, 0, 8}, {0x1D2, 0, 8},  /* LKAS + LTA + ACC & PCM cancel cmds */  \
+#define TOYOTA_BASE_TX_MSGS \
+  {0x191, 0, 8}, {0x412, 0, 8}, {0x343, 0, 8}, {0x1D2, 0, 8},  /* LKAS + LTA + ACC & PCM cancel cmds */  \
   {0x750, 0, 8},  /* white list 0x750 for Enhanced Diagnostic Request */                                                \
 
+#define TOYOTA_COMMON_TX_MSGS \
+  TOYOTA_BASE_TX_MSGS \
+  {0x2E4, 0, 5}, \
+
+#define TOYOTA_COMMON_SECOC_TX_MSGS \
+  TOYOTA_BASE_TX_MSGS \
+  {0x2E4, 0, 8}, {0x131, 0, 8}, \
+
 #define TOYOTA_COMMON_LONG_TX_MSGS                                                                                                          \
   TOYOTA_COMMON_TX_MSGS                                                                                                                     \
   {0x283, 0, 7}, {0x2E6, 0, 8}, {0x2E7, 0, 8}, {0x33E, 0, 7}, {0x344, 0, 8}, {0x365, 0, 7}, {0x366, 0, 7}, {0x4CB, 0, 8},  /* DSU bus 0 */  \
@@ -66,7 +74,7 @@ const CanMsg TOYOTA_TX_MSGS[] = {
 };
 
 const CanMsg TOYOTA_SECOC_TX_MSGS[] = {
-  TOYOTA_COMMON_TX_MSGS
+  TOYOTA_COMMON_SECOC_TX_MSGS
 };
 
 const CanMsg TOYOTA_LONG_TX_MSGS[] = {
@@ -81,9 +89,11 @@ const CanMsg TOYOTA_INTERCEPTOR_TX_MSGS[] = {
 #define TOYOTA_COMMON_RX_CHECKS(lta)                                                                        \
   {.msg = {{ 0xaa, 0, 8, .check_checksum = false, .frequency = 83U}, { 0 }, { 0 }}},                        \
   {.msg = {{0x260, 0, 8, .check_checksum = true, .quality_flag = (lta), .frequency = 50U}, { 0 }, { 0 }}},  \
-  {.msg = {{0x1D2, 0, 8, .check_checksum = true, .frequency = 33U}, { 0 }, { 0 }}},                         \
-  {.msg = {{0x224, 0, 8, .check_checksum = false, .frequency = 40U},                                        \
-           {0x226, 0, 8, .check_checksum = false, .frequency = 40U}, { 0 }}},                               \
+  {.msg = {{0x1D2, 0, 8, .check_checksum = true, .frequency = 33U},                                         \
+           {0x176, 0, 8, .check_checksum = true, .frequency = 32U}, { 0 }}},                                \
+  {.msg = {{0x101, 0, 8, .check_checksum = false, .frequency = 50U},                                        \
+           {0x224, 0, 8, .check_checksum = false, .frequency = 40U},                                        \
+           {0x226, 0, 8, .check_checksum = false, .frequency = 40U}}},                                      \
 
 RxCheck toyota_lka_rx_checks[] = {
   TOYOTA_COMMON_RX_CHECKS(false)

selfdrive/car/__init__.py

@@ -1,4 +1,5 @@
 # functions common among cars
+import logging
 from collections import namedtuple
 from dataclasses import dataclass
 from enum import IntFlag, ReprEnum, EnumType
@@ -11,6 +12,10 @@
 from openpilot.common.utils import Freezable
 from openpilot.selfdrive.car.docs_definitions import CarDocs
 
+# set up logging
+carlog = logging.getLogger('carlog')
+carlog.setLevel(logging.INFO)
+carlog.propagate = False
 
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.

selfdrive/car/interfaces.py

@@ -295,7 +295,7 @@ def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_
       eps_firmware = str(next((fw.fwVersion for fw in car_fw if fw.ecu == "eps"), ""))
       model = get_nn_model_path(candidate, eps_firmware)
       if model is not None:
-        params.put_nonblocking("NNFFModelName", candidate.replace("_", " "))
+        params.put("NNFFModelName", candidate.replace("_", " "))
 
     # Vehicle mass is published curb weight plus assumed payload such as a human driver; notCars have no assumed payload
     if not ret.notCar:

selfdrive/car/toyota/carstate.py

@@ -9,7 +9,7 @@
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
-                                                  TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
+                                                  TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR, SECOC_CAR
 
 SteerControlType = car.CarParams.SteerControlType
 
@@ -45,11 +45,15 @@ class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
-    self.shifter_values = can_define.dv["GEAR_PACKET"]["GEAR"]
     self.eps_torque_scale = EPS_SCALE[CP.carFingerprint] / 100.
     self.cluster_speed_hyst_gap = CV.KPH_TO_MS / 2.
     self.cluster_min_speed = CV.KPH_TO_MS / 2.
 
