type ret: CarParams, add more missing structs, revert lateralTuning changes (smaller diff!)

selfdrive/car/body/interface.py

@@ -1,12 +1,13 @@
 import math
 from cereal import car
 from openpilot.selfdrive.car import DT_CTRL, get_safety_config
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.notCar = True
     ret.carName = "body"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]

selfdrive/car/chrysler/interface.py

@@ -3,6 +3,7 @@ from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
@@ -10,7 +11,7 @@ ButtonType = car.CarState.ButtonEvent.Type
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "chrysler"
     ret.dashcamOnly = candidate in RAM_HD
 
@@ -26,7 +27,7 @@ class CarInterface(CarInterfaceBase):
     elif candidate in RAM_DT:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT
 
-    CarInterfaceBase.configure_torque_tune(candidate, ret)
+    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     if candidate not in RAM_CARS:
       # Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
       new_eps_platform = candidate in (CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)

selfdrive/car/data_structures.py

@@ -81,7 +81,7 @@ class CarParams:
 
   minEnableSpeed: float = auto_field()
   minSteerSpeed: float = auto_field()
-  # safetyConfigs: list[SafetyConfig] = auto_field()
+  safetyConfigs: list['CarParams.SafetyConfig'] = auto_field()
   alternativeExperience: int = auto_field()  # panda flag for features like no disengage on gas
 
   maxLateralAccel: float = auto_field()
@@ -114,6 +114,12 @@ class CarParams:
     pid: 'CarParams.LateralPIDTuning' = field(default_factory=lambda: CarParams.LateralPIDTuning())
     torque: 'CarParams.LateralTorqueTuning' = field(default_factory=lambda: CarParams.LateralTorqueTuning())
 
+  @dataclass
+  @apply_auto_fields
+  class SafetyConfig:
+    safetyModel: 'CarParams.SafetyModel' = field(default_factory=lambda: CarParams.SafetyModel.silent)
+    safetyParam: int = auto_field()
+
   @dataclass
   @apply_auto_fields
   class LateralParams:
@@ -160,7 +166,7 @@ class CarParams:
   carVin: str = auto_field()  # VIN number queried during fingerprinting
   dashcamOnly: bool = auto_field()
   passive: bool = auto_field()  # is openpilot in control?
-  # transmissionType: TransmissionType = auto_field()
+  transmissionType: 'CarParams.TransmissionType' = field(default_factory=lambda: CarParams.TransmissionType.unknown)
   carFw: list['CarParams.CarFw'] = auto_field()
 
   radarTimeStep: float = 0.05  # time delta between radar updates, 20Hz is very standard
@@ -178,10 +184,51 @@ class CarParams:
     kiV: list[float] = auto_field()
     kf: float = auto_field()
 
+  class SafetyModel(StrEnum):
+    silent = auto()
+    hondaNidec = auto()
+    toyota = auto()
+    elm327 = auto()
+    gm = auto()
+    hondaBoschGiraffe = auto()
+    ford = auto()
+    cadillac = auto()
+    hyundai = auto()
+    chrysler = auto()
+    tesla = auto()
+    subaru = auto()
+    gmPassive = auto()
+    mazda = auto()
+    nissan = auto()
+    volkswagen = auto()
+    toyotaIpas = auto()
+    allOutput = auto()
+    gmAscm = auto()
+    noOutput = auto()  # like silent but without silent CAN TXs
+    hondaBosch = auto()
+    volkswagenPq = auto()
+    subaruPreglobal = auto()  # pre-Global platform
+    hyundaiLegacy = auto()
+    hyundaiCommunity = auto()
+    volkswagenMlb = auto()
+    hongqi = auto()
+    body = auto()
+    hyundaiCanfd = auto()
+    volkswagenMqbEvo = auto()
+    chryslerCusw = auto()
+    psa = auto()
+
   class SteerControlType(StrEnum):
     torque = auto()
     angle = auto()
 
+  class TransmissionType(StrEnum):
+    unknown = auto()
+    automatic = auto()  # Traditional auto, including DSG
+    manual = auto()  # True "stick shift" only
+    direct = auto()  # Electric vehicle or other direct drive
+    cvt = auto()
+
   @dataclass
   @apply_auto_fields
   class CarFw:

selfdrive/car/ford/interface.py

@@ -2,6 +2,7 @@ from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.ford.fordcan import CanBus
 from openpilot.selfdrive.car.ford.values import Ecu, FordFlags
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
@@ -13,7 +14,7 @@ GearShifter = car.CarState.GearShifter
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "ford"
     ret.dashcamOnly = bool(ret.flags & FordFlags.CANFD)
 

selfdrive/car/gm/interface.py

@@ -8,6 +8,7 @@ from panda import Panda
 from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.car import create_button_events, get_safety_config, get_friction
 from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
 from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
@@ -88,7 +89,7 @@ class CarInterface(CarInterfaceBase):
       return self.torque_from_lateral_accel_linear
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "gm"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
     ret.autoResumeSng = False
@@ -140,9 +141,9 @@ class CarInterface(CarInterfaceBase):
                       (ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable)
 
     # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
-    ret.lateralTuning.kiBP, ret.lateralTuning.kpBP = [[0.], [0.]]
+    ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-    ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.2], [0.00]]
+    ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
-    ret.lateralTuning.kf = 0.00004   # full torque for 20 deg at 80mph means 0.00007818594
+    ret.lateralTuning.pid.kf = 0.00004   # full torque for 20 deg at 80mph means 0.00007818594
     ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
 
     ret.steerLimitTimer = 0.4
@@ -150,39 +151,39 @@ class CarInterface(CarInterfaceBase):
     ret.longitudinalActuatorDelay = 0.5  # large delay to initially start braking
 
     if candidate == CAR.CHEVROLET_VOLT:
-      ret.lateralTuning.kpBP = [0., 40.]
+      ret.lateralTuning.pid.kpBP = [0., 40.]
-      ret.lateralTuning.kpV = [0., 0.17]
+      ret.lateralTuning.pid.kpV = [0., 0.17]
-      ret.lateralTuning.kiBP = [0.]
+      ret.lateralTuning.pid.kiBP = [0.]
-      ret.lateralTuning.kiV = [0.]
+      ret.lateralTuning.pid.kiV = [0.]
-      ret.lateralTuning.kf = 1.  # get_steer_feedforward_volt()
+      ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_volt()
       ret.steerActuatorDelay = 0.2
 
     elif candidate == CAR.GMC_ACADIA:
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
       ret.steerActuatorDelay = 0.2
-      CarInterfaceBase.configure_torque_tune(candidate, ret)
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.BUICK_LACROSSE:
-      CarInterfaceBase.configure_torque_tune(candidate, ret)
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.CADILLAC_ESCALADE:
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
-      CarInterfaceBase.configure_torque_tune(candidate, ret)
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate in (CAR.CADILLAC_ESCALADE_ESV, CAR.CADILLAC_ESCALADE_ESV_2019):
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
 
       if candidate == CAR.CADILLAC_ESCALADE_ESV:
-        ret.lateralTuning.kiBP, ret.lateralTuning.kpBP = [[10., 41.0], [10., 41.0]]
+        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
-        ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.13, 0.24], [0.01, 0.02]]
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
-        ret.lateralTuning.kf = 0.000045
+        ret.lateralTuning.pid.kf = 0.000045
       else:
         ret.steerActuatorDelay = 0.2
-        CarInterfaceBase.configure_torque_tune(candidate, ret)
+        CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.CHEVROLET_BOLT_EUV:
       ret.steerActuatorDelay = 0.2
-      CarInterfaceBase.configure_torque_tune(candidate, ret)
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.CHEVROLET_SILVERADO:
       # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
@@ -190,14 +191,14 @@ class CarInterface(CarInterfaceBase):
       # TODO: check if this is split by EV/ICE with more platforms in the future
       if ret.openpilotLongitudinalControl:
         ret.minEnableSpeed = -1.
-      CarInterfaceBase.configure_torque_tune(candidate, ret)
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.CHEVROLET_EQUINOX:
-      CarInterfaceBase.configure_torque_tune(candidate, ret)
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.CHEVROLET_TRAILBLAZER:
       ret.steerActuatorDelay = 0.2
-      CarInterfaceBase.configure_torque_tune(candidate, ret)
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     return ret
 

selfdrive/car/hyundai/interface.py

@@ -20,7 +20,7 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "hyundai"
     ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
 
@@ -74,7 +74,7 @@ class CarInterface(CarInterfaceBase):
 
     ret.steerActuatorDelay = 0.1  # Default delay
     ret.steerLimitTimer = 0.4
-    CarInterfaceBase.configure_torque_tune(candidate, ret)
+    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     if candidate == CAR.KIA_OPTIMA_G4_FL:
       ret.steerActuatorDelay = 0.2

selfdrive/car/mazda/interface.py

@@ -2,6 +2,7 @@
 from cereal import car
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
@@ -11,7 +12,7 @@ EventName = car.CarEvent.EventName
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "mazda"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
     ret.radarUnavailable = True
@@ -21,7 +22,7 @@ class CarInterface(CarInterfaceBase):
     ret.steerActuatorDelay = 0.1
     ret.steerLimitTimer = 0.8
 
