LatControlTorque: clean up class variable (#24526)

* move to super

* no class variable

* there's CP

* whitespace

* drop CI from latcontrol super

* Revert "drop CI from latcontrol super"

This reverts commit 9218273060ade6431c4fc4c310b27e7e210158b9.

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: a693b3a26b2dcbd7910e4fa98318f23c13c3d815

selfdrive/controls/lib/latcontrol_torque.py

@@ -25,12 +25,12 @@ JERK_THRESHOLD = 0.2
 class LatControlTorque(LatControl):
   def __init__(self, CP, CI):
     super().__init__(CP, CI)
-    self.CP = CP
     self.pid = PIDController(CP.lateralTuning.torque.kp, CP.lateralTuning.torque.ki,
                              k_f=CP.lateralTuning.torque.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
     self.get_steer_feedforward = CI.get_steer_feedforward_function()
     self.use_steering_angle = CP.lateralTuning.torque.useSteeringAngle
     self.friction = CP.lateralTuning.torque.friction
+    self.kf = CP.lateralTuning.torque.kf
 
   def reset(self):
     super().reset()
@@ -61,7 +61,7 @@ class LatControlTorque(LatControl):
       ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY
       # convert friction into lateral accel units for feedforward
       friction_compensation = interp(desired_lateral_jerk, [-JERK_THRESHOLD, JERK_THRESHOLD], [-self.friction, self.friction])
-      ff += friction_compensation / self.CP.lateralTuning.torque.kf
+      ff += friction_compensation / self.kf
       output_torque = self.pid.update(error,
                                       override=CS.steeringPressed, feedforward=ff,
                                       speed=CS.vEgo,