  from abc import abstractmethod, ABC
  
  from common.realtime import DT_CTRL
  from common.numpy_fast import clip
  
  MIN_STEER_SPEED = 0.3
  
  
 
</s> remove                                      ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan'])

 </s> add                                     ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan']) </s> remove       if not CS.standstill or output_accel > CP.stopAccel:
        output_accel -= CP.stoppingDecelRate * DT_CTRL
 </s> add       if not CS.standstill or output_accel > self.CP.stopAccel:
        output_accel -= self.CP.stoppingDecelRate * DT_CTRL </s> remove       actuators.accel = self.LoC.update(CC.longActive, CS, self.CP, long_plan, pid_accel_limits, t_since_plan)
 </s> add       actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan) </s> remove       v_target_upper = interp(CP.longitudinalActuatorDelayUpperBound + t_since_plan, T_IDXS[:CONTROL_N], speeds)
      a_target_upper = 2 * (v_target_upper - v_target) / CP.longitudinalActuatorDelayUpperBound - a_target
 </s> add       v_target_upper = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan, T_IDXS[:CONTROL_N], speeds)
      a_target_upper = 2 * (v_target_upper - v_target) / self.CP.longitudinalActuatorDelayUpperBound - a_target
  from abc import abstractmethod, ABC
  

  from common.numpy_fast import clip
  
  MIN_STEER_SPEED = 0.3
  
  
keep keep replace keep keep keep keep keep
 Clean up controllers (#24340)

* clean up lat controllers

* pass CP once

* sort 
selfdrive/controls/lib/latcontrol.py