        tune.kiV = [0.54, 0.36]
  
      return ret
  
    # uncomment to disable radar:
    # @staticmethod
    # def init(CP, logcan, sendcan):
    #   # a diagnostic mode of SESSION_TYPE.PROGRAMMING disabled the ECU on its own. car did not accept DISABLE_RX_DISABLE_TX, but it did not matter.
    #   # a diagnostic mode of SESSION_TYPE.EXTENDED_DIAGNOSTIC and CONTROL_TYPE.ENABLE_RX_DISABLE_TX did work, so use that
    #   # TODO: add a flag, radarUnavailable shouldn't be used as "radar acc" right now
    #   if CP.openpilotLongitudinalControl and CP.radarUnavailable:
    #     disable_ecu(logcan, sendcan, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=b'\x28\x01\x01')
  
    # returns a car.CarState
    def _update(self, c):
      ret = self.CS.update(self.cp, self.cp_cam)
  
      # events
 
</s> remove     # uncomment to keep radar disabled, rate can be tuned:
    # if self.frame % 20 == 0:
    #   can_sends.append([0x750, 0, b"\x0F\x02\x3E\x00\x00\x00\x00\x00", 0])

 </s> add  </s> remove       # TODO: send when disabling the radar to avoid a fault
 </s> add  </s> remove     "PCS_INDICATOR": 1,  # PCS turned off
 </s> add     "PCS_INDICATOR": 1,
        tune.kiV = [0.54, 0.36]
  
      return ret
  









    # returns a car.CarState
    def _update(self, c):
      ret = self.CS.update(self.cp, self.cp_cam)
  
      # events
keep keep keep keep replace replace replace replace replace replace replace replace replace keep keep keep keep keep
 Revert "Toyota: prepare to disable radar (#29541)"

This reverts commit 61653bf343bc189d9231234a5b95777998096fa6. 
selfdrive/car/toyota/interface.py