      ret.steerActuatorDelay = 0.1  # Default delay
      ret.steerLimitTimer = 0.4
      tire_stiffness_factor = 1.
  
      if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
        ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
        ret.wheelbase = 2.766
 
</s> remove       ret.lateralTuning.pid.kf = 0.00005
 </s> add  </s> remove       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
 </s> add  </s> remove       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
 </s> add  </s> remove       set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
 </s> add  </s> remove       set_lat_tune(ret.lateralTuning, LatTunes.PID_D)

      # 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']):
          set_lat_tune(ret.lateralTuning, LatTunes.PID_I)
          break
 </s> add 
    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
      ret.steerActuatorDelay = 0.1  # Default delay
      ret.steerLimitTimer = 0.4
      tire_stiffness_factor = 1.
    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
  
      if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
        ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
        ret.wheelbase = 2.766
keep keep add keep keep keep keep
 [torqued] Extend to all Toyota and Hyundai cars (#26238)

* extend to toyota and hyundai

* remove all pid control in hyundai

* remove indi tunes

* remove toyota lat tunes

* release notes

* rm tunes.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> 
selfdrive/car/hyundai/interface.py