      if self.CP.steerControlType != car.CarParams.SteerControlType.angle:
        tuning = self.CP.lateralTuning.which()
        if tuning == 'pid':
          self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
        elif tuning == 'lqr':
          self.assertTrue(len(self.CP.lateralTuning.lqr.a))
        elif tuning == 'indi':
          self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV))
        else:
          raise Exception("unkown tuning")
  
 
</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 lat_tuning == 'lqr':
      controlsState.lateralControlState.lqrState = lac_log
 </s> add     elif lat_tuning == 'torque':
      controlsState.lateralControlState.torqueState = lac_log </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 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   STEER_DELTA_UP = 10       # 1.5s time to peak torque
  STEER_DELTA_DOWN = 25     # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50)
 </s> add 
      elif tuning == 'torque':
        self.assertTrue(self.CP.lateralTuning.torque.kf > 0)
      if self.CP.steerControlType != car.CarParams.SteerControlType.angle:
        tuning = self.CP.lateralTuning.which()
        if tuning == 'pid':
          self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
      elif tuning == 'torque':
        self.assertTrue(self.CP.lateralTuning.torque.kf > 0)
      elif tuning == 'torque':
        self.assertTrue(self.CP.lateralTuning.torque.kf > 0)
        elif tuning == 'indi':
          self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV))
        else:
          raise Exception("unkown tuning")
  
keep keep keep keep 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/tests/test_models.py