From 7a965391b817cd16dd50846b8e002d4a5af439f3 Mon Sep 17 00:00:00 2001
From: MoreTore <moretorque75@gmail.com>
Date: Thu, 23 Feb 2023 15:03:17 -0600
Subject: [PATCH 1/2] added new mazda

---
 car.capnp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/car.capnp b/car.capnp
index 5b24e0efd..7b051b676 100644
--- a/car.capnp
+++ b/car.capnp
@@ -596,6 +596,7 @@ struct CarParams {
     hongqi @26;
     body @27;
     hyundaiCanfd @28;
+    mazda2019 @29;
   }
 
   enum SteerControlType {

From ed35c5210378028c315c64b35fcfe785ddac928a Mon Sep 17 00:00:00 2001
From: MoreTore <moretorque75@gmail.com>
Date: Thu, 23 Feb 2023 15:25:15 -0600
Subject: [PATCH 2/2] non-linear torque

---
 car.capnp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/car.capnp b/car.capnp
index 7b051b676..afa33231f 100644
--- a/car.capnp
+++ b/car.capnp
@@ -524,6 +524,9 @@ struct CarParams {
     steeringAngleDeadzoneDeg @5 :Float32;
     latAccelFactor @6 :Float32;
     latAccelOffset @7 :Float32;
+    latVelFactor @8 :Float32;
+    latAngleFactor @9 :Float32;
+    linear @10 :Bool;
   }
 
   struct LongitudinalPIDTuning {