        measurement = actual_lateral_accel + low_speed_factor * actual_curvature
        error = setpoint - measurement
        gravity_adjusted_lateral_accel = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY
        pid_log.error = self.torque_from_lateral_accel(error, self.torque_params, error,
                                                       lateral_accel_deadzone, friction_compensation=False)
        ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.torque_params,
                                            desired_lateral_accel - actual_lateral_accel,
                                            lateral_accel_deadzone, friction_compensation=True)
  
        freeze_integrator = steer_limited or CS.steeringPressed or CS.vEgo < 5
 
</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       ret.centerToFront = ret.wheelbase * 0.4
 </s> add       ret.steerActuatorDelay = 0.12 </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 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
                                                     lateral_accel_deadzone, CS.vEgo, friction_compensation=False)
        measurement = actual_lateral_accel + low_speed_factor * actual_curvature
        error = setpoint - measurement
        gravity_adjusted_lateral_accel = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY
        pid_log.error = self.torque_from_lateral_accel(error, self.torque_params, error,
                                                     lateral_accel_deadzone, CS.vEgo, friction_compensation=False)
        ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.torque_params,
                                            desired_lateral_accel - actual_lateral_accel,
                                            lateral_accel_deadzone, friction_compensation=True)
  
        freeze_integrator = steer_limited or CS.steeringPressed or CS.vEgo < 5
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/controls/lib/latcontrol_torque.py