From a82c528c8ede846ecb6e3923f9ee82a3017f6ba5 Mon Sep 17 00:00:00 2001
From: Greg Hogan <gregjhogan@gmail.com>
Date: Sat, 23 Jul 2022 16:50:47 -0700
Subject: [PATCH] hyundai: torque lateral controller for palisade (#25262)

old-commit-hash: d01847e4140b1e31961bae53bea57a5727e9040a
---
 selfdrive/car/hyundai/interface.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index a32ee2c0ab..d5085e322f 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -78,8 +78,7 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.90
       ret.steerRatio = 15.6 * 1.15
       tire_stiffness_factor = 0.63
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
       ret.lateralTuning.pid.kf = 0.00006
       ret.mass = 1275. + STD_CARGO_KG