LateralTorqueState: log controller version and desired lateral jerk (#36421)

cereal/log.capnp

@@ -918,6 +918,8 @@ struct ControlsState @0x97ff69c53601abf1 {
     saturated @7 :Bool;
     actualLateralAccel @9 :Float32;
     desiredLateralAccel @10 :Float32;
+    desiredLateralJerk @11 :Float32;
+    version @12 :Int32;
    }
 
   struct LateralLQRState {

selfdrive/controls/lib/latcontrol_torque.py

@@ -29,6 +29,7 @@ KD = 0.0
 
 LP_FILTER_CUTOFF_HZ = 1.2
 LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
+VERSION = 0
 
 class LatControlTorque(LatControl):
   def __init__(self, CP, CI, dt):
@@ -56,6 +57,7 @@ class LatControlTorque(LatControl):
 
   def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
+    pid_log.version = VERSION
     if not active:
       output_torque = 0.0
       pid_log.active = False
@@ -106,6 +108,7 @@ class LatControlTorque(LatControl):
       pid_log.output = float(-output_torque)  # TODO: log lat accel?
       pid_log.actualLateralAccel = float(measurement)
       pid_log.desiredLateralAccel = float(setpoint)
+      pid_log.desiredLateralJerk= float(desired_lateral_jerk)
       pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
 
     # TODO left is positive in this convention

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-55e82ab6370865a1427ebc1d559921a5354d9cbf
+1841c3c365689310f7f337a2aa6966d79bc4a60c