  selfdrive/controls/lib/events.py
  selfdrive/controls/lib/lane_planner.py
  selfdrive/controls/lib/latcontrol_angle.py
  selfdrive/controls/lib/latcontrol_indi.py
  selfdrive/controls/lib/latcontrol_lqr.py
  selfdrive/controls/lib/latcontrol_pid.py
  selfdrive/controls/lib/latcontrol.py
  selfdrive/controls/lib/lateral_planner.py
  selfdrive/controls/lib/longcontrol.py
  selfdrive/controls/lib/longitudinal_planner.py
 
</s> remove from selfdrive.controls.lib.latcontrol_lqr import LatControlLQR
 </s> add from selfdrive.controls.lib.latcontrol_torque import LatControlTorque </s> remove       elif tuning == 'lqr':
        self.assertTrue(len(car_params.lateralTuning.lqr.a))
 </s> add       elif tuning == 'torque':
        self.assertTrue(car_params.lateralTuning.torque.kf > 0) </s> remove       elif tuning == 'lqr':
        self.assertTrue(len(self.CP.lateralTuning.lqr.a))
 </s> add       elif tuning == 'torque':
        self.assertTrue(self.CP.lateralTuning.torque.kf > 0) </s> remove     apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, CarControllerParams)
 </s> add     apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits)
selfdrive/controls/lib/latcontrol_torque.py
  selfdrive/controls/lib/events.py
  selfdrive/controls/lib/lane_planner.py
  selfdrive/controls/lib/latcontrol_angle.py
  selfdrive/controls/lib/latcontrol_indi.py
selfdrive/controls/lib/latcontrol_torque.py
  selfdrive/controls/lib/latcontrol_pid.py
  selfdrive/controls/lib/latcontrol.py
  selfdrive/controls/lib/lateral_planner.py
  selfdrive/controls/lib/longcontrol.py
  selfdrive/controls/lib/longitudinal_planner.py
keep keep keep keep replace keep keep keep keep keep
 Lateral torque-based control with roll on TSS2 corolla and TSSP rav4 (#24260)

* Initial commit

* Fix bugs

* Need more torque rate

* Cleanup cray cray control

* Write nicely

* Chiiil

* Not relevant for cray cray control

* Do some logging

* Seems like it has more torque than I thought

* Bit more feedforward

* Tune change

* Retune

* Retune

* Little more chill

* Add coroll

* Add corolla

* Give craycray a good name

* Update to proper logging

* D to the PI

* Should be in radians

* Add d

* Start oscillations

* Add D term

* Only change torque rate limits for new tune

* Add d logging

* Should be enough

* Wrong sign in D

* Downtune a little

* Needed to prevent faults

* Add lqr rav4 to tune

* Try derivative again

* Data based retune

* Data based retune

* add friction compensation

* Doesnt need too much P with friction comp

* remove lqr

* Remove kd

* Fix tests

* fix tests

* Too much error

* Get roll induced error under 1cm/deg

* Too much jitter

* Do roll comp

* Add ki

* Final update

* Update refs

* Cleanup latcontrol_torque a little more 
release/files_common