          ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
        tire_stiffness_factor = 0.677
  
      elif candidate == CAR.CRV_HYBRID:
        stop_and_go = True
        ret.mass = 1667. + STD_CARGO_KG  # mean of 4 models in kg
 
</s> remove     ret.vEgoRaw = (1. - v_weight) * cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] * CV.KPH_TO_MS * speed_factor + v_weight * v_wheel
 </s> add     ret.vEgoRaw = (1. - v_weight) * cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] * CV.KPH_TO_MS * self.CP.wheelSpeedFactor + v_weight * v_wheel </s> remove     speed_factor = SPEED_FACTOR.get(self.CP.carFingerprint, 1.)
    ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"] * CV.KPH_TO_MS * speed_factor
    ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"] * CV.KPH_TO_MS * speed_factor
    ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"] * CV.KPH_TO_MS * speed_factor
    ret.wheelSpeeds.rr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"] * CV.KPH_TO_MS * speed_factor
    v_wheel = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr)/4.
 </s> add     ret.wheelSpeeds = self.get_wheel_speeds(
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"],
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"],
      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"],
    )
    v_wheel = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.0
      ret.wheelSpeedFactor = 1.025
          ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
        tire_stiffness_factor = 0.677
      ret.wheelSpeedFactor = 1.025
  
      elif candidate == CAR.CRV_HYBRID:
        stop_and_go = True
        ret.mass = 1667. + STD_CARGO_KG  # mean of 4 models in kg
keep add keep keep keep keep
 add CarParams.wheelSpeedFactor (#23079)

* add CarParams.wheelSpeedFactor

* Fudge speed for Lexus RX

* should have been the TSS2 model

* bump cereal

* refactor into function

* update refs 
selfdrive/car/honda/interface.py