controls: publish current curvature in CarControl (#34679)

* controls: publish current curvature in CarControl

* clean up

* update refs

---------

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

Author: jyoung8607

selfdrive/controls/controlsd.py

@@ -141,6 +141,7 @@ def publish(self, CC, lac_log):
 
     # Orientation and angle rates can be useful for carcontroller
     # Only calibrated (car) frame is relevant for the carcontroller
+    CC.currentCurvature = self.curvature
     if self.calibrated_pose is not None:
       CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist()
       CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist()

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-fcc771b9ceb487a61035885acbd84e592fb316bf
+4c7ac1a362933af9d97697979162087c1ab2584b