      tune.indi.timeConstantBP = [0.]
      tune.indi.timeConstantV = [1.0]
      tune.indi.actuatorEffectivenessBP = [0.]
      tune.indi.actuatorEffectivenessV = [1.0]
  
    elif name == LatTunes.LQR_RAV4:
      tune.init('lqr')
      tune.lqr.scale = 1500.0
      tune.lqr.ki = 0.05
      tune.lqr.a = [0., 1., -0.22619643, 1.21822268]
      tune.lqr.b = [-1.92006585e-04, 3.95603032e-05]
      tune.lqr.c = [1., 0.]
      tune.lqr.k = [-110.73572306, 451.22718255]
      tune.lqr.l = [0.3233671, 0.3185757]
      tune.lqr.dcGain = 0.002237852961363602
  
    elif 'PID' in str(name):
      tune.init('pid')
      tune.pid.kiBP = [0.0]
      tune.pid.kpBP = [0.0]
      if name == LatTunes.PID_A:
 
</s> remove def set_lat_tune(tune, name):
  if name == LatTunes.INDI_PRIUS:
 </s> add def set_lat_tune(tune, name, MAX_TORQUE=2.5, FRICTION=.1):
  if name == LatTunes.TORQUE:
    tune.init('torque')
    tune.torque.useSteeringAngle = True
    tune.torque.kp = 2.0 / MAX_TORQUE
    tune.torque.kf = 1.0 / MAX_TORQUE
    tune.torque.ki = 0.5 / MAX_TORQUE
    tune.torque.friction = FRICTION
  elif name == LatTunes.INDI_PRIUS: </s> remove     elif self.CP.lateralTuning.which() == 'lqr':
      self.LaC = LatControlLQR(self.CP, self.CI)
 </s> add     elif self.CP.lateralTuning.which() == 'torque':
      self.LaC = LatControlTorque(self.CP, self.CI) </s> remove     elif lat_tuning == 'lqr':
      controlsState.lateralControlState.lqrState = lac_log
 </s> add     elif lat_tuning == 'torque':
      controlsState.lateralControlState.torqueState = lac_log </s> remove       set_lat_tune(ret.lateralTuning, LatTunes.LQR_RAV4)
 </s> add       set_lat_tune(ret.lateralTuning, LatTunes.TORQUE) </s> remove       set_lat_tune(ret.lateralTuning, LatTunes.LQR_RAV4)
 </s> add       set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_TORQUE=2.5, FRICTION=0.06)
      tune.indi.timeConstantBP = [0.]
      tune.indi.timeConstantV = [1.0]
      tune.indi.actuatorEffectivenessBP = [0.]
      tune.indi.actuatorEffectivenessV = [1.0]












    elif 'PID' in str(name):
      tune.init('pid')
      tune.pid.kiBP = [0.0]
      tune.pid.kpBP = [0.0]
      if name == LatTunes.PID_A:
keep keep keep keep replace replace replace replace replace replace replace replace replace replace replace 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 
selfdrive/car/toyota/tunes.py