        ret.minEnableSpeed = -1
        ret.mass = 3500. * CV.LB_TO_KG + STD_CARGO_KG
        ret.wheelbase = 2.72
        ret.steerRatio = 14.4
        ret.centerToFront = ret.wheelbase * 0.4
        CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
  
      # TODO: get actual value, for now starting with reasonable value for
      # civic and scaling by mass and wheelbase
      ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
 
</s> remove   def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, friction_compensation):
 </s> add   def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, vego, friction_compensation): </s> remove TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqueTuning, float, float, bool], float]
 </s> add TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqueTuning, float, float, float, bool], float] </s> remove                                                      lateral_accel_deadzone, friction_compensation=False)
 </s> add                                                      lateral_accel_deadzone, CS.vEgo, friction_compensation=False) </s> remove from selfdrive.car.interfaces import CarInterfaceBase
 </s> add from selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD
from selfdrive.controls.lib.drive_helpers import apply_center_deadzone
      ret.steerActuatorDelay = 0.12
        ret.minEnableSpeed = -1
        ret.mass = 3500. * CV.LB_TO_KG + STD_CARGO_KG
        ret.wheelbase = 2.72
        ret.steerRatio = 14.4
      ret.steerActuatorDelay = 0.12
        CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
  
      # TODO: get actual value, for now starting with reasonable value for
      # civic and scaling by mass and wheelbase
      ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
keep keep keep keep replace keep keep keep keep keep
 Chevrolet Bolt: Non-linear torque tune (#27344)

* add non linear tune

* update refs

* rerun tests 
selfdrive/car/gm/interface.py