+    if CP.flags & ToyotaFlags.SECOC.value:
+      self.shifter_values = can_define.dv["GEAR_PACKET_HYBRID"]["GEAR"]
+    else:
+      self.shifter_values = can_define.dv["GEAR_PACKET"]["GEAR"]
+
     # On cars with cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
     # the signal is zeroed to where the steering angle is at start.
     # Need to apply an offset as soon as the steering angle measurements are both received
@@ -64,7 +68,8 @@ def __init__(self, CP):
     self.low_speed_lockout = False
     self.acc_type = 1
     self.lkas_hud = {}
-    self.pcm_accel_net = 0.0
+    self.gvc = 0.0
+    self.secoc_synchronization = None
 
     # FrogPilot variables
     self.latActive_previous = False
@@ -76,21 +81,10 @@ def __init__(self, CP):
   def update(self, cp, cp_cam, CC, frogpilot_toggles):
     ret = car.CarState.new_message()
     fp_ret = custom.FrogPilotCarState.new_message()
+    cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp
 
-    # Describes the acceleration request from the PCM if on flat ground, may be higher or lower if pitched
-    # CLUTCH->ACCEL_NET is only accurate for gas, PCM_CRUISE->ACCEL_NET is only accurate for brake
-    # These signals only have meaning when ACC is active
-    if self.CP.flags & ToyotaFlags.RAISED_ACCEL_LIMIT:
-      self.pcm_accel_net = max(cp.vl["CLUTCH"]["ACCEL_NET"], 0.0)
-
-      # Sometimes ACC_BRAKING can be 1 while showing we're applying gas already
-      if cp.vl["PCM_CRUISE"]["ACC_BRAKING"]:
-        self.pcm_accel_net += min(cp.vl["PCM_CRUISE"]["ACCEL_NET"], 0.0)
-
-      # add creeping force at low speeds only for braking, CLUTCH->ACCEL_NET already shows this
-      neutral_accel = max(cp.vl["PCM_CRUISE"]["NEUTRAL_FORCE"] / self.CP.mass, 0.0)
-      if self.pcm_accel_net + neutral_accel < 0.0:
-        self.pcm_accel_net += neutral_accel
+    if not self.CP.flags & ToyotaFlags.SECOC.value:
+      self.gvc = cp.vl["VSC1S07"]["GVC"]
 
     ret.doorOpen = any([cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FR"],
                         cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_RL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_RR"]])
@@ -100,12 +94,22 @@ def update(self, cp, cp_cam, CC, frogpilot_toggles):
     ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
     ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1
 
-    if self.CP.enableGasInterceptor:
-      ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2
-      ret.gasPressed = ret.gas > 805
+    if self.CP.flags & ToyotaFlags.SECOC.value:
+      self.secoc_synchronization = copy.copy(cp.vl["SECOC_SYNCHRONIZATION"])
+      ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL_USER"]
+      ret.gasPressed = cp.vl["GAS_PEDAL"]["GAS_PEDAL_USER"] > 0
+      can_gear = int(cp.vl["GEAR_PACKET_HYBRID"]["GEAR"])
     else:
-      # TODO: find a common gas pedal percentage signal
-      ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0
+      if self.CP.enableGasInterceptor:
+        ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2
+        ret.gasPressed = ret.gas > 805
+      else:
+        ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0  # TODO: these also have GAS_PEDAL, come back and unify
+      can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"])
+      if not self.CP.enableDsu and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
+        ret.stockAeb = bool(cp_acc.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_acc.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
+      if self.CP.carFingerprint != CAR.TOYOTA_MIRAI:
+        ret.engineRpm = cp.vl["ENGINE_RPM"]["RPM"]
 
     ret.wheelSpeeds = self.get_wheel_speeds(
       cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
@@ -136,14 +140,10 @@ def update(self, cp, cp_cam, CC, frogpilot_toggles):
         ret.steeringAngleOffsetDeg = self.angle_offset.x
         ret.steeringAngleDeg = torque_sensor_angle_deg - self.angle_offset.x
 
-    can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
     ret.leftBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 1
     ret.rightBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 2
 
