Toyota: increase torque rate limit (#887)

* Closer to HYUNDAI

* Change tests too

* Change MAX_RT_DELTA too

* Change test too

* Lower buffer to 20%

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>

board/safety/safety_toyota.h

@@ -2,14 +2,14 @@
 const int TOYOTA_MAX_TORQUE = 1500;       // max torque cmd allowed ever
 
 // rate based torque limit + stay within actually applied
-// packet is sent at 100hz, so this limit is 1000/sec
-const int TOYOTA_MAX_RATE_UP = 10;        // ramp up slow
+// packet is sent at 100hz, so this limit is 1500/sec
+const int TOYOTA_MAX_RATE_UP = 15;        // ramp up slow
 const int TOYOTA_MAX_RATE_DOWN = 25;      // ramp down fast
 const int TOYOTA_MAX_TORQUE_ERROR = 350;  // max torque cmd in excess of torque motor
 
 // real time torque limit to prevent controls spamming
-// the real time limit is 1500/sec
-const int TOYOTA_MAX_RT_DELTA = 375;      // max delta torque allowed for real time checks
+// the real time limit is 1800/sec, a 20% buffer
+const int TOYOTA_MAX_RT_DELTA = 450;      // max delta torque allowed for real time checks
 const uint32_t TOYOTA_RT_INTERVAL = 250000;    // 250ms between real time checks
 
 // longitudinal limits

tests/safety/test_toyota.py

@@ -24,10 +24,10 @@ class TestToyotaSafety(common.PandaSafetyTest, common.InterceptorSafetyTest,
   FWD_BUS_LOOKUP = {0: 2, 2: 0}
   INTERCEPTOR_THRESHOLD = 845
 
-  MAX_RATE_UP = 10
+  MAX_RATE_UP = 15
   MAX_RATE_DOWN = 25
   MAX_TORQUE = 1500
-  MAX_RT_DELTA = 375
+  MAX_RT_DELTA = 450
   RT_INTERVAL = 250000
   MAX_TORQUE_ERROR = 350
   TORQUE_MEAS_TOLERANCE = 1  # toyota safety adds one to be conversative for rounding