From 0c5a7b58f88e27e76e4db6a1f855e77acc0188ce Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Wed, 21 Jan 2026 10:03:21 -0600
Subject: [PATCH] Revert "Split Tune"

This reverts commit 3ed579f39e17384a155c370569d2bd8688cba271.
---
 selfdrive/car/gm/interface.py | 24 +++++-------------------
 1 file changed, 5 insertions(+), 19 deletions(-)

diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index b40615d76..f5c3a625a 100644
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -27,22 +27,10 @@ CAM_MSG = 0x320  # AEBCmd
 ACCELERATOR_POS_MSG = 0xbe
 
 NON_LINEAR_TORQUE_PARAMS = {
-  CAR.CHEVROLET_BOLT_EUV: {
-    "left": [2.15, 1.1, 0.21, 0.0],
-    "right": [2.2, 1.0, 0.21, 0.0],
-  },
-  CAR.CHEVROLET_BOLT_CC: {
-    "left": [2.15, 1.1, 0.21, 0.0],
-    "right": [2.2, 1.0, 0.21, 0.0],
-  },
-  CAR.GMC_ACADIA: {
-    "left": [4.78003305, 1.0, 0.3122, 0.05591772],
-    "right": [4.78003305, 1.0, 0.3122, 0.05591772],
-  },
-  CAR.CHEVROLET_SILVERADO: {
-    "left": [3.29974374, 1.0, 0.25571356, 0.0465122],
-    "right": [3.29974374, 1.0, 0.25571356, 0.0465122],
-  },
+  CAR.CHEVROLET_BOLT_EUV: [2.15, 1.0, 0.21, 0.0],
+  CAR.CHEVROLET_BOLT_CC: [2.15, 1.0, 0.21, 0.0],
+  CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
+  CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
 }
 
 
@@ -72,9 +60,7 @@ class CarInterface(CarInterfaceBase):
       # This has big effect on the stability about 0 (noise when going straight)
       non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint)
       assert non_linear_torque_params, "The params are not defined"
-      # Left is positive
-      side_key = "left" if lateral_acceleration >= 0 else "right"
-      a, b, c, d = non_linear_torque_params[side_key]
+      a, b, c, d = non_linear_torque_params
       sig_input = a * lateral_acceleration
       sig = np.sign(sig_input) * (1 / (1 + exp(-fabs(sig_input))) - 0.5)
       steer_torque = (sig * b) + (lateral_acceleration * c) + d