    def reset(self):
      super().reset()
      self.pid.reset()
  
    def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
      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, params.roll))
 
</s> remove   def update(self, active, CS, CP, long_plan, accel_limits, t_since_plan):
 </s> add   def update(self, active, CS, long_plan, accel_limits, t_since_plan): </s> remove       actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.CP, self.VM,
                                                                             params, self.last_actuators, desired_curvature,
 </s> add       actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, params,
                                                                             self.last_actuators, desired_curvature, </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     self.long_control_state = long_control_state_trans(CP, active, self.long_control_state, CS.vEgo,
 </s> add     self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo, </s> remove                              k_f = CP.longitudinalTuning.kf, rate=1 / DT_CTRL)
 </s> add                              k_f=CP.longitudinalTuning.kf, rate=1 / DT_CTRL)
  def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
    def reset(self):
      super().reset()
      self.pid.reset()
  
  def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
      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, params.roll))
keep keep keep keep replace keep keep keep keep keep
 Clean up controllers (#24340)

* clean up lat controllers

* pass CP once

* sort 
selfdrive/controls/lib/latcontrol_pid.py