      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.lateralTuning.pid.kf = 0.00005
        ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
        ret.wheelbase = 2.766
        # Values from optimizer
        ret.steerRatio = 16.55  # 13.8 is spec end-to-end
        tire_stiffness_factor = 0.82
 
</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_N)
 </s> add  </s> remove       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 </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 
      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
        # Values from optimizer
        ret.steerRatio = 16.55  # 13.8 is spec end-to-end
        tire_stiffness_factor = 0.82
keep keep keep keep replace keep 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