fix missing line and update ref

Author: felsager

selfdrive/controls/lib/latcontrol_torque.py

@@ -41,6 +41,7 @@ def __init__(self, CP, CI, dt):
     self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD, rate=1/self.dt)
     self.update_limits()
     self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
+    self.lookahead_frames = int(JERK_LOOKAHEAD_SECONDS / self.dt)
     self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
     self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
     self.jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
@@ -77,12 +78,12 @@ def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvat
       future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
       self.lat_accel_request_buffer.append(future_desired_lateral_accel)
       gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
+      setpoint = expected_lateral_accel
 
       measurement = measured_curvature * CS.vEgo ** 2
       measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
       self.previous_measurement = measurement
 
-      setpoint = expected_lateral_accel
       error = setpoint - measurement + JERK_GAIN * desired_lateral_jerk
 
       # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-a6aaadff406cc2ac649b770f7b019668881fb369
+9a7d8dd0660ba6a344ac61be89b2e832e6756184