From 084d7427f6e7d47d42ca33410bde5108d70863e4 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 22 Dec 2021 12:53:00 -0700
Subject: [PATCH 01/16] bump opendbc

---
 opendbc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc b/opendbc
index 2bab99fd861786..75c8dd4d0df665 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 2bab99fd861786312bde676823e21d80eeeb01fa
+Subproject commit 75c8dd4d0df66546c568682bf54b90083add6138

From c5cd553b04eddfed15b0a5c25c96b072470ddfff Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 21 Dec 2021 03:19:04 -0700
Subject: [PATCH 02/16] add groundwork for accel response profiles

---
 selfdrive/car/toyota/interface.py              | 1 +
 selfdrive/car/toyota/values.py                 | 2 +-
 selfdrive/controls/lib/longitudinal_planner.py | 1 +
 3 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 8be6073003ec06..7c30e24ea6e884 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -16,6 +16,7 @@
 class CarInterface(CarInterfaceBase):
   @staticmethod
   def get_pid_accel_limits(CP, current_speed, cruise_speed):
+    # as well as here (pid output is clipped to this)
     return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
 
   @staticmethod
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 9361b10f74f420..5188b86a25beee 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -10,7 +10,7 @@
 
 
 class CarControllerParams:
-  ACCEL_MAX = 1.6  # m/s2, lower than allowed 2.0 m/s2 for tuning reasons
+  ACCEL_MAX = 1.8  # m/s2, lower than allowed 2.0 m/s2 for tuning reasons
   ACCEL_MIN = -3.5  # m/s2
 
   STEER_MAX = 1500
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 4af37a2307f199..6a5d770a25cbf5 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -25,6 +25,7 @@
 
 
 def get_max_accel(v_ego):
+  # change A_CRUISE_MAX_VALS live
   return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)
 
 

From 59072463271bae24206a38453f6fd7568b5cd23e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 22 Dec 2021 13:28:06 -0700
Subject: [PATCH 03/16] add signals

---
 cereal                           | 2 +-
 selfdrive/car/toyota/carstate.py | 4 ++++
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/cereal b/cereal
index ecb9c5eb8554fa..03bc465ba1d739 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit ecb9c5eb8554fae8f40698df80eeadf3fc1131e7
+Subproject commit 03bc465ba1d7394838830e7818a2b295366e23fb
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 743546c5debd08..cf646e34140aea 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -87,6 +87,8 @@ def update(self, cp, cp_cam):
 
     can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
+    ret.sportOn = bool(cp.vl["GEAR_PACKET"]["SPORT_ON"])
+    ret.econOn = bool(cp.vl["GEAR_PACKET"]["ECON_ON"])
     ret.leftBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1
     ret.rightBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2
 
@@ -157,6 +159,8 @@ def get_can_parser(CP):
       # sig_name, sig_address, default
       ("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
       ("GEAR", "GEAR_PACKET", 0),
+      ("SPORT_ON", "GEAR_PACKET", 0),
+      ("ECON_ON", "GEAR_PACKET", 0),
       ("BRAKE_PRESSED", "BRAKE_MODULE", 0),
       ("GAS_PEDAL", "GAS_PEDAL", 0),
       ("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),

From 227960d8bb892df86143fe52f29ae760aaa538b9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 22 Dec 2021 14:40:08 -0700
Subject: [PATCH 04/16] only cars with sport eco

---
 selfdrive/car/toyota/carstate.py | 15 ++++++++++-----
 selfdrive/car/toyota/values.py   |  1 +
 2 files changed, 11 insertions(+), 5 deletions(-)

diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index cf646e34140aea..49e24d226f160f 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -8,7 +8,7 @@
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from selfdrive.config import Conversions as CV
-from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR
+from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, SPORT_ECO_CAR
 
 
 class CarState(CarStateBase):
@@ -87,8 +87,9 @@ def update(self, cp, cp_cam):
 
     can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
-    ret.sportOn = bool(cp.vl["GEAR_PACKET"]["SPORT_ON"])
-    ret.econOn = bool(cp.vl["GEAR_PACKET"]["ECON_ON"])
+    if self.CP.carFingerprint in SPORT_ECO_CAR:
+      ret.sportOn = bool(cp.vl["GEAR_PACKET"]["SPORT_ON"])
+      ret.econOn = bool(cp.vl["GEAR_PACKET"]["ECON_ON"])
     ret.leftBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1
     ret.rightBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2
 
