  
    @parameterized.expand([(HONDA.CIVIC, LatControlPID), (TOYOTA.RAV4, LatControlTorque), (TOYOTA.PRIUS, LatControlINDI), (NISSAN.LEAF, LatControlAngle)])
    def test_saturation(self, car_name, controller):
      CarInterface, CarController, CarState = interfaces[car_name]
      CP = CarInterface.get_non_essential_params(car_name)
      CI = CarInterface(CP, CarController, CarState)
      VM = VehicleModel(CP)
  
      controller = controller(CP, CI)
  
 
</s> remove     CP = CarInterface.get_non_essential_params("mock")
 </s> add     CP = CarInterface.get_params("mock") </s> remove     CP = CarInterface.get_non_essential_params(CAR.CIVIC)
 </s> add     CP = CarInterface.get_params(CAR.CIVIC) </s> remove CP = CarInterface.get_non_essential_params(CAR.CIVIC)
 </s> add CP = CarInterface.get_params(CAR.CIVIC) </s> remove     car_params = CarInterface.get_params(car_name, fingerprints, car_fw, experimental_long=False)
 </s> add     car_params = CarInterface.get_params(car_name, fingerprints, car_fw) </s> remove     CP = CarInterface.get_non_essential_params(fingerprint)
 </s> add     CP = CarInterface.get_params(fingerprint)
    CP = CarInterface.get_params(car_name)
  
    @parameterized.expand([(HONDA.CIVIC, LatControlPID), (TOYOTA.RAV4, LatControlTorque), (TOYOTA.PRIUS, LatControlINDI), (NISSAN.LEAF, LatControlAngle)])
    def test_saturation(self, car_name, controller):
      CarInterface, CarController, CarState = interfaces[car_name]
    CP = CarInterface.get_params(car_name)
      CI = CarInterface(CP, CarController, CarState)
      VM = VehicleModel(CP)
  
      controller = controller(CP, CI)
  
keep keep keep keep replace keep keep keep keep keep
 Revert "Car interface: require fingerprint and FW versions to get params (#26766)"

This reverts commit b68dabb689104ef0819a6c881b800076deb866f6. 
selfdrive/controls/lib/tests/test_latcontrol.py