torque gains not car specific (#36404)

* torque gains not car specific

* remove opendbc interfaces longitudinal control kf field assignment that makes hitl test fail

* typo

* another typo

* bump

* bump openbc

* update ref

---------

Co-authored-by: felsager <d.felsager@gmail.com>

opendbc_repo

@@ -1 +1 @@
-Subproject commit dfa6807ebf9f0edb593189a703b857c834a88a75
+Subproject commit b59f8bdcca8d375b4a5a652d2f2d2ec9cd3503d3

selfdrive/controls/lib/latcontrol_torque.py

@@ -24,6 +24,9 @@ from openpilot.common.pid import PIDController
 
 LOW_SPEED_X = [0, 10, 20, 30]
 LOW_SPEED_Y = [15, 13, 10, 5]
+KP = 1.0
+KI = 0.3
+KD = 0.0
 
 
 class LatControlTorque(LatControl):
@@ -32,7 +35,7 @@ class LatControlTorque(LatControl):
     self.torque_params = CP.lateralTuning.torque.as_builder()
     self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
     self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
-    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki, rate=1/self.dt)
+    self.pid = PIDController(KP, KI, k_d=KD, rate=1/self.dt)
     self.update_limits()
     self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
     self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES = int(1 / self.dt)
@@ -76,7 +79,7 @@ class LatControlTorque(LatControl):
       low_speed_factor = (np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y) / max(CS.vEgo, MIN_SPEED)) ** 2
       setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
       error = setpoint - measurement
-      error_lsf = error + low_speed_factor / self.torque_params.kp * error
+      error_lsf = error + low_speed_factor / KP * error
 
       # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
       pid_log.error = float(error_lsf)

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-5342f5684c2498a33d6178f3b59efd5e83b73acc
+55e82ab6370865a1427ebc1d559921a5354d9cbf