Toyota Stock Lon Mode - 2025-06-16

common/params_keys.h

@@ -144,4 +144,5 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"dp_device_auto_shutdown_in", PERSISTENT},
     {"dp_ui_radar_tracks", PERSISTENT},
     {"dp_device_ip", CLEAR_ON_MANAGER_START},
+    {"dp_toyota_stock_lon", PERSISTENT},
 };

opendbc_repo/opendbc/car/structs.py

@@ -22,4 +22,5 @@ CarParamsT = capnp.lib.capnp._StructModule
 class DPFlags:
   LateralALKA = 1
   ExtRadar = 2
+  ToyotaStockLon = 2 ** 2
   pass

opendbc_repo/opendbc/car/toyota/interface.py

@@ -131,6 +131,10 @@ class CarInterface(CarInterfaceBase):
         candidate in (TSS2_CAR - RADAR_ACC_CAR) or \
         bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
 
+    if dp_params & structs.DPFlags.ToyotaStockLon:
+      ret.openpilotLongitudinalControl = False
+      ret.alphaLongitudinalAvailable = False
+
     ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
 
     if not ret.openpilotLongitudinalControl:

selfdrive/car/card.py

@@ -105,6 +105,9 @@ class Car:
       if self.params.get_bool("dp_lat_alka"):
         dp_params |= structs.DPFlags.LateralALKA
 
+      if self.params.get_bool("dp_toyota_stock_lon"):
+        dp_params |= structs.DPFlags.ToyotaStockLon
+
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, dp_params, cached_params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP)
       self.CP = self.CI.CP

selfdrive/ui/qt/offroad/dp_panel.cc

@@ -7,6 +7,11 @@ void DPPanel::add_toyota_toggles() {
       QString::fromUtf8("🐉 ") + tr("Toyota / Lexus"),
       "",
     },
+    {
+      "dp_toyota_stock_lon",
+      tr("Use Stock Longitudinal Control"),
+      "",
+    },
   };
 
   QWidget *label = nullptr;

system/manager/manager.py

@@ -61,6 +61,7 @@ def manager_init() -> None:
     ("dp_lon_no_gas_gating", "0"),
     ("dp_device_auto_shutdown_in", "-5"),
     ("dp_ui_radar_tracks", "0"),
+    ("dp_toyota_stock_lon", "0"),
   ]
 
   if params.get_bool("RecordFrontLock"):