Wocsor 2019 rav4 commaai#520

selfdrive/car/toyota/interface.py

@@ -136,7 +136,18 @@ def get_params(candidate, fingerprint):
         ret.gasMaxV = [0.2, 0.5, 0.7]
         ret.longitudinalKpV = [2.0, 1.0, 0.8]
         ret.longitudinalKiV = [0.25, 0.14]
-
+    elif candidate == CAR.RAV4_2019:
+      stop_and_go = True
+      ret.safetyParam = 100
+      ret.wheelbase = 2.68986
+      ret.steerRatio = 14.3
+      tire_stiffness_factor = 0.7933
+      ret.mass = 3370. * CV.LB_TO_KG + std_cargo
+      ret.steerKpV, ret.steerKiV = [[0.3], [0.1]]
+      ret.steerKf = 0.00007818594
+      ret.longitudinalKpV = [2.0, 1.0, 0.8]
+      ret.longitudinalKiV = [0.25, 0.14]
+      ret.gasMaxV = [0.2, 0.5, 0.7]
     elif candidate == CAR.COROLLA:
       stop_and_go = False
       ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
@@ -341,7 +352,7 @@ def update(self, c):
     ret.cruiseState.available = bool(self.CS.main_on)
     ret.cruiseState.speedOffset = 0.
 
-    if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER] or self.CP.enableGasInterceptor:
+    if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_2019] or self.CP.enableGasInterceptor:
       # ignore standstill in hybrid vehicles, since pcm allows to restart without
       # receiving any special command
       # also if interceptor is detected