CarParams
{ 'alternativeExperience': 1,
'autoResumeSng': True,
'carFingerprint': 'TOYOTA_HIGHLANDER_TSS2',
'carFw': [ { 'address': 1920,
'brand': 'toyota',
'bus': 0,
'ecu': 'srs',
'fwVersion': b'8917F0E380\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'8865F0E01000 ',
'logging': True,
'obdMultiplexing': True,
'request': [b'>', b'\x1a\x88\x01'],
'responseAddress': 1996,
'subAddress': 0},
{ 'address': 1953,
'brand': 'toyota',
'bus': 0,
'ecu': 'eps',
'fwVersion': b'8965B48310\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'\x01F152648J4000\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': 1792,
'brand': 'toyota',
'bus': 0,
'ecu': 'engine',
'fwVersion': b'\x02896630EB3000\x00\x00\x00\x00897CF480100'
b'1\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'\x018821F6201200\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'\x028646F4803000\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': '5TDXBRCHXMS524550',
'centerToFront': 1.2405359745025635,
'dashcamOnly': False,
'enableBsm': True,
'enableDsu': False,
'experimentalLongitudinalAvailable': False,
'fingerprintSource': 'fw',
'flags': 280,
'fuzzyFingerprint': True,
'lateralParams': {'torqueBP': [], 'torqueV': []},
'lateralTuning': { 'torque': { 'friction': 0.14519673585891724,
'kf': 1.0,
'ki': 0.10000000149011612,
'kp': 1.0,
'latAccelFactor': 1.9617570638656616,
'latAccelOffset': 0.0,
'steeringAngleDeadzoneDeg': 0.0,
'useSteeringAngle': True}},
'longitudinalActuatorDelay': 0.15000000596046448,
'longitudinalTuning': { 'kf': 1.0,
'kiBP': [0.0],
'kiV': [0.5],
'kpBP': [0.0],
'kpV': [0.0]},
'mass': 2184.42138671875,
'maxLateralAccel': 1.8611643314361572,
'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': 4073.0048828125,
'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': 0.800000011920929,
'tireStiffnessFront': 214366.15625,
'tireStiffnessRear': 266254.375,
'transmissionType': 'unknown',
'vEgoStarting': 0.25,
'vEgoStopping': 0.25,
'wheelSpeedFactor': 1.0,
'wheelbase': 2.8194000720977783}