@@ -159,8 +160,6 @@ def get_can_parser(CP):
       # sig_name, sig_address, default
       ("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
       ("GEAR", "GEAR_PACKET", 0),
-      ("SPORT_ON", "GEAR_PACKET", 0),
-      ("ECON_ON", "GEAR_PACKET", 0),
       ("BRAKE_PRESSED", "BRAKE_MODULE", 0),
       ("GAS_PEDAL", "GAS_PEDAL", 0),
       ("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
@@ -239,6 +238,12 @@ def get_can_parser(CP):
       signals.append(("FD_BUTTON", "SDSU", 0))
       checks.append(("SDSU", 33))
 
+    if CP.carFingerprint in SPORT_ECO_CAR:
+      signals += [
+        ("SPORT_ON", "GEAR_PACKET", 0),
+        ("ECON_ON", "GEAR_PACKET", 0),
+      ]
+
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
 
   @staticmethod
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 5188b86a25beee..ca4190ad5e4079 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1644,6 +1644,7 @@ class CAR:
                 CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2}
 
 NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
+SPORT_ECO_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY}  # CamryH for some reason has special dbc
 
 # no resume button press required
 NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH}

From bb0390323cb03dbf6dc58275a8a144147beaf7bb Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 22 Dec 2021 14:42:30 -0700
Subject: [PATCH 05/16] change accel limit in mpc

---
 selfdrive/controls/lib/longitudinal_planner.py | 13 ++++++++++---
 1 file changed, 10 insertions(+), 3 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 6a5d770a25cbf5..2808eb85e9dc77 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -17,6 +17,8 @@
 AWARENESS_DECEL = -0.2  # car smoothly decel at .2m/s^2 when user is distracted
 A_CRUISE_MIN = -1.2
 A_CRUISE_MAX_VALS = [1.5, 1.2, 0.8, 0.6]
+A_CRUISE_MAX_VALS_SPORT = [1.7, 1.3, 1.0, 0.8]  # 1.7 gives us 0.1 m/s/s head room for controls
+A_CRUISE_MAX_VALS_ECON = [1.2, 1.0, 0.6, 0.4]
 A_CRUISE_MAX_BP = [0., 15., 25., 40.]
 
 # Lookup table for turns
@@ -24,9 +26,14 @@
 _A_TOTAL_MAX_BP = [15., 40.]
 
 
-def get_max_accel(v_ego):
+def get_max_accel(v_ego, CS):
   # change A_CRUISE_MAX_VALS live
-  return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)
+  if CS.sportOn:
+    return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS_SPORT)
+  elif CS.econOn:
+    return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS_ECON)
+  else:
+    return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)
 
 
 def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
@@ -79,7 +86,7 @@ def update(self, sm):
     self.v_desired = self.alpha * self.v_desired + (1 - self.alpha) * v_ego
     self.v_desired = max(0.0, self.v_desired)
 
-    accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
+    accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego, sm['carState'])]
     accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
     if force_slow_decel:
       # if required so, force a smooth deceleration

From 12fb9c9857dc61e91e23bedaf7025f3860e5ff5d Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 22 Dec 2021 15:15:33 -0700
Subject: [PATCH 06/16] apply limits in longcontrol

---
 selfdrive/controls/lib/longcontrol.py | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index b8eb4af3ce6f9c..c8ddf68068f0fc 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -79,7 +79,12 @@ def update(self, active, CS, CP, long_plan, accel_limits, extras):
     a_target = clip(a_target, ACCEL_MIN_ISO, ACCEL_MAX_ISO)
 
     self.pid.neg_limit = accel_limits[0]
-    self.pid.pos_limit = accel_limits[1]
+    if CS.sportOn:
+      self.pid.pos_limit = accel_limits[1]  # maximum accel
+    elif CS.econOn:
+      self.pid.pos_limit = 1.2
+    else:
+      self.pid.pos_limit = 1.5
 
