From a2e7f3788f609c5691418baa8ffddec442770594 Mon Sep 17 00:00:00 2001
From: felsager <76905857+felsager@users.noreply.github.com>
Date: Wed, 22 Oct 2025 10:56:34 -0700
Subject: [PATCH] LateralTorqueState: log controller version and desired
 lateral jerk (#36421)

---
 cereal/log.capnp                            | 2 ++
 selfdrive/controls/lib/latcontrol_torque.py | 3 +++
 selfdrive/test/process_replay/ref_commit    | 2 +-
 3 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 019fbbe10..6cd8196ae 100644
--- a/cereal/log.capnp
+++ b/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 {
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 31d982859..c46b0965c 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/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
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index dd73ed12f..732b441da 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-55e82ab6370865a1427ebc1d559921a5354d9cbf
\ No newline at end of file
+1841c3c365689310f7f337a2aa6966d79bc4a60c
\ No newline at end of file