-    CarInterfaceBase.configure_torque_tune(candidate, ret)
+    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     if candidate not in (CAR.MAZDA_CX5_2022, ):
       ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS

selfdrive/car/mock/interface.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
 import cereal.messaging as messaging
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 # mocked car interface for dashcam mode
@@ -12,7 +13,7 @@ class CarInterface(CarInterfaceBase):
     self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "mock"
     ret.mass = 1700.
     ret.wheelbase = 2.70

selfdrive/car/nissan/interface.py

@@ -1,6 +1,7 @@
 from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.nissan.values import CAR
 
@@ -10,7 +11,7 @@ ButtonType = car.CarState.ButtonEvent.Type
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "nissan"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
     ret.autoResumeSng = False

selfdrive/car/subaru/interface.py

@@ -1,6 +1,7 @@
 from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, SubaruFlags
@@ -9,7 +10,7 @@ from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, SubaruFla
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: CarParams, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "subaru"
     ret.radarUnavailable = True
     # for HYBRID CARS to be upstreamed, we need:
@@ -38,7 +39,7 @@ class CarInterface(CarInterfaceBase):
     if ret.flags & SubaruFlags.LKAS_ANGLE:
       ret.steerControlType = car.CarParams.SteerControlType.angle
     else:
-      CarInterfaceBase.configure_torque_tune(candidate, ret)
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     if candidate in (CAR.SUBARU_ASCENT, CAR.SUBARU_ASCENT_2023):
       ret.steerActuatorDelay = 0.3  # end-to-end angle controller

selfdrive/car/tesla/interface.py

@@ -1,14 +1,15 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car.tesla.values import CANBUS, CAR
 from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.data_structures import CarParams
+from openpilot.selfdrive.car.tesla.values import CANBUS, CAR
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "tesla"
 
     # There is no safe way to do steer blending with user torque,

selfdrive/car/toyota/interface.py

@@ -19,7 +19,7 @@ class CarInterface(CarInterfaceBase):
     return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "toyota"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
     ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
@@ -36,7 +36,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerActuatorDelay = 0.18
       ret.steerLimitTimer = 0.8
     else:
-      CarInterfaceBase.configure_torque_tune(candidate, ret)
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
       ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
       ret.steerLimitTimer = 0.4
@@ -68,19 +68,19 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate in (CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2022, CAR.TOYOTA_RAV4_TSS2_2023):
       ret.lateralTuning = CarParams.LateralPIDTuning()
-      ret.lateralTuning.kiBP = [0.0]
+      ret.lateralTuning.pid.kiBP = [0.0]
-      ret.lateralTuning.kpBP = [0.0]
+      ret.lateralTuning.pid.kpBP = [0.0]
-      ret.lateralTuning.kpV = [0.6]
+      ret.lateralTuning.pid.kpV = [0.6]
-      ret.lateralTuning.kiV = [0.1]
+      ret.lateralTuning.pid.kiV = [0.1]
-      ret.lateralTuning.kf = 0.00007818594
+      ret.lateralTuning.pid.kf = 0.00007818594
 
       # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
       # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
       for fw in car_fw:
         if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
-          ret.lateralTuning.kpV = [0.15]
+          ret.lateralTuning.pid.kpV = [0.15]
-          ret.lateralTuning.kiV = [0.05]
+          ret.lateralTuning.pid.kiV = [0.05]
-          ret.lateralTuning.kf = 0.00004
+          ret.lateralTuning.pid.kf = 0.00004
           break
 
     elif candidate in (CAR.TOYOTA_CHR, CAR.TOYOTA_CAMRY, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_NX):

selfdrive/car/volkswagen/interface.py

@@ -1,6 +1,7 @@
 from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, CarControllerParams, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags
 
@@ -20,7 +21,7 @@ class CarInterface(CarInterfaceBase):
       self.cp_ext = self.cp_cam
 
   @staticmethod
-  def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: CarParams, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "volkswagen"
     ret.radarUnavailable = True
 
@@ -72,14 +73,14 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 0.4
     if ret.flags & VolkswagenFlags.PQ:
       ret.steerActuatorDelay = 0.2
-      CarInterfaceBase.configure_torque_tune(candidate, ret)
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     else:
       ret.steerActuatorDelay = 0.1
-      ret.lateralTuning.kpBP = [0.]
+      ret.lateralTuning.pid.kpBP = [0.]
-      ret.lateralTuning.kiBP = [0.]
+      ret.lateralTuning.pid.kiBP = [0.]
-      ret.lateralTuning.kf = 0.00006
+      ret.lateralTuning.pid.kf = 0.00006
-      ret.lateralTuning.kpV = [0.6]
+      ret.lateralTuning.pid.kpV = [0.6]
-      ret.lateralTuning.kiV = [0.2]
+      ret.lateralTuning.pid.kiV = [0.2]
 
     # Global longitudinal tuning defaults, can be overridden per-vehicle