      pcm_accel_cmd = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
  
      # steer torque
      new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
      apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, CarControllerParams)
      self.steer_rate_limited = new_steer != apply_steer
  
      # Cut steering while we're in a known fault state (2s)
      if not CC.latActive or CS.steer_state in (9, 25):
        apply_steer = 0
 
</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.PID_D)
 </s> add       set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_TORQUE=3.0, FRICTION=0.08) </s> remove   def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate):
 </s> add   def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk): </s> remove 
  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

 </s> add 
    apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits)
      pcm_accel_cmd = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
  
      # steer torque
      new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
    apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits)
      self.steer_rate_limited = new_steer != apply_steer
  
      # Cut steering while we're in a known fault state (2s)
      if not CC.latActive or CS.steer_state in (9, 25):
        apply_steer = 0
keep keep keep keep 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/carcontroller.py