     # Update state machine
     output_accel = self.last_output_accel

From f3fd259db6c97be0d9b6bb7a38c6bc3a5cb2f8d0 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Dec 2021 02:24:59 -0700
Subject: [PATCH 07/16] correctly clip

---
 selfdrive/controls/lib/longcontrol.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index c8ddf68068f0fc..2c48a443886052 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -77,14 +77,14 @@ def update(self, active, CS, CP, long_plan, accel_limits, extras):
 
     # TODO: This check is not complete and needs to be enforced by MPC
     a_target = clip(a_target, ACCEL_MIN_ISO, ACCEL_MAX_ISO)
-
     self.pid.neg_limit = accel_limits[0]
     if CS.sportOn:
-      self.pid.pos_limit = accel_limits[1]  # maximum accel
+      pass  # already max accel from CarControllerParams
     elif CS.econOn:
-      self.pid.pos_limit = 1.2
+      accel_limits[1] = 1.2
     else:
-      self.pid.pos_limit = 1.5
+      accel_limits[1] = 1.5
+    self.pid.pos_limit = accel_limits[1]
 
     # Update state machine
     output_accel = self.last_output_accel

From 7de3de484f7f28062352854aa276c64898921625 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Dec 2021 02:34:02 -0700
Subject: [PATCH 08/16] tune profiles

---
 selfdrive/car/toyota/values.py                 | 2 +-
 selfdrive/controls/lib/longcontrol.py          | 5 +++--
 selfdrive/controls/lib/longitudinal_planner.py | 2 +-
 3 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index ca4190ad5e4079..8758025aff5a81 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -10,7 +10,7 @@
 
 
 class CarControllerParams:
-  ACCEL_MAX = 1.8  # m/s2, lower than allowed 2.0 m/s2 for tuning reasons
+  ACCEL_MAX = 1.9  # m/s2, lower than allowed 2.0 m/s2 for tuning reasons
   ACCEL_MIN = -3.5  # m/s2
 
   STEER_MAX = 1500
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 2c48a443886052..74f96d471c51fa 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -77,13 +77,14 @@ def update(self, active, CS, CP, long_plan, accel_limits, extras):
 
     # TODO: This check is not complete and needs to be enforced by MPC
     a_target = clip(a_target, ACCEL_MIN_ISO, ACCEL_MAX_ISO)
+
     self.pid.neg_limit = accel_limits[0]
     if CS.sportOn:
       pass  # already max accel from CarControllerParams
     elif CS.econOn:
-      accel_limits[1] = 1.2
+      accel_limits[1] = 1.3
     else:
-      accel_limits[1] = 1.5
+      accel_limits[1] = 1.6
     self.pid.pos_limit = accel_limits[1]
 
     # Update state machine
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 2808eb85e9dc77..632a41d2ad24aa 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -17,7 +17,7 @@
 AWARENESS_DECEL = -0.2  # car smoothly decel at .2m/s^2 when user is distracted
 A_CRUISE_MIN = -1.2
 A_CRUISE_MAX_VALS = [1.5, 1.2, 0.8, 0.6]
-A_CRUISE_MAX_VALS_SPORT = [1.7, 1.3, 1.0, 0.8]  # 1.7 gives us 0.1 m/s/s head room for controls
+A_CRUISE_MAX_VALS_SPORT = [1.8, 1.4, 1.2, 1.0]
 A_CRUISE_MAX_VALS_ECON = [1.2, 1.0, 0.6, 0.4]
 A_CRUISE_MAX_BP = [0., 15., 25., 40.]
 

