controlsd: use latest actuatorsOutput (#32390)

use current actuatorsOutput

selfdrive/car/card.py

@@ -78,7 +78,7 @@ class CarD:
     """Initialize CarInterface, once controls are ready"""
     self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
 
-  def state_update(self):
+  def state_update(self) -> car.CarState:
     """carState update loop, driven by can"""
 
     # Update carState from CAN

selfdrive/controls/controlsd.py

@@ -142,7 +142,6 @@ class Controls:
     self.logged_comm_issue = None
     self.not_running_prev = None
     self.steer_limited = False
-    self.last_actuators = car.CarControl.Actuators.new_message()
     self.desired_curvature = 0.0
     self.experimental_mode = False
     self.personality = self.read_personality_param()
@@ -620,7 +619,7 @@ class Controls:
         undershooting = abs(lac_log.desiredLateralAccel) / abs(1e-3 + lac_log.actualLateralAccel) > 1.2
         turning = abs(lac_log.desiredLateralAccel) > 1.0
         good_speed = CS.vEgo > 5
-        max_torque = abs(self.last_actuators.steer) > 0.99
+        max_torque = abs(self.sm['carOutput'].actuatorsOutput.steer) > 0.99
         if undershooting and turning and good_speed and max_torque:
           lac_log.active and self.events.add(EventName.steerSaturated)
       elif lac_log.saturated:
@@ -661,8 +660,6 @@ class Controls:
   def publish_logs(self, CS, start_time, CC, lac_log):
     """Send actuators and hud commands to the car, send controlsstate and MPC logging"""
 
-    CO = self.sm['carOutput']
-
     # Orientation and angle rates can be useful for carcontroller
     # Only calibrated (car) frame is relevant for the carcontroller
     orientation_value = list(self.sm['liveLocationKalman'].calibratedOrientationNED.value)
@@ -727,7 +724,7 @@ class Controls:
 
     if not self.CP.passive and self.initialized:
       self.card.controls_update(CC)
-      self.last_actuators = CO.actuatorsOutput
+      CO = self.sm['carOutput']
       if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
         self.steer_limited = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
                              STEER_ANGLE_SATURATION_THRESHOLD