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* NNLC: restore pre-v1 PID gains in torque extension When the torque lateral controller was refactored for v1 (VERSION=1), the NNLC extension's PID gains were inadvertently changed from the per-vehicle defaults (kp=1.0, ki=0.3, kf=1.0) to the new base controller values (kp=0.8, ki=0.15, no kf with speed interpolation). The NNLC extension operates in torque space with its own PID loop that is independent of the base controller's lateral acceleration PID. Coupling these gains to the base controller's values results in noticeably weaker steering response and ping-pong oscillation for NNLC users, with no workaround since Enforce Torque Lateral Control and NNLC are mutually exclusive. This restores the original PID gains that were used before the v1 refactor, matching the behavior from v2025.003.000 and earlier. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com> * Remove k_f from PIDController init k_f was removed from PIDController in the v1 refactor. The old k_f=1.0 was a no-op (feedforward scale of 1.0), and the current PIDController applies feedforward unscaled via update(), so behavior is unchanged. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com> --------- Co-authored-by: Claude Opus 4.6 (1M context) <noreply@anthropic.com> Co-authored-by: Jason Wen <haibin.wen3@gmail.com>