text: import math
  
  from selfdrive.controls.lib.pid import PIController
  from selfdrive.controls.lib.drive_helpers import get_steer_max
  from cereal import log
  
  
  class LatControlPID():
    def __init__(self, CP, CI):
      self.pid = PIController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
                              (CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
                              k_f=CP.lateralTuning.pid.kf, pos_limit=1.0, neg_limit=-1.0,
                              sat_limit=CP.steerLimitTimer)
      self.get_steer_feedforward = CI.get_steer_feedforward_function()
  
    def reset(self):
      self.pid.reset()
  
    def update(self, active, CS, CP, VM, params, desired_curvature, desired_curvature_rate):
      pid_log = log.ControlsState.LateralPIDState.new_message()
      pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
      pid_log.steeringRateDeg = float(CS.steeringRateDeg)
  
      angle_steers_des_no_offset = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo))
      angle_steers_des = angle_steers_des_no_offset + params.angleOffsetDeg
  
      pid_log.steeringAngleDesiredDeg = angle_steers_des 
      pid_log.angleError = angle_steers_des - CS.steeringAngleDeg
      if CS.vEgo < 0.3 or not active:
        output_steer = 0.0
        pid_log.active = False
        self.pid.reset()
      else:
        steers_max = get_steer_max(CP, CS.vEgo)
        self.pid.pos_limit = steers_max
        self.pid.neg_limit = -steers_max
  
        # offset does not contribute to resistive torque
        steer_feedforward = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
  
        deadzone = 0.0
  
        check_saturation = (CS.vEgo > 10) and not CS.steeringRateLimited and not CS.steeringPressed
        output_steer = self.pid.update(angle_steers_des, CS.steeringAngleDeg, check_saturation=check_saturation, override=CS.steeringPressed,
                                       feedforward=steer_feedforward, speed=CS.vEgo, deadzone=deadzone)
        pid_log.active = True
        pid_log.p = self.pid.p
        pid_log.i = self.pid.i
        pid_log.f = self.pid.f
        pid_log.output = output_steer
        pid_log.saturated = bool(self.pid.saturated)
  
      return output_steer, angle_steers_des, pid_log