derivative to compensate large changes

Author: felsager

selfdrive/controls/lib/latcontrol_torque.py

@@ -32,8 +32,7 @@ def __init__(self, CP, CI):
     self.torque_params = CP.lateralTuning.torque.as_builder()
     self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
     self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
-    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
-                             k_f=self.torque_params.kf)
+    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki, k_d=self.torque_params.kd, k_f=self.torque_params.kf)
     self.update_limits()
     self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
     self.requested_lateral_accel_buffer = deque([0.] * LATACCEL_REQUEST_BUFFER_SIZE, maxlen=LATACCEL_REQUEST_BUFFER_SIZE)