  
  from cereal import log
  
  
  class LatControlPID(LatControl):
    def __init__(self, CP, CI):
      super().__init__(CP, CI)
 
</s> remove from common.realtime import DT_CTRL
 </s> add  </s> remove   def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
 </s> add   def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk): </s> remove                              k_f = CP.longitudinalTuning.kf, rate=1 / DT_CTRL)
 </s> add                              k_f=CP.longitudinalTuning.kf, rate=1 / DT_CTRL) </s> remove   def update(self, active, CS, CP, long_plan, accel_limits, t_since_plan):
 </s> add   def update(self, active, CS, long_plan, accel_limits, t_since_plan):
from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
from selfdrive.controls.lib.pid import PIDController
  
  from cereal import log
from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
from selfdrive.controls.lib.pid import PIDController
  
  
  class LatControlPID(LatControl):
    def __init__(self, CP, CI):
      super().__init__(CP, CI)
keep add keep keep keep keep keep
 Clean up controllers (#24340)

* clean up lat controllers

* pass CP once

* sort 
selfdrive/controls/lib/latcontrol_pid.py