From 0a5d99d520d4e47c844867c0a6de2cb85cb28780 Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Tue, 15 Oct 2024 07:38:59 -0700
Subject: [PATCH] different approach

---
 selfdrive/car/toyota/interface.py                      |  4 ++--
 .../controls/lib/longitudinal_mpc_lib/long_mpc.py      | 10 +++++-----
 selfdrive/controls/lib/sunnypilot/accel_controller.py  |  8 ++++----
 3 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 92dbd3fe6c..26c972a216 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -178,8 +178,8 @@ class CarInterface(CarInterfaceBase):
     tune = ret.longitudinalTuning
     if candidate in TSS2_CAR or ret.enableGasInterceptorDEPRECATED:
       if sp_tss2_long_tune:
-        tune.kiBP = [0.,   2.,    12.,  20.,   27.,  36.,  40.]
-        tune.kiV = [0.348,  0.309, 0.219, 0.173, 0.10, 0.09, 0.08]
+        tune.kiBP = [0.,   2.,    12.,  20.,   27.]
+        tune.kiV = [0.348,  0.308, 0.218, 0.174, 0.101]
         custom_tss2_longitudinal_tuning()
       else:
         tune.kpV = [0.0]
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index 34a2a0ac86..f9ee42448a 100755
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -59,13 +59,13 @@ STOP_DISTANCE = 6.0
 
 def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
   if personality==custom.LongitudinalPersonalitySP.relaxed:
-    return 1.5
-  elif personality==custom.LongitudinalPersonalitySP.standard:
     return 1.3
-  elif personality==custom.LongitudinalPersonalitySP.moderate:
+  elif personality==custom.LongitudinalPersonalitySP.standard:
     return 1.2
+  elif personality==custom.LongitudinalPersonalitySP.moderate:
+    return 1.0
   elif personality==custom.LongitudinalPersonalitySP.aggressive:
-    return 1.1
+    return 0.8
   elif personality==custom.LongitudinalPersonalitySP.overtake:
     return 0.1
   else:
@@ -80,7 +80,7 @@ def get_T_FOLLOW(personality=custom.LongitudinalPersonalitySP.standard):
   elif personality==custom.LongitudinalPersonalitySP.moderate:
     return 1.25
   elif personality==custom.LongitudinalPersonalitySP.aggressive:
-    return 1.0
+    return 1.15
   elif personality==custom.LongitudinalPersonalitySP.overtake:
     return 0.25
   else:
diff --git a/selfdrive/controls/lib/sunnypilot/accel_controller.py b/selfdrive/controls/lib/sunnypilot/accel_controller.py
index 92f32f3ea0..ee9e6ea4b4 100644
--- a/selfdrive/controls/lib/sunnypilot/accel_controller.py
+++ b/selfdrive/controls/lib/sunnypilot/accel_controller.py
@@ -29,10 +29,10 @@ from openpilot.common.numpy_fast import interp
 AccelPersonality = custom.AccelerationPersonality
 
 # accel personality by @arne182 modified by cgw and kumar
-_DP_CRUISE_MIN_V =       [-1.0,  -1.0,  -1.0]
-_DP_CRUISE_MIN_V_ECO =   [-1.0,  -1.0,  -1.0]
-_DP_CRUISE_MIN_V_SPORT = [-1.0,  -1.0,  -1.0]
-_DP_CRUISE_MIN_BP =      [0.,    10.,   20.]
+_DP_CRUISE_MIN_V =       [-0.015, -0.015,  -1.0,  -1.0]
+_DP_CRUISE_MIN_V_ECO =   [-0.010, -0.010,  -1.0,  -1.0]
+_DP_CRUISE_MIN_V_SPORT = [-0.020, -0.020,  -1.0,  -1.0]
+_DP_CRUISE_MIN_BP =      [0.,     5.,     5.01,   20.]
 
 _DP_CRUISE_MAX_V =       [2.0, 2.0, 2.0, 1.80, 1.03, .62,  .47,  .35,  .10]
 _DP_CRUISE_MAX_V_ECO =   [2.0, 2.0, 2.0, 1.65, 0.92, .532, .432, .315, .084]