latcontrollers take capnp

selfdrive/controls/lib/latcontrol_pid.py

@@ -8,8 +8,8 @@ from openpilot.selfdrive.controls.lib.pid import PIDController
 class LatControlPID(LatControl):
   def __init__(self, CP, CI):
     super().__init__(CP, CI)
-    self.pid = PIDController((CP.lateralTuning.kpBP, CP.lateralTuning.kpV),
+    self.pid = PIDController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
-                             (CP.lateralTuning.kiBP, CP.lateralTuning.kiV),
+                             (CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
                              k_f=CP.lateralTuning.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
     self.get_steer_feedforward = CI.get_steer_feedforward_function()
 

selfdrive/controls/lib/latcontrol_torque.py

@@ -25,7 +25,7 @@ LOW_SPEED_Y = [15, 13, 10, 5]
 class LatControlTorque(LatControl):
   def __init__(self, CP, CI):
     super().__init__(CP, CI)
-    self.torque_params = CP.lateralTuning
+    self.torque_params = CP.lateralTuning.torque.as_builder()
     self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
                              k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
     self.torque_from_lateral_accel = CI.torque_from_lateral_accel()