From 23bc2b80d871a40692b518f9000e11212e9342a5 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Fri, 3 Oct 2025 22:05:10 -0500
Subject: [PATCH] Revert "Update latcontrol_torque.py"

This reverts commit 13c3070fa170b4fd005ed6424803141bd4f71cdf.
---
 selfdrive/controls/lib/latