From 10e7750969a53bf6002a2363d573dd7d85d7b776 Mon Sep 17 00:00:00 2001
From: MoreTorque <104254025+MoreTore@users.noreply.github.com>
Date: Sat, 18 Oct 2025 05:29:46 -0500
Subject: [PATCH] Adjust lateral acceleration range for torque calculation

---
 selfdrive/car/mazda/interface.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index baacff26d..475dc85e5 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -36,7 +36,7 @@ class CarInterface(CarInterfaceBase):
       steer_torque = (sig * b) + (lateral_acceleration * c)
       return float(steer_torque)
 
-    lataccel_values = np.arange(-5.0, 5.0, 0.01)
+    lataccel_values = np.arange(-8.0, 8.0, 0.01)
     torque_values = [torque_from_lateral_accel_siglin_func(x) for x in lataccel_values]
     assert min(torque_values) < -1 and max(torque_values) > 1, "The torque values should cover the range [-1, 1]"
     return torque_values, lataccel_values