From 1b33f98d81a5fb064cc2c319ea62b374eef1595a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 25 Jul 2022 15:16:38 -0700
Subject: [PATCH] Mazda: use torque controller (#25265)

* Mazda: use torque controller

* update refs

* update refs
old-commit-hash: 347455325e5cd67e0697708ac980782aec2c3b33
---
 selfdrive/car/mazda/interface.py         | 14 ++------------
 selfdrive/test/process_replay/ref_commit |  2 +-
 2 files changed, 3 insertions(+), 13 deletions(-)

diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index 35e3c1bb01..8640903444 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -28,34 +28,24 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 0.8
     tire_stiffness_factor = 0.70   # not optimized yet
 
+    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
     if candidate in (CAR.CX5, CAR.CX5_2022):
       ret.mass = 3655 * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.7
       ret.steerRatio = 15.5
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
-      ret.lateralTuning.pid.kf = 0.00006
     elif candidate in (CAR.CX9, CAR.CX9_2021):
       ret.mass = 4217 * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 3.1
       ret.steerRatio = 17.6
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
-      ret.lateralTuning.pid.kf = 0.00006
     elif candidate == CAR.MAZDA3:
       ret.mass = 2875 * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.7
       ret.steerRatio = 14.0
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
-      ret.lateralTuning.pid.kf = 0.00006
     elif candidate == CAR.MAZDA6:
       ret.mass = 3443 * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.83
       ret.steerRatio = 15.5
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
-      ret.lateralTuning.pid.kf = 0.00006
 
     if candidate not in (CAR.CX5_2022, ):
       ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 0d05747644..5067208d0e 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-ee36966d20fa63ed4b9488bbc75d61e95e464cb7
\ No newline at end of file
+2da0446f3cc0c4fd705f7b199ed1d9e6341fc466
\ No newline at end of file