Toyota: Add SnG to Lexus LS, update torque data. (commaai#3080)

* Add Lexus LS 2018 platform configuration

* Add fingerprints for Lexus LS ECUs

* Add LEXUS_LS to torque substitute

* Update steer ratio for Lexus LS 2018 configuration

* LS steer ratio back to 13.0

* Update steer ratio for Lexus LS 2018 based on live params

* Add test route for Lexus LS

* Update LS car docs to exclude LSS+ A package

* Fix formatting in Lexus LS 2018 documentation

* Remove LEXUS_LS mapping from substitute.toml

* Add better torque data for LEXUS_LS

* Modify torque values for LEXUS_LS

Better torque values for LEXUS_LS based on learned values after long drive.

* Add Lexus LS 2018 to sng = true

* Update MAX_LAT_ACCEL_MEASURED for LEXUS_LS

Author: Hacheoy

opendbc/car/torque_data/override.toml

@@ -93,6 +93,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "ACURA_TLX_2G" = [1.2, 1.2, 0.15]
 "ACURA_TLX_2G_MMR" = [1.7, 1.7, 0.16]
 "PORSCHE_MACAN_MK1" = [2.0, 2.0, 0.2]
+"LEXUS_LS" = [1.35, 1.7, 0.17]
 
 # Dashcam or fallback configured as ideal car
 "MOCK" = [10.0, 10, 0.0]

opendbc/car/torque_data/substitute.toml

@@ -17,7 +17,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "LEXUS_RC" = "LEXUS_NX_TSS2"
 "LEXUS_RC_TSS2" = "LEXUS_NX_TSS2"
 "LEXUS_LC_TSS2" = "LEXUS_NX_TSS2"
-"LEXUS_LS" = "LEXUS_NX"
 
 "KIA_OPTIMA_G4" = "HYUNDAI_SONATA"
 "KIA_OPTIMA_G4_FL" = "HYUNDAI_SONATA"

opendbc/car/toyota/interface.py

@@ -91,7 +91,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
           ret.lateralTuning.pid.kf = 0.00004
           break
 
-    elif candidate in (CAR.TOYOTA_CHR, CAR.TOYOTA_CAMRY, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_NX):
+    elif candidate in (CAR.TOYOTA_CHR, CAR.TOYOTA_CAMRY, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_LS, CAR.LEXUS_NX):
       # TODO: Some of these platforms are not advertised to have full range ACC, do they really all have sng?
       stop_and_go = True