lateral torque PID uses true error_rate

[simontheflutist]

$$ \begin{align} \text{error} &= (\text{desired accel}) - (\text{actual accel}) \\ \frac{\mathrm d}{\mathrm d t} \text{error} &= (\text{desired jerk}) - (\text{actual jerk}) \end{align} $$

[simontheflutist]

@felsager is your tuning testable? it's a vibe improvement on my homemade tuning but again, if it's right it should be universal