  from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
  from selfdrive.controls.lib.latcontrol_lqr import LatControlLQR
  from selfdrive.controls.lib.events import Events, ET
  from selfdrive.controls.lib.alertmanager import AlertManager
  from selfdrive.controls.lib.vehicle_model import VehicleModel
  from selfdrive.controls.lib.longitudinal_planner import LON_MPC_STEP
  from selfdrive.locationd.calibrationd import Calibration
 
</s> remove from selfdrive.controls.lib.vehicle_model import VehicleModel
 </s> add  </s> remove from cereal import car
 </s> add  </s> remove       self.angle_steers_des = lat_plan.steeringAngleDeg # get from MPC/LateralPlanner

 </s> add  </s> remove       # Check if we deviated from the path
      left_deviation = actuators.steer > 0 and lat_plan.dPathPoints[0] < -0.1
      right_deviation = actuators.steer < 0 and lat_plan.dPathPoints[0] > 0.1
 </s> add 
from selfdrive.controls.lib.latcontrol_angle import LatControlAngle
  from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
  from selfdrive.controls.lib.latcontrol_lqr import LatControlLQR
from selfdrive.controls.lib.latcontrol_angle import LatControlAngle
  from selfdrive.controls.lib.events import Events, ET
  from selfdrive.controls.lib.alertmanager import AlertManager
  from selfdrive.controls.lib.vehicle_model import VehicleModel
  from selfdrive.controls.lib.longitudinal_planner import LON_MPC_STEP
  from selfdrive.locationd.calibrationd import Calibration
keep add keep keep keep keep keep
 LateralPlanner should only compute curvature (#20289)

* get curvature from planner

* no need to check active

* remove that

* remove self

* liveParams not needed

* cast

* fix test bug

* fixes

* fix ui.py

* fix radians

* update refs

* update refs

* bump cereal

* bump cereal

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> 
selfdrive/controls/controlsd.py