From 50d9c446cf4abf5214e73d7d6a32b2cb926f37c9 Mon Sep 17 00:00:00 2001
From: zeeexsixare <32753720+zeeexsixare@users.noreply.github.com>
Date: Thu, 6 Sep 2018 23:03:10 -0400
Subject: [PATCH] Tried native Stop and Go on Highlander ICE with no comma
 pedal: Works! (#353)

* Trying to make Highlander ICE stop and go

* Making acceleration slow for fuel efficiency

* Removing annoying commanded disengage beep

* Raised accel_max by 50% and commented on chime

* Testing if Highlander ICE can resume follow from 0

* Returned to 1.5 m/s2 for testing stop and go

* Prep for merging upstream

* Prep for upstream merge item #2

* Added Highlander ICE/Hybrid to Stop and Go

Also updated table of vehicles

* Rollback advertising stop and go for Highlanders

* Fix whitespace
---
 README.md                         | 2 +-
 selfdrive/car/toyota/interface.py | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/README.md b/README.md
index dd0b9aac132feb..74b90eaaa70c4d 100644
--- a/README.md
+++ b/README.md
@@ -73,7 +73,7 @@ Supported Cars
 | Toyota             | C-HR 2018<sup>4</sup> | All                  | Yes     | Stock          | 0mph             | 0mph           |
 | Toyota             | Corolla 2017          | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
 | Toyota             | Corolla 2018          | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
-| Toyota             | Highlander 2017       | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota             | Highlander 2017       | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
 | Toyota             | Highlander Hybrid 2018| All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
 | Toyota             | Prius 2016            | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
 | Toyota             | Prius 2017            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index a14cfb53a74ecd..cddd34d38e5318 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -147,9 +147,9 @@ def get_params(candidate, fingerprint):
     # to a negative value, so it won't matter.
     # hybrid models can't do stop and go even though the stock ACC can't
     if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.CHR,
-                     CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH]:
+                     CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
       ret.minEnableSpeed = -1.
-    elif candidate in [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER]: # TODO: hack ICE to do stop and go
+    elif candidate in [CAR.RAV4, CAR.COROLLA]: # TODO: hack ICE to do stop and go
       ret.minEnableSpeed = 19. * CV.MPH_TO_MS
 
     centerToRear = ret.wheelbase - ret.centerToFront
@@ -244,7 +244,7 @@ def update(self, c):
     ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
     ret.cruiseState.available = bool(self.CS.main_on)
     ret.cruiseState.speedOffset = 0.
-    if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH]:
+    if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
       # ignore standstill in hybrid vehicles, since pcm allows to restart without
       # receiving any special command
       ret.cruiseState.standstill = False