support for kfv and kfbp and overshooting fix (commaai#768)

* toyota rsa logic

* no arne messaging and add opedit

* add gas_press, smartspeed and spdval1 to carstate

* more fixes

* new_message

* thats right we dont have anglelater code yet.

* revert to working mapd code? and pylint ignore mapd

* flake8 ignore.

* flake8 e701 fix

* control df with distance button?

* wrong struct

* Update carstate.py

* update missing

* start MessagedArneThread

* Update carstate.py

* pubmaster?

* message

* update carstate.py

* no .status

* pm

* use dp_dynamic_follow to send DF status

* sntax

* encoding='utf8'

* Update carstate.py

* Update carstate.py

* pyopencl pipenv

* change the order so we can display right thing with distance toggle

* doesnt work well with dg

* Revert "change the order so we can display right thing with distance toggle"

This reverts commit ee4522a.

* turn off distance button for now.

* Parametrize MIN_CAN_SPEED in car interfaces

* Parametrize stoppingBrakeRate

* Parametrize startingBrakeRate

* add the parameter to cereal .

* Update dp_common.py

* tune dg

* add AVALON_2021 in dp080

* sync (#93)

* Update dp_common.py

* Update dp_common.py

* RSA, Distance button and briskspirit longcontrol (commaai#762)

* toyota rsa logic

* no arne messaging and add opedit

* add gas_press, smartspeed and spdval1 to carstate

* more fixes

* new_message

* thats right we dont have anglelater code yet.

* revert to working mapd code? and pylint ignore mapd

* flake8 ignore.

* flake8 e701 fix

* control df with distance button?

* wrong struct

* Update carstate.py

* update missing

* start MessagedArneThread

* Update carstate.py

* pubmaster?

* message

* update carstate.py

* no .status

* pm

* use dp_dynamic_follow to send DF status

* sntax

* encoding='utf8'

* Update carstate.py

* Update carstate.py

* pyopencl pipenv

* change the order so we can display right thing with distance toggle

* doesnt work well with dg

* Revert "change the order so we can display right thing with distance toggle"

This reverts commit ee4522a.

* turn off distance button for now.

* Parametrize MIN_CAN_SPEED in car interfaces

* Parametrize stoppingBrakeRate

* Parametrize startingBrakeRate

* add the parameter to cereal .

* Update dp_common.py

Co-authored-by: Arne Schwarck <arneschwarck@gmail.com>
Co-authored-by: George Hotz <george@comma.ai>
Co-authored-by: Igor <briskspirit@users.noreply.github.com>

* corolla_TSS2: tune (commaai#760)

* Update interface.py

updated corollatss2 tuning

* Update toyota_nodsu_pt_generated.dbc

* Update toyota_nodsu_hybrid_pt_generated.dbc

* Update op_params.py

* Create toyota_nodsu_pt_generated_corolla_tss2.dbc

* Create toyota_nodsu_pt_generated_corollah_tss2.dbc

* revert to stock.

* revert to stock

* point corolla and corollah to its own separate dbc.

* add corolla and corollah dbc to release.

* Update interface.py

Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com>

Co-authored-by: Arne Schwarck <arneschwarck@gmail.com>
Co-authored-by: George Hotz <george@comma.ai>
Co-authored-by: Igor <briskspirit@users.noreply.github.com>
Co-authored-by: SCshredder17 <57152954+SCshredder17@users.noreply.github.com>

* added dbc to release and test route.

* cant use the route since comma doesnt got it.

* i cant spell

* add PIControllerk_f

* Add kfV and kfBP to PIDTuning

* update the car interfaces for bfv and kfbp tunning.

* Add scanner for Cython dependencies

* cleanup unused android libs in phonelibs (commaai#19702)

Co-authored-by: Comma Device <device@comma.ai>

* syntax

* E502 flake8 fix

* fix

* make it list.

* ugh list

* kfV

* forgot vw

* update ford

* Shanes PIDController: orvershooting fix

* action fix.

* restore crash logging trackign of fork and branch.

* add pirus to nodsu

* fix

* fix for crash

* my bad.

* revert.

* working.

Co-authored-by: Arne Schwarck <arneschwarck@gmail.com>
Co-authored-by: George Hotz <george@comma.ai>
Co-authored-by: Igor <briskspirit@users.noreply.github.com>
Co-authored-by: SCshredder17 <57152954+SCshredder17@users.noreply.github.com>
Co-authored-by: Willem Melching <willem.melching@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>

cereal/car.capnp

@@ -444,6 +444,9 @@ struct CarParams {
     kiBP @2 :List(Float32);
     kiV @3 :List(Float32);
     kf @4 :Float32;
+    kfV @5 :List(Float32);
+    kfBP @6 :List(Float32);
+
   }
 
   struct LongitudinalPIDTuning {

common/op_params.py

@@ -80,8 +80,8 @@ def __init__(self):
                         'cloak': Param(True, bool, "make comma believe you are on their fork"),
                         #'corolla_tss2_d_tuning': Param(False, bool, 'lateral tuning using PID w/ true derivative'),
                         'default_brake_distance': Param(250.0, VT.number, 'Distance in m to start braking for mapped speeds.'),
-                        'enable_long_derivative': Param(False, bool, 'If you have longitudinal overshooting, enable this! This enables derivative-based\n'
-                                                                     'integral wind-down to help reduce overshooting within the long PID loop'),
+                        #'enable_long_derivative': Param(False, bool, 'If you have longitudinal overshooting, enable this! This enables derivative-based\n'
+                                                                    # 'integral wind-down to help reduce overshooting within the long PID loop'),
                         #'dynamic_follow': Param('normal', str, "Can be: ('close', 'normal', 'far'): Left to right increases in following distance.\n"
                                                                #"All profiles support dynamic follow so you'll get your preferred distance while\n"
                                                                #"retaining the smoothness and safety of dynamic follow!", live=True),