LatControlTorque: log desired/actual lateral accel (commaai#24406)

* log torque lateral accel

* bump cereal

* update refs

Co-authored-by: Shane Smiskol <[email protected]>

Author: 2 people

selfdrive/controls/lib/latcontrol_torque.py

@@ -79,6 +79,8 @@ def update(self, active, CS, VM, params, last_actuators, desired_curvature, desi
       pid_log.f = self.pid.f
       pid_log.output = -output_torque
       pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS)
+      pid_log.actualLateralAccel = actual_lateral_accel
+      pid_log.desiredLateralAccel = desired_lateral_accel
 
     # TODO left is positive in this convention
     return -output_torque, 0.0, pid_log