feat: log latcontrol_torque low-speed proportional gain

[mvanhorn]

Summary

Moves the low-speed proportional gain of latcontrol_torque into the logs: adds kp to LateralTorqueState in log.capnp and populates pid_log.kp from the controller. This makes the speed-interpolated k_p observable for tuning and analysis instead of only living in memory.

Extends the latcontrol_torque buffer test to assert kp is logged at low speed.

Fixes #34907

[github-actions]

Process replay diff report

Replays driving segments through this PR and compares the behavior to master.
Please review any changes carefully to ensure they are expected.

⚠️ 9 changed, 57 passed, 0 errors

Show changes

HYUNDAI - regenAA0FC4ED71E|2025-04-08--22-57-50--0 [controlsd]

  controlsState.lateralControlState.torqueState.kp (1615 diffs)
    frame 78: 0.0 -> 3.5791664123535156
    frame 79: 0.0 -> 3.5805001258850098
    frame 80: 0.0 -> 3.577986240386963
    frame 81: 0.0 -> 3.5755538940429688
    frame 82: 0.0 -> 3.5741372108459473
    frame 83: 0.0 -> 3.5727791786193848
    frame 84: 0.0 -> 3.576629638671875
    frame 85: 0.0 -> 3.5801589488983154
    frame 86: 0.0 -> 3.583055019378662
    frame 87: 0.0 -> 3.585643768310547
    (... 1605 more)

HYUNDAI2 - regenAFB9780D823|2025-04-08--23-00-34--0 [controlsd]

  controlsState.lateralControlState.torqueState.kp (4187 diffs)
    frame 98: 0.0 -> 2.7679495811462402
    frame 99: 0.0 -> 2.7687082290649414
    frame 100: 0.0 -> 2.7687082290649414
    frame 101: 0.0 -> 2.767549753189087
    frame 102: 0.0 -> 2.768392562866211
    frame 103: 0.0 -> 2.7705249786376953
    frame 104: 0.0 -> 2.772505283355713
    frame 105: 0.0 -> 2.772505283355713
    frame 106: 0.0 -> 2.7740092277526855
    frame 107: 0.0 -> 2.7725203037261963
    (... 4177 more)

TOYOTA - regen218A4DCFAA1|2025-04-08--22-57-51--0 [controlsd]

  controlsState.lateralControlState.torqueState.kp (1456 diffs)
    frame 4564: 0.0 -> 0.8814356923103333
    frame 4565: 0.0 -> 0.8816432356834412
    frame 4566: 0.0 -> 0.8819795250892639
    frame 4567: 0.0 -> 0.8822615146636963
    frame 4568: 0.0 -> 0.8826282024383545
    frame 4569: 0.0 -> 0.8828216791152954
    frame 4570: 0.0 -> 0.8831838965415955
    frame 4571: 0.0 -> 0.8830353021621704
    frame 4572: 0.0 -> 0.883633553981781
    frame 4573: 0.0 -> 0.8841604590415955
    (... 1446 more)

TOYOTA3 - regen1455E3B4BDF|2025-04-09--03-26-06--0 [controlsd]

  controlsState.lateralControlState.torqueState.kp (5855 diffs)
    frame 125: 0.0 -> 0.800000011920929
    frame 126: 0.0 -> 0.800000011920929
    frame 127: 0.0 -> 0.800000011920929
    frame 128: 0.0 -> 0.800000011920929
    frame 129: 0.0 -> 0.800000011920929
    frame 130: 0.0 -> 0.800000011920929
    frame 131: 0.0 -> 0.800000011920929
    frame 132: 0.0 -> 0.800000011920929
    frame 133: 0.0 -> 0.800000011920929
    frame 134: 0.0 -> 0.800000011920929
    (... 5845 more)

RAM - regenBF81EA96E08|2025-04-08--23-06-54--0 [controlsd]

  controlsState.lateralControlState.torqueState.kp (2069 diffs)
    frame 125: 0.0 -> 1.2897937297821045
    frame 126: 0.0 -> 1.2894110679626465
    frame 127: 0.0 -> 1.289119005203247
    frame 128: 0.0 -> 1.288880467414856
    frame 129: 0.0 -> 1.2885098457336426
    frame 130: 0.0 -> 1.2881982326507568
    frame 131: 0.0 -> 1.287911057472229
    frame 132: 0.0 -> 1.2876768112182617
    frame 133: 0.0 -> 1.2872490882873535
    frame 134: 0.0 -> 1.2868843078613281
    (... 2059 more)

SUBARU - regen7366F13F6A1|2025-04-08--23-07-07--0 [controlsd]

  controlsState.lateralControlState.torqueState.kp (5926 diffs)
    frame 75: 0.0 -> 0.800000011920929
    frame 76: 0.0 -> 0.800000011920929
    frame 77: 0.0 -> 0.800000011920929
    frame 78: 0.0 -> 0.800000011920929
    frame 79: 0.0 -> 0.800000011920929
    frame 80: 0.0 -> 0.800000011920929
    frame 81: 0.0 -> 0.800000011920929
    frame 82: 0.0 -> 0.800000011920929
    frame 83: 0.0 -> 0.800000011920929
    frame 84: 0.0 -> 0.800000011920929
    (... 5916 more)

GM - regen1271097D038|2025-04-09--03-26-00--0 [controlsd]

  controlsState.lateralControlState.torqueState.kp (4979 diffs)
    frame 74: 0.0 -> 9.873584747314453
    frame 75: 0.0 -> 9.899313926696777
    frame 76: 0.0 -> 9.959606170654297
    frame 77: 0.0 -> 10.011289596557617
    frame 78: 0.0 -> 10.054862976074219
    frame 79: 0.0 -> 10.090879440307617
    frame 80: 0.0 -> 10.119932174682617
    frame 81: 0.0 -> 10.178723335266113
    frame 82: 0.0 -> 10.228946685791016
    frame 83: 0.0 -> 10.2711181640625
    (... 4969 more)

MAZDA - regenACF84CCF482|2024-08-30--03-21-55--0 [controlsd]

  controlsState.lateralControlState.torqueState.kp (5897 diffs)
    frame 104: 0.0 -> 1.3441107273101807
    frame 105: 0.0 -> 1.3441070318222046
    frame 106: 0.0 -> 1.344051480293274
    frame 107: 0.0 -> 1.3436577320098877
    frame 108: 0.0 -> 1.3432807922363281
    frame 109: 0.0 -> 1.3429419994354248
    frame 110: 0.0 -> 1.3425345420837402
    frame 111: 0.0 -> 1.3422399759292603
    frame 112: 0.0 -> 1.342042088508606
    frame 113: 0.0 -> 1.3417896032333374
    (... 5887 more)

RIVIAN - regen5FCAC896BBE|2025-04-08--23-13-35--0 [controlsd]

  controlsState.lateralControlState.torqueState.kp (5221 diffs)
    frame 100: 0.0 -> 0.9211950898170471
    frame 101: 0.0 -> 0.9213027954101562
    frame 102: 0.0 -> 0.9213940501213074
    frame 103: 0.0 -> 0.9214698672294617
    frame 104: 0.0 -> 0.9212994575500488
    frame 105: 0.0 -> 0.921134352684021
    frame 106: 0.0 -> 0.9216338992118835
    frame 107: 0.0 -> 0.922090470790863
    frame 108: 0.0 -> 0.9227351546287537
    frame 109: 0.0 -> 0.9233177304267883
    (... 5211 more)