  from selfdrive.controls.lib.pid import PIController
  from selfdrive.controls.lib.drive_helpers import get_steer_max
  from cereal import car
  from cereal import log
  
  
  class LatControlPID():
    def __init__(self, CP):
 
</s> remove from selfdrive.controls.lib.vehicle_model import VehicleModel
 </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.pid import PIController
  from selfdrive.controls.lib.drive_helpers import get_steer_max

  from cereal import log
  
  
  class LatControlPID():
    def __init__(self, CP):
keep keep replace 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/lib/latcontrol_pid.py