Revert "Latcontrol torque: integrator need not be reset (commaai#24606)"

This reverts commit 5202696.

selfdrive/controls/lib/latcontrol_torque.py

@@ -44,6 +44,7 @@ def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature,
     if CS.vEgo < MIN_STEER_SPEED or not active:
       output_torque = 0.0
       pid_log.active = False
+      self.pid.reset()
     else:
       if self.use_steering_angle:
         actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
@@ -59,14 +60,10 @@ def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature,
       pid_log.error = error
 
       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.kf
-      freeze_integrator = CS.steeringRateLimited or CS.steeringPressed or CS.vEgo < 5
       output_torque = self.pid.update(error,
-                                      feedforward=ff,
+                                      override=CS.steeringPressed, feedforward=ff,
                                       speed=CS.vEgo,
-                                      freeze_integrator=freeze_integrator)
+                                      freeze_integrator=CS.steeringRateLimited)
 
       friction_compensation = interp(desired_lateral_jerk, [-JERK_THRESHOLD, JERK_THRESHOLD], [-self.friction, self.friction])
       output_torque += friction_compensation