        ret.wheelbase = 2.78
        ret.steerRatio = 17.4
        tire_stiffness_factor = 0.5533
        ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
        set_lat_tune(ret.lateralTuning, LatTunes.LQR_RAV4)
  
      elif candidate in (CAR.RAV4, CAR.RAV4H):
        stop_and_go = True if (candidate in CAR.RAV4H) else False
        ret.wheelbase = 2.65
        ret.steerRatio = 16.88   # 14.5 is spec end-to-end
 
</s> remove       set_lat_tune(ret.lateralTuning, LatTunes.LQR_RAV4)
 </s> add       set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_TORQUE=2.5, FRICTION=0.06) </s> remove       set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
 </s> add       set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_TORQUE=3.0, FRICTION=0.08) </s> remove     apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, CarControllerParams)
 </s> add     apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits) </s> remove 
  elif name == LatTunes.LQR_RAV4:
    tune.init('lqr')
    tune.lqr.scale = 1500.0
    tune.lqr.ki = 0.05
    tune.lqr.a = [0., 1., -0.22619643, 1.21822268]
    tune.lqr.b = [-1.92006585e-04, 3.95603032e-05]
    tune.lqr.c = [1., 0.]
    tune.lqr.k = [-110.73572306, 451.22718255]
    tune.lqr.l = [0.3233671, 0.3185757]
    tune.lqr.dcGain = 0.002237852961363602

 </s> add  </s> remove     elif self.CP.lateralTuning.which() == 'lqr':
      self.LaC = LatControlLQR(self.CP, self.CI)
 </s> add     elif self.CP.lateralTuning.which() == 'torque':
      self.LaC = LatControlTorque(self.CP, self.CI)
      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE)
        ret.wheelbase = 2.78
        ret.steerRatio = 17.4
        tire_stiffness_factor = 0.5533
        ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE)
  
      elif candidate in (CAR.RAV4, CAR.RAV4H):
        stop_and_go = True if (candidate in CAR.RAV4H) else False
        ret.wheelbase = 2.65
        ret.steerRatio = 16.88   # 14.5 is spec end-to-end
keep keep keep keep replace keep keep keep keep keep
 Lateral torque-based control with roll on TSS2 corolla and TSSP rav4 (#24260)

* Initial commit

* Fix bugs

* Need more torque rate

* Cleanup cray cray control

* Write nicely

* Chiiil

* Not relevant for cray cray control

* Do some logging

* Seems like it has more torque than I thought

* Bit more feedforward

* Tune change

* Retune

* Retune

* Little more chill

* Add coroll

* Add corolla

* Give craycray a good name

* Update to proper logging

* D to the PI

* Should be in radians

* Add d

* Start oscillations

* Add D term

* Only change torque rate limits for new tune

* Add d logging

* Should be enough

* Wrong sign in D

* Downtune a little

* Needed to prevent faults

* Add lqr rav4 to tune

* Try derivative again

* Data based retune

* Data based retune

* add friction compensation

* Doesnt need too much P with friction comp

* remove lqr

* Remove kd

* Fix tests

* fix tests

* Too much error

* Get roll induced error under 1cm/deg

* Too much jitter

* Do roll comp

* Add ki

* Final update

* Update refs

* Cleanup latcontrol_torque a little more 
selfdrive/car/toyota/interface.py