From 867ec3d0ab54cba328ba837018cd5809eb95b4ec Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Dec 2021 02:48:07 -0700
Subject: [PATCH 09/16] make list

---
 selfdrive/controls/controlsd.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 1233baddacef5a..bbd2d551498a03 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -585,7 +585,7 @@ def state_control(self, CS):
                     'live_tracks': self.sm_smiskol['liveTracks'], 'has_lead': long_plan.hasLead}
 
       # accel PID loop
-      pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_kph * CV.KPH_TO_MS)
+      pid_accel_limits = list(self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_kph * CV.KPH_TO_MS))
       actuators.accel = self.LoC.update(self.active, CS, self.CP, long_plan, pid_accel_limits, extras_loc)
 
       # interpolate lat plan to 100hz

From be6805e66671366905bdd372b37779d6b4b2d79e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Dec 2021 02:52:17 -0700
Subject: [PATCH 10/16] Revert "Remove dynamic gas references"

This reverts commit 0dab7a2b7af7ee7db2ca2b982fca49bcb938017f.
---
 README.md                             | 2 +-
 selfdrive/controls/lib/longcontrol.py | 7 +++++++
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index dd54d2c308f378..352530269faf5f 100755
--- a/README.md
+++ b/README.md
@@ -15,7 +15,7 @@ Want to request a feature or create a bug report? [Open an issue here!](https://
 * **Lane Speed**
   * [**Lane Speed Alerts**](#Lane-Speed-alerts) - alerts for when an adjacent lane is faster
   * [**~~Dynamic camera offsetting~~ (removed temporarily)**](#Dynamic-camera-offset-based-on-oncoming-traffic) - moves you over if adjacent lane has oncoming traffic
-* [**~~Dynamic gas~~** (no longer needed)](#dynamic-gas) - smoother gas control
+* [**~~Dynamic gas~~**](#dynamic-gas) - smoother gas control
 * [**~~Adding derivative to PI for better control~~**](#pi---pid-controller-for-long-and-lat) - lat: smoother control in turns; long: fix for comma pedal overshoot
 
 ### General Features
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 74f96d471c51fa..4168f63c470131 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -4,6 +4,7 @@
 from selfdrive.controls.lib.pid import PIDController
 from selfdrive.controls.lib.drive_helpers import CONTROL_N
 from selfdrive.modeld.constants import T_IDXS
+from selfdrive.controls.lib.dynamic_gas import DynamicGas
 from common.op_params import opParams
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -53,6 +54,9 @@ def __init__(self, CP):
     self.v_pid = 0.0
     self.last_output_accel = 0.0
 
+    # self.op_params = opParams()
+    # self.dynamic_gas = DynamicGas(CP, candidate)
+
   def reset(self, v_pid):
     """Reset PID controller and change setpoint"""
     self.pid.reset()
@@ -87,6 +91,9 @@ def update(self, active, CS, CP, long_plan, accel_limits, extras):
       accel_limits[1] = 1.6
     self.pid.pos_limit = accel_limits[1]
 
+    # if self.op_params.get('dynamic_gas'):
+    #   gas_max = self.dynamic_gas.update(CS, extras)
+
     # Update state machine
     output_accel = self.last_output_accel
     self.long_control_state = long_control_state_trans(CP, active, self.long_control_state, CS.vEgo,

From 99bbb41c5a048005a7216f62db1a66c2088bcbef Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 24 Dec 2021 03:19:38 -0700
Subject: [PATCH 11/16] tune profiles. most people want similar accelerations
 at low speeds

---
 selfdrive/car/toyota/values.py                 | 2 +-
 selfdrive/controls/lib/longcontrol.py          | 2 +-
 selfdrive/controls/lib/longitudinal_planner.py | 9 +++++----
 3 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 8758025aff5a81..ca4190ad5e4079 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -10,7 +10,7 @@
 
 
 class CarControllerParams:
-  ACCEL_MAX = 1.9  # m/s2, lower than allowed 2.0 m/s2 for tuning reasons
+  ACCEL_MAX = 1.8  # m/s2, lower than allowed 2.0 m/s2 for tuning reasons
   ACCEL_MIN = -3.5  # m/s2
 
   STEER_MAX = 1500
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 4168f63c470131..ceaf2331ef806c 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -88,7 +88,7 @@ def update(self, active, CS, CP, long_plan, accel_limits, extras):
     elif CS.econOn:
       accel_limits[1] = 1.3
     else:
-      accel_limits[1] = 1.6
+      accel_limits[1] = 1.5
     self.pid.pos_limit = accel_limits[1]
 
     # if self.op_params.get('dynamic_gas'):
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 632a41d2ad24aa..f8b9b7013367b2 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -16,10 +16,11 @@
 LON_MPC_STEP = 0.2  # first step is 0.2s
 AWARENESS_DECEL = -0.2  # car smoothly decel at .2m/s^2 when user is distracted
 A_CRUISE_MIN = -1.2
-A_CRUISE_MAX_VALS = [1.5, 1.2, 0.8, 0.6]
-A_CRUISE_MAX_VALS_SPORT = [1.8, 1.4, 1.2, 1.0]
-A_CRUISE_MAX_VALS_ECON = [1.2, 1.0, 0.6, 0.4]
-A_CRUISE_MAX_BP = [0., 15., 25., 40.]
+# TODO: tune from DATA!
+A_CRUISE_MAX_VALS = [1.6, 1.5, 0.7, 0.5]
+A_CRUISE_MAX_VALS_SPORT = [1.9, 1.8, 1.0, 0.8]
+A_CRUISE_MAX_VALS_ECON = [1.4, 1.2, 0.3, 0.3]
+A_CRUISE_MAX_BP = [0., 6.4, 22.5, 40.]  # 0., 14., 50.3, 90 mph
 
 # Lookup table for turns
 _A_TOTAL_MAX_V = [2.5, 3.8]

From 8ce0cf994b71c4439e9ed62fe6ba9a6f0f0cf3b8 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 25 Dec 2021 20:15:40 -0700
Subject: [PATCH 12/16] tune profiles

---
 selfdrive/controls/lib/longitudinal_planner.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index f8b9b7013367b2..8b37da2a978387 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -17,9 +17,9 @@
 AWARENESS_DECEL = -0.2  # car smoothly decel at .2m/s^2 when user is distracted
 A_CRUISE_MIN = -1.2
 # TODO: tune from DATA!
-A_CRUISE_MAX_VALS = [1.6, 1.5, 0.7, 0.5]
-A_CRUISE_MAX_VALS_SPORT = [1.9, 1.8, 1.0, 0.8]
-A_CRUISE_MAX_VALS_ECON = [1.4, 1.2, 0.3, 0.3]
+A_CRUISE_MAX_VALS = [1.6, 1.5, 0.6, 0.4]
+A_CRUISE_MAX_VALS_SPORT = [1.9, 1.6, 1.0, 0.8]
+A_CRUISE_MAX_VALS_ECON = [1.4, 0.8, 0.4, 0.3]
 A_CRUISE_MAX_BP = [0., 6.4, 22.5, 40.]  # 0., 14., 50.3, 90 mph
 
 # Lookup table for turns

From 41901787641d4e854fdb3957b6ed2a066c7d84e6 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sun, 26 Dec 2021 03:00:12 -0700
Subject: [PATCH 13/16] econ values from stock system (draft)

---
 selfdrive/controls/lib/longitudinal_planner.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 8b37da2a978387..a87abb6eb5ddad 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -19,7 +19,7 @@
 # TODO: tune from DATA!
 A_CRUISE_MAX_VALS = [1.6, 1.5, 0.6, 0.4]
 A_CRUISE_MAX_VALS_SPORT = [1.9, 1.6, 1.0, 0.8]
-A_CRUISE_MAX_VALS_ECON = [1.4, 0.8, 0.4, 0.3]
+A_CRUISE_MAX_VALS_ECON = [1.4, 0.92, 0.5, 0.186]
 A_CRUISE_MAX_BP = [0., 6.4, 22.5, 40.]  # 0., 14., 50.3, 90 mph
 
 # Lookup table for turns

From 7f83e59de72d6b6ee55954f078307cdda6237aa0 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sun, 26 Dec 2021 04:34:47 -0700
Subject: [PATCH 14/16] tune profiles from data

---
 selfdrive/controls/lib/longitudinal_planner.py | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index a87abb6eb5ddad..29058e11cb754c 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -18,10 +18,14 @@
 A_CRUISE_MIN = -1.2
 # TODO: tune from DATA!
 A_CRUISE_MAX_VALS = [1.6, 1.5, 0.6, 0.4]
-A_CRUISE_MAX_VALS_SPORT = [1.9, 1.6, 1.0, 0.8]
-A_CRUISE_MAX_VALS_ECON = [1.4, 0.92, 0.5, 0.186]
 A_CRUISE_MAX_BP = [0., 6.4, 22.5, 40.]  # 0., 14., 50.3, 90 mph
 
+A_CRUISE_MAX_VALS_SPORT = [1.0, 0.656]
+A_CRUISE_MAX_BP_SPORT = [11.3876, 29.238]
+
+A_CRUISE_MAX_VALS_ECON = [1.0, 0.64, 0.5, 0.36]
+A_CRUISE_MAX_BP_ECON = [3., 16.6332, 22.4933, 30.2597]
+
 # Lookup table for turns
 _A_TOTAL_MAX_V = [2.5, 3.8]
 _A_TOTAL_MAX_BP = [15., 40.]
@@ -30,9 +34,9 @@
 def get_max_accel(v_ego, CS):
   # change A_CRUISE_MAX_VALS live
   if CS.sportOn:
-    return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS_SPORT)
+    return interp(v_ego, A_CRUISE_MAX_BP_SPORT, A_CRUISE_MAX_VALS_SPORT)
   elif CS.econOn:
-    return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS_ECON)
+    return interp(v_ego, A_CRUISE_MAX_BP_ECON, A_CRUISE_MAX_VALS_ECON)
   else:
     return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)
 

From fe36ff9f2abd355feb4e3a072f173694b5d42fd2 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sun, 26 Dec 2021 04:36:15 -0700
Subject: [PATCH 15/16] clip max requested accel to 1.0, with PID up to 1.5

---
 selfdrive/car/toyota/values.py        |  2 +-
 selfdrive/controls/lib/longcontrol.py | 13 +++++++------
 2 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index ca4190ad5e4079..b519d4f3346dcc 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -10,7 +10,7 @@
 
 
 class CarControllerParams:
-  ACCEL_MAX = 1.8  # m/s2, lower than allowed 2.0 m/s2 for tuning reasons
+  ACCEL_MAX = 1.0  # m/s2, lower than allowed 2.0 m/s2 for tuning reasons
   ACCEL_MIN = -3.5  # m/s2
 
   STEER_MAX = 1500
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index ceaf2331ef806c..712ed50c17d765 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -83,12 +83,13 @@ def update(self, active, CS, CP, long_plan, accel_limits, extras):
     a_target = clip(a_target, ACCEL_MIN_ISO, ACCEL_MAX_ISO)
 
     self.pid.neg_limit = accel_limits[0]
-    if CS.sportOn:
-      pass  # already max accel from CarControllerParams
-    elif CS.econOn:
-      accel_limits[1] = 1.3
-    else:
-      accel_limits[1] = 1.5
+    # if CS.sportOn:
+    #   pass  # already max accel from CarControllerParams
+    # elif CS.econOn:
+    #   accel_limits[1] = 1.3
+    # else:
+    #   accel_limits[1] = 1.5
+    accel_limits[1] = 1.5
     self.pid.pos_limit = accel_limits[1]
 
     # if self.op_params.get('dynamic_gas'):

From 385b49bce5aa58b85df17b656db542b5b82d2251 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 8 Jan 2022 01:27:10 -0700
Subject: [PATCH 16/16] revert

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 352530269faf5f..dd54d2c308f378 100755
--- a/README.md
+++ b/README.md
@@ -15,7 +15,7 @@ Want to request a feature or create a bug report? [Open an issue here!](https://
 * **Lane Speed**
   * [**Lane Speed Alerts**](#Lane-Speed-alerts) - alerts for when an adjacent lane is faster
   * [**~~Dynamic camera offsetting~~ (removed temporarily)**](#Dynamic-camera-offset-based-on-oncoming-traffic) - moves you over if adjacent lane has oncoming traffic
-* [**~~Dynamic gas~~**](#dynamic-gas) - smoother gas control
+* [**~~Dynamic gas~~** (no longer needed)](#dynamic-gas) - smoother gas control
 * [**~~Adding derivative to PI for better control~~**](#pi---pid-controller-for-long-and-lat) - lat: smoother control in turns; long: fix for comma pedal overshoot
 
 ### General Features