-    if self.CP.carFingerprint != CAR.TOYOTA_MIRAI:
-      ret.engineRpm = cp.vl["ENGINE_RPM"]["RPM"]
-
     ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
     ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] * self.eps_torque_scale
     # we could use the override bit from dbc, but it's triggered at too high torque values
@@ -174,8 +174,6 @@ def update(self, cp, cp_cam, CC, frogpilot_toggles):
       conversion_factor = CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS
       ret.cruiseState.speedCluster = cluster_set_speed * conversion_factor
 
-    cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp
-
     if self.CP.carFingerprint in TSS2_CAR and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       if not (self.CP.flags & ToyotaFlags.SMART_DSU.value):
         self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
@@ -199,9 +197,6 @@ def update(self, cp, cp_cam, CC, frogpilot_toggles):
     ret.genericToggle = bool(cp.vl["LIGHT_STALK"]["AUTO_HIGH_BEAM"])
     ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0
 
-    if not self.CP.enableDsu and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
-      ret.stockAeb = bool(cp_acc.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_acc.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
-
     if self.CP.enableBsm:
       ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1)
       ret.rightBlindspot = (cp.vl["BSM"]["R_ADJACENT"] == 1) or (cp.vl["BSM"]["R_APPROACHING"] == 1)
@@ -264,7 +259,6 @@ def update(self, cp, cp_cam, CC, frogpilot_toggles):
   @staticmethod
   def get_can_parser(CP):
     messages = [
-      ("GEAR_PACKET", 1),
       ("LIGHT_STALK", 1),
       ("BLINKERS_STATE", 0.15),
       ("BODY_CONTROL_STATE", 3),
@@ -279,11 +273,20 @@ def get_can_parser(CP):
       ("STEER_TORQUE_SENSOR", 50),
     ]
 
-    if CP.flags & ToyotaFlags.RAISED_ACCEL_LIMIT:
-      messages.append(("CLUTCH", 15))
+    if CP.flags & ToyotaFlags.SECOC.value:
+      messages += [
+        ("GEAR_PACKET_HYBRID", 60),
+        ("SECOC_SYNCHRONIZATION", 10),
+        ("GAS_PEDAL", 42),
+      ]
+    else:
+      messages.append(("VSC1S07", 20))
+      if CP.carFingerprint not in [CAR.TOYOTA_MIRAI]:
+        messages.append(("ENGINE_RPM", 42))
 
-    if CP.carFingerprint != CAR.TOYOTA_MIRAI:
-      messages.append(("ENGINE_RPM", 42))
+      messages += [
+        ("GEAR_PACKET", 1),
+      ]
 
     if CP.carFingerprint in UNSUPPORTED_DSU_CAR:
       messages.append(("DSU_CRUISE", 5))
@@ -338,9 +341,14 @@ def get_cam_can_parser(CP):
 
     if CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
       messages += [
-        ("PRE_COLLISION", 33),
         ("ACC_CONTROL", 33),
         ("PCS_HUD", 1),
       ]
 
+      # TODO: Figure out new layout of the PRE_COLLISION message
+      if not CP.flags & ToyotaFlags.SECOC.value:
+        messages += [
+          ("PRE_COLLISION", 33),
+        ]
+
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)

selfdrive/car/toyota/fingerprints.py

@@ -110,6 +110,7 @@
       b'\x018966306Q6000\x00\x00\x00\x00',
       b'\x018966333N1100\x00\x00\x00\x00',
       b'\x018966333N4300\x00\x00\x00\x00',
+      b'\x018966333P3000\x00\x00\x00\x00',
       b'\x018966333P3100\x00\x00\x00\x00',
       b'\x018966333P3200\x00\x00\x00\x00',
       b'\x018966333P4200\x00\x00\x00\x00',
@@ -160,6 +161,7 @@
       b'8821F0605200    ',
       b'8821F0606200    ',
       b'8821F0607200    ',
+      b'8821F0607300    ',
       b'8821F0608000    ',
       b'8821F0608200    ',
       b'8821F0608300    ',
@@ -192,6 +194,7 @@
       b'8965B33581\x00\x00\x00\x00\x00\x00',
       b'8965B33611\x00\x00\x00\x00\x00\x00',
       b'8965B33621\x00\x00\x00\x00\x00\x00',
+      b'8965B33630\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'8821F0601200    ',
@@ -207,6 +210,7 @@
       b'8821F0605200    ',
       b'8821F0606200    ',
       b'8821F0607200    ',
+      b'8821F0607300    ',
       b'8821F0608000    ',
       b'8821F0608200    ',
       b'8821F0608300    ',
@@ -754,6 +758,7 @@
       b'\x018966353Q2300\x00\x00\x00\x00',
       b'\x018966353Q4000\x00\x00\x00\x00',
       b'\x018966353R1100\x00\x00\x00\x00',
+      b'\x018966353R7000\x00\x00\x00\x00',
       b'\x018966353R7100\x00\x00\x00\x00',
       b'\x018966353R8000\x00\x00\x00\x00',
       b'\x018966353R8100\x00\x00\x00\x00',
@@ -1353,6 +1358,7 @@
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F0610000\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
+      b'\x028646F0610100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
       b'\x028646F33030D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F3303100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F3303200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
@@ -1550,6 +1556,7 @@
       b'\x01896630E36100\x00\x00\x00\x00',
       b'\x01896630E36200\x00\x00\x00\x00',
       b'\x01896630E36300\x00\x00\x00\x00',
+      b'\x01896630E36600\x00\x00\x00\x00',
       b'\x01896630E37100\x00\x00\x00\x00',
       b'\x01896630E37200\x00\x00\x00\x00',
       b'\x01896630E37300\x00\x00\x00\x00',
@@ -1656,6 +1663,7 @@
       b'\x02348X8000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02348Y3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0234D14000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0234D15000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0234D16000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [

selfdrive/car/toyota/interface.py

@@ -29,6 +29,10 @@ def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, exp
     if DBC[candidate]["pt"] == "toyota_new_mc_pt_generated":
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE
 
+    if ret.flags & ToyotaFlags.SECOC.value:
+      ret.secOcRequired = True
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_SECOC
+
     if candidate in ANGLE_CONTROL_CAR:
       ret.steerControlType = SteerControlType.angle
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA
@@ -57,7 +61,11 @@ def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, exp
     ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \
                                         and not (ret.flags & ToyotaFlags.SMART_DSU)
 
-    if candidate == CAR.LEXUS_ES_TSS2 and Ecu.hybrid not in found_ecus:
+    if Ecu.hybrid in found_ecus:
+      ret.flags |= ToyotaFlags.HYBRID.value
+
+    # TODO: expand to the rest of the cars
+    if candidate in (CAR.LEXUS_ES_TSS2,) and not (ret.flags & ToyotaFlags.HYBRID.value):
       ret.flags |= ToyotaFlags.RAISED_ACCEL_LIMIT.value
 
     if candidate == CAR.TOYOTA_PRIUS:
@@ -73,7 +81,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, exp
     elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2):
       ret.wheelSpeedFactor = 1.035
 
-    elif candidate in (CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2022, CAR.TOYOTA_RAV4_TSS2_2023):
+    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):
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kiBP = [0.0]
       ret.lateralTuning.pid.kpBP = [0.0]
@@ -121,8 +129,13 @@ def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, exp
     #  - TSS2 radar ACC cars w/ smartDSU installed
     #  - TSS2 radar ACC cars w/o smartDSU installed (disables radar)
     #  - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet)
-    ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
+
+    if ret.flags & ToyotaFlags.SECOC.value:
+      ret.openpilotLongitudinalControl = False
+    else:
+      ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
     ret.openpilotLongitudinalControl &= not disable_openpilot_long
+
     ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
     ret.enableGasInterceptor = 0x201 in fingerprint[0] and ret.openpilotLongitudinalControl
 
@@ -136,27 +149,21 @@ def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, exp
     # to a negative value, so it won't matter.
     ret.minEnableSpeed = -1. if (candidate in STOP_AND_GO_CAR or ret.enableGasInterceptor) else MIN_ACC_SPEED
 
-    tune = ret.longitudinalTuning
     if ret.enableGasInterceptor:
+      tune = ret.longitudinalTuning
       tune.kiBP = [0., 5., 20.]
       tune.kiV = [1.3, 1.0, 0.7]
       ret.vEgoStopping = 0.25
       ret.vEgoStarting = 0.25
       ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
     elif candidate in TSS2_CAR:
-      tune.kpV = [0.0]
-      tune.kiV = [0.5]
       ret.vEgoStopping = 0.25
       ret.vEgoStarting = 0.25
       ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
 
-      # Since we compensate for imprecise acceleration in carcontroller, we can be less aggressive with tuning
-      # This also prevents unnecessary request windup due to internal car jerk limits
-      if ret.flags & ToyotaFlags.RAISED_ACCEL_LIMIT:
-        tune.kiV = [0.25]
-    else:
-      tune.kiBP = [0., 5., 35.]
-      tune.kiV = [3.6, 2.4, 1.5]
+      # Hybrids have much quicker longitudinal actuator response
+      if ret.flags & ToyotaFlags.HYBRID.value:
+        ret.longitudinalActuatorDelay = 0.05
 
     if params.get_bool("FrogsGoMoosTweak"):
       ret.stoppingDecelRate = 0.1  # reach stopping target smoothly