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+---
+name: Tuning
+about: For openpilot tuning changes
+title: ''
+labels: 'tuning'
+assignees: ''
+---
+
+**Description**
+
+<!-- A description of what is wrong with the current tuning and how the PR adresses this. -->
+
+**Verification**
+
+<!-- To verify a longitudinal tuning PRs we need the plotjuggler plots of several scenarios of the desired speed/accel (first value from longitudinalPlan message)
+vs measured speed/accel (from carState message), we need these plots for before and after the changes in the PR. For lateral tuning PRs we need plots of the 
+desired steeringAngle vs actual steeringAngle. These scenarios don't need to be exactly followed, but do need to be broadly captured.
+
+For longitudinal we need plots of before and after for all of the following scenarios:
+* Maintaining speed at 25, 40, 65mph
+* Driving up and down hills
+* Accelerating from a stop
+* Decelerating to a stop
+* Following large changes in set speed
+* Coming to a stop behind a lead car
+
+For lateral we need plots of before and after for all of the following scenarios:
+* Straight driving at ~25, ~45 and ~65mph
+* Turns driving at ~25, ~45 and ~65mph
+
+
+
+-->