Latcontrol torque: fix integrator induced ping pong (#24458)

* Latcontrol torque: fix integrator induced ping pong

* Reset on disengage since unwind resets anywayh

* Might be overkill

* rm whitespace

* update ref

selfdrive/car/toyota/tunes.py

@@ -56,7 +56,7 @@ def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=.1):
     tune.torque.useSteeringAngle = True
     tune.torque.kp = 1.0 / MAX_LAT_ACCEL
     tune.torque.kf = 1.0 / MAX_LAT_ACCEL
-    tune.torque.ki = 0.25 / MAX_LAT_ACCEL
+    tune.torque.ki = 0.1 / MAX_LAT_ACCEL
     tune.torque.friction = FRICTION
   elif name == LatTunes.INDI_PRIUS:
     tune.init('indi')

selfdrive/controls/lib/latcontrol_torque.py

@@ -42,7 +42,8 @@ class LatControlTorque(LatControl):
     if CS.vEgo < MIN_STEER_SPEED or not active:
       output_torque = 0.0
       pid_log.active = False
-      self.pid.reset()
+      if not active:
+        self.pid.reset()
     else:
       if self.use_steering_angle:
         actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-70d79fbcc2b9ab0af867a7d6f138b58bcaaa3aa8
+10b766fa845934f0258c52cdf2103d0e1a9496c9