Toyota PCM Compensation tune and bugfixes

* Do not reset long mpc weight (perform better)
* Lower stopAccel for quicker response for TSS2.

selfdrive/car/toyota/interface.py

@@ -148,15 +148,14 @@ class CarInterface(CarInterfaceBase):
     # dp
     if Params().get_bool("dp_toyota_pcm_compensation"):
       # on stock Toyota this is -2.5
-      ret.stopAccel = -2.5
+      if candidate in TSS2_CAR:
+        ret.stopAccel = -1.2
+      else:
+        ret.stopAccel = -2.5
 
-      tune.deadzoneBP = [0., 16., 20., 30.]
-      tune.deadzoneV = [.04, .05, .08, .15]
       ret.stoppingDecelRate = 0.17
-      tune.kpBP = [0., 5.]
-      tune.kpV = [0.8, 1.]
-      tune.kiBP = [0., 5.]
-      tune.kiV = [0.3, 1.]
+      tune.kpV = [0.]
+      tune.kiV = [0.5]
     elif candidate in TSS2_CAR:
       tune.kpV = [0.0]
       tune.kiV = [0.5]

selfdrive/controls/lib/longitudinal_planner.py

@@ -136,10 +136,6 @@ class LongitudinalPlanner:
     # Reset current state when not engaged, or user is controlling the speed
     reset_state = long_control_off if self.CP.openpilotLongitudinalControl else not sm['controlsState'].enabled
 
-    # dp
-    if not reset_state:
-      reset_state = self._dynamic_endtoend_controller.has_changed()
-
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)