From e2b3eb2aba830924e5e682189abd8d6e98c683a9 Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Thu, 31 Oct 2024 07:38:04 -0700
Subject: [PATCH] ff

---
 selfdrive/car/toyota/interface.py                       | 4 ++--
 selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 3 +--
 selfdrive/controls/lib/sunnypilot/accel_controller.py   | 8 ++++----
 3 files changed, 7 insertions(+), 8 deletions(-)

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index ddb19dcbd7..3f599d779b 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.,   5.,    12.,   20.,   27.]
-        tune.kiV = [0.35,  0.23,  0.20,  0.17,  0.10]
+        tune.kiBP = [0.,  3.,   4.,   5.,    12.,   20.,   27.]
+        tune.kiV = [0.35, 0.26, 0.245, 0.23,  0.20,  0.17,  0.10]
         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 970d74da34..17e1b769c3 100755
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -173,7 +173,6 @@ def get_dynamic_personality(v_ego, personality=custom.LongitudinalPersonalitySP.
     raise NotImplementedError("Dynamic personality not supported")
   return np.interp(v_ego, x_vel, y_dist)
 
-
 def get_stopped_equivalence_factor(v_lead):
   return (v_lead**2) / (2 * COMFORT_BRAKE)
 
@@ -572,4 +571,4 @@ class LongitudinalMpc:
 if __name__ == "__main__":
   ocp = gen_long_ocp()
   AcadosOcpSolver.generate(ocp, json_file=JSON_FILE)
-  # AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True)
+  # AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True)
\ No newline at end of file
diff --git a/selfdrive/controls/lib/sunnypilot/accel_controller.py b/selfdrive/controls/lib/sunnypilot/accel_controller.py
index 31565565ef..fb4a9e6002 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 =       [-0.03,  -1.00,   -1.0,  -1.0]
-_DP_CRUISE_MIN_V_ECO =   [-0.02,  -1.00,   -1.0,  -1.0]
-_DP_CRUISE_MIN_V_SPORT = [-0.04,  -1.00,   -1.0,  -1.0]
-_DP_CRUISE_MIN_BP =      [0.,     15.99,   16.,   20.]
+_DP_CRUISE_MIN_V =       [-0.03,  -0.03,  -0.3,  -0.3,  -1.0,  -1.0]
+_DP_CRUISE_MIN_V_ECO =   [-0.02,  -0.02,  -0.2,  -0.2,  -1.0,  -1.0]
+_DP_CRUISE_MIN_V_SPORT = [-0.04,  -0.04,  -0.4,  -0.4,  -1.0,  -1.0]
+_DP_CRUISE_MIN_BP =      [0.,     5.55,   5.56,  12.,   12.01, 20.]
 
 _DP_CRUISE_MAX_V =       [2.0, 2.0, 2.0, 1.80, 1.03, .62,  .47,  .36,  .11]
 _DP_CRUISE_MAX_V_ECO =   [2.0, 2.0, 2.0, 1.65, 0.92, .532, .432, .32,  .095]