diff --git a/opendbc/car/car.capnp b/opendbc/car/car.capnp
index f64f388f..10f49bc1 100644
--- a/opendbc/car/car.capnp
+++ b/opendbc/car/car.capnp
@@ -549,15 +549,15 @@ struct CarParams {
   }
 
   struct LateralTorqueTuning {
-    kp @1 :Float32;
-    ki @2 :Float32;
-    kd @8 : Float32;
     friction @3 :Float32;
-    kf @4 :Float32;
     steeringAngleDeadzoneDeg @5 :Float32;
     latAccelFactor @6 :Float32;
     latAccelOffset @7 :Float32;
     useSteeringAngleDEPRECATED @0 :Bool;
+    kpDEPRECATED @1 :Float32;
+    kiDEPRECATED @2 :Float32;
+    kfDEPRECATED @4 :Float32;
+    kdDEPRECATED @8 : Float32;
   }
 
   struct LongitudinalPIDTuning {
@@ -565,7 +565,7 @@ struct CarParams {
     kpV @1 :List(Float32);
     kiBP @2 :List(Float32);
     kiV @3 :List(Float32);
-    kf @6 :Float32;
+    kfDEPRECATED @6 :Float32;
     deadzoneBPDEPRECATED @4 :List(Float32);
     deadzoneVDEPRECATED @5 :List(Float32);
   }
diff --git a/opendbc/car/interfaces.py b/opendbc/car/interfaces.py
index af93dea6..8328062f 100644
--- a/opendbc/car/interfaces.py
+++ b/opendbc/car/interfaces.py
@@ -210,7 +210,6 @@ class CarInterfaceBase(ABC):
     ret.stoppingDecelRate = 0.8 # brake_travel/s while trying to stop
     ret.vEgoStopping = 0.5
     ret.vEgoStarting = 0.5
-    ret.longitudinalTuning.kf = 1.
     ret.longitudinalTuning.kpBP = [0.]
     ret.longitudinalTuning.kpV = [0.]
     ret.longitudinalTuning.kiBP = [0.]
@@ -225,10 +224,6 @@ class CarInterfaceBase(ABC):
     params = get_torque_params()[candidate]
 
     tune.init('torque')
-    tune.torque.kf = 1.0
-    tune.torque.kp = 1.0
-    tune.torque.ki = 0.3
-    tune.torque.kd = 0.0
     tune.torque.friction = params['FRICTION']
     tune.torque.latAccelFactor = params['LAT_ACCEL_FACTOR']
     tune.torque.latAccelOffset = 0.0
diff --git a/opendbc/car/tests/test_car_interfaces.py b/opendbc/car/tests/test_car_interfaces.py
index 63bedf0b..a329ee3b 100644
--- a/opendbc/car/tests/test_car_interfaces.py
+++ b/opendbc/car/tests/test_car_interfaces.py
@@ -87,7 +87,7 @@ class TestCarInterfaces:
           assert len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP)
 
       elif tune.which() == 'torque':
-        assert not math.isnan(tune.torque.kf) and tune.torque.kf > 0
+        assert not math.isnan(tune.torque.latAccelFactor) and tune.torque.latAccelFactor > 0
         assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0
 
     # Run car interface