  
    def reset(self):
      self.pid.reset()
  
    def update(self, active, CS, CP, lat_plan):
      pid_log = log.ControlsState.LateralPIDState.new_message()
      pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
      pid_log.steeringRateDeg = float(CS.steeringRateDeg)
  
      if CS.vEgo < 0.3 or not active:
 
</s> remove     self.angle_steers_des = 0.
 </s> add  </s> remove   def update(self, sm, CP, VM):
 </s> add   def update(self, sm, CP): </s> remove   def update(self, sm, CP, VM, PP):
 </s> add   def update(self, sm, CP):
  def update(self, active, CS, CP, VM, params, lat_plan):
  
    def reset(self):
      self.pid.reset()
  
  def update(self, active, CS, CP, VM, params, lat_plan):
      pid_log = log.ControlsState.LateralPIDState.new_message()
      pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
      pid_log.steeringRateDeg = float(CS.steeringRateDeg)
  
      if CS.vEgo < 0.3 or not active:
keep keep 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