  
  
  class TestVehicleModel(unittest.TestCase):
    def setUp(self):
      CP = CarInterface.get_non_essential_params(CAR.CIVIC)
      self.VM = VehicleModel(CP)
  
    def test_round_trip_yaw_rate(self):
      # TODO: fix VM to work at zero speed
      for u in np.linspace(1, 30, num=10):
 
</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("mock")
 </s> add     CP = CarInterface.get_params("mock") </s> remove     CP = CarInterface.get_non_essential_params(car_name)
 </s> add     CP = CarInterface.get_params(car_name) </s> remove   @classmethod
  def get_params(cls, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool):
 </s> add  </s> remove     CP = CarInterface.get_non_essential_params(fingerprint)
 </s> add     CP = CarInterface.get_params(fingerprint)
    CP = CarInterface.get_params(CAR.CIVIC)
  
  
  class TestVehicleModel(unittest.TestCase):
    def setUp(self):
    CP = CarInterface.get_params(CAR.CIVIC)
      self.VM = VehicleModel(CP)
  
    def test_round_trip_yaw_rate(self):
      # TODO: fix VM to work at zero speed
      for u in np.linspace(1, 30, num=10):
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_vehicle_model.py