CarParams
{ 'alternativeExperience': 1,
'autoResumeSng': True,
'carFingerprint': 'LEXUS_ES_TSS2',
'carFw': [ { 'address': 1920,
'brand': 'toyota',
'bus': 0,
'ecu': 'srs',
'fwVersion': b'8917F06691\x00\x00\x00\x00\x00\x00',
'logging': True,
'obdMultiplexing': True,
'request': [b'>', b'\x1a\x88\x01'],
'responseAddress': 1928,
'subAddress': 0},
{ 'address': 1988,
'brand': 'toyota',
'bus': 0,
'ecu': 'hvac',
'fwVersion': b'8865033G6002 ',
'logging': True,
'obdMultiplexing': True,
'request': [b'>', b'\x1a\x88\x01'],
'responseAddress': 1996,
'subAddress': 0},
{ 'address': 1953,
'brand': 'toyota',
'bus': 0,
'ecu': 'eps',
'fwVersion': b'8965B33721\x00\x00\x00\x00\x00\x00',
'logging': False,
'obdMultiplexing': True,
'request': [b'>', b'\x1a\x88\x01'],
'responseAddress': 1961,
'subAddress': 0},
{ 'address': 1968,
'brand': 'toyota',
'bus': 0,
'ecu': 'abs',
'fwVersion': b'\x01F15260646200\x00\x00\x00\x00',
'logging': False,
'obdMultiplexing': True,
'request': [b'>\x00', b'\x10\x01', b'\x10\x03', b'"\xf1\x81'],
'responseAddress': 1976,
'subAddress': 0},
{ 'address': 1793,
'brand': 'toyota',
'bus': 0,
'ecu': 'transmission',
'fwVersion': b'\x018966533C9000\x00\x00\x00\x00',
'logging': True,
'obdMultiplexing': True,
'request': [b'>\x00', b'\x10\x01', b'\x10\x03', b'"\xf1\x81'],
'responseAddress': 1801,
'subAddress': 0},
{ 'address': 1792,
'brand': 'toyota',
'bus': 0,
'ecu': 'engine',
'fwVersion': b'\x018966306U6000\x00\x00\x00\x00',
'logging': False,
'obdMultiplexing': True,
'request': [b'>\x00', b'\x10\x01', b'\x10\x03', b'"\xf1\x81'],
'responseAddress': 1800,
'subAddress': 0},
{ 'address': 1872,
'brand': 'toyota',
'bus': 0,
'ecu': 'fwdRadar',
'fwVersion': b'\x018821F6201400\x00\x00\x00\x00',
'logging': False,
'obdMultiplexing': True,
'request': [b'>\x00', b'\x10\x01', b'\x10\x03', b'"\xf1\x81'],
'responseAddress': 1880,
'subAddress': 15},
{ 'address': 1872,
'brand': 'toyota',
'bus': 0,
'ecu': 'fwdCamera',
'fwVersion': b'\x028646F0610000\x00\x00\x00\x008646G330400'
b'0\x00\x00\x00\x00',
'logging': False,
'obdMultiplexing': True,
'request': [b'>\x00', b'\x10\x01', b'\x10\x03', b'"\xf1\x81'],
'responseAddress': 1880,
'subAddress': 109}],
'carName': 'toyota',
'carVin': '58ADZ1B1XRU165292',
'centerToFront': 1.262887954711914,
'dashcamOnly': False,
'enableBsm': True,
'enableDsu': False,
'experimentalLongitudinalAvailable': False,
'fingerprintSource': 'fw',
'flags': 1304,
'fuzzyFingerprint': False,
'lateralParams': {'torqueBP': [], 'torqueV': []},
'lateralTuning': { 'torque': { 'friction': 0.10153300315141678,
'kf': 1.0,
'ki': 0.10000000149011612,
'kp': 1.0,
'latAccelFactor': 2.0357565879821777,
'latAccelOffset': 0.0,
'steeringAngleDeadzoneDeg': 0.0,
'useSteeringAngle': True}},
'longitudinalActuatorDelay': 0.15000000596046448,
'longitudinalTuning': { 'kf': 1.0,
'kiBP': [0.0],
'kiV': [0.25],
'kpBP': [0.0],
'kpV': [0.0]},
'mass': 1803.8577880859375,
'maxLateralAccel': 1.999082326889038,
'minEnableSpeed': -1.0,
'minSteerSpeed': 0.0,
'networkLocation': 'fwdCamera',
'notCar': False,
'openpilotLongitudinalControl': True,
'passive': False,
'pcmCruise': True,
'radarDelay': 0.0,
'radarTimeStep': 0.05000000074505806,
'radarUnavailable': False,
'rotationalInertia': 3485.7138671875,
'safetyConfigs': [ { 'safetyModel': 'toyota',
'safetyParam': 73,
'safetyParam2DEPRECATED': 0,
'safetyParamDEPRECATED': 0}],
'secOcKeyAvailable': False,
'secOcRequired': False,
'startAccel': 0.0,
'startingState': False,
'steerActuatorDelay': 0.11999999731779099,
'steerControlType': 'torque',
'steerLimitAlert': False,
'steerLimitTimer': 0.4000000059604645,
'steerRatio': 16.0,
'steerRatioRear': 0.0,
'stopAccel': -2.0,
'stoppingDecelRate': 0.30000001192092896,
'tireStiffnessFactor': 0.4440000057220459,
'tireStiffnessFront': 98246.0390625,
'tireStiffnessRear': 122026.90625,
'transmissionType': 'unknown',
'vEgoStarting': 0.25,
'vEgoStopping': 0.25,
'wheelSpeedFactor': 1.0,
'wheelbase': 2.8701999187469482}
