        ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17], [0.03]]
        ret.lateralTuning.pid.kf = 0.00006
  
      elif candidate == CAR.RAV4_TSS2:
        stop_and_go = True
        ret.safetyParam = 73
        ret.wheelbase = 2.68986
        ret.steerRatio = 14.3
        tire_stiffness_factor = 0.7933
 
</s> remove         if fw.ecu == "eps" and fw.fwVersion == b"8965B42170\x00\x00\x00\x00\x00\x00":
          ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
          ret.lateralTuning.pid.kf = 0.00007818594
 </s> add         if fw.ecu == "eps" and fw.fwVersion.startswith(b'\x02'):
          ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]]
          ret.lateralTuning.pid.kf = 0.00004 </s> remove       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]]
      ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
      ret.lateralTuning.pid.kf = 0.00004

      for fw in car_fw:
        if fw.ecu == "eps" and fw.fwVersion == b"8965B42170\x00\x00\x00\x00\x00\x00":
          ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
          ret.lateralTuning.pid.kf = 0.00007818594
          break

    elif candidate == CAR.RAV4H_TSS2:
      stop_and_go = True
      ret.safetyParam = 73
      ret.wheelbase = 2.68986
      ret.steerRatio = 14.3
      tire_stiffness_factor = 0.7933
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]]
      ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG
      ret.lateralTuning.pid.kf = 0.00004
 </s> add       ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
      ret.lateralTuning.pid.kf = 0.00007818594
    elif candidate in [CAR.RAV4_TSS2, CAR.RAV4H_TSS2]:
        ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17], [0.03]]
        ret.lateralTuning.pid.kf = 0.00006
  
    elif candidate in [CAR.RAV4_TSS2, CAR.RAV4H_TSS2]:
        stop_and_go = True
        ret.safetyParam = 73
        ret.wheelbase = 2.68986
        ret.steerRatio = 14.3
        tire_stiffness_factor = 0.7933
keep keep keep keep replace keep keep keep keep keep
 Rav4 TSS2 has two different steering racks (#21429)

Split tuning on eps fwVersion \x02 only. See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891 for findings.

Unify Rav4 & Rav4 Hybrid

Average mass between ICE & Hybrid

Co-Authored-By: Willem Melching <willem.melching@gmail.com>

Co-authored-by: Willem Melching <willem.melching@gmail.com> 
selfdrive/car/toyota/interface.py