        ret.steerActuatorDelay = 0.2
        ret.wheelbase = 3.88
        ret.steerRatio = 16.3
        ret.mass = 2493. + STD_CARGO_KG
        CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
        ret.minSteerSpeed = 14.5
        # Older EPS FW allow steer to zero
        if any(fw.ecu == 'eps' and fw.fwVersion[:4] <= b"6831" for fw in car_fw):
          ret.minSteerSpeed = 0.
  
 
</s> remove       ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
      ret.lateralTuning.pid.kf = 0.00006
 </s> add       if candidate in CHRYSLER_OLD_TUNING_BLACKLIST:
        ret.lateralTuning.init('pid')
        ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
        ret.lateralTuning.pid.kf = 0.00006 </s> remove       ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
      ret.lateralTuning.pid.kf = 0.00006
 </s> add       if candidate in CHRYSLER_OLD_TUNING_BLACKLIST:
        ret.lateralTuning.init('pid')
        ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
        ret.lateralTuning.pid.kf = 0.00006 </s> remove JEEP GRAND CHEROKEE 2019: [1.7321233388827006, 1.289689569171081, 0.15046331002097185]
JEEP GRAND CHEROKEE V6 2018: [1.8776598027756923, 1.4057367824262523, 0.11725947414922003]
 </s> add JEEP GRAND CHEROKEE 2019: [2.30972, 1.289689569171081, 0.117048]
JEEP GRAND CHEROKEE V6 2018: [2.27116, 1.4057367824262523, 0.11725947414922003] </s> remove from selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
 </s> add from selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, CHRYSLER_OLD_TUNING_BLACKLIST, ChryslerFlags
        ret.steerActuatorDelay = 0.2
        ret.wheelbase = 3.88
        ret.steerRatio = 16.3
        ret.mass = 2493. + STD_CARGO_KG

        ret.minSteerSpeed = 14.5
        # Older EPS FW allow steer to zero
        if any(fw.ecu == 'eps' and fw.fwVersion[:4] <= b"6831" for fw in car_fw):
          ret.minSteerSpeed = 0.
  
keep keep keep keep replace keep keep keep keep keep
 Chrysler: torque tuning + increased steer rate (#26934)

* increase chrysler steer rate

* use torque control

* update offline values for chrysler, jeep

* bump panda

* add blacklist

* add lag buffer to the torque vals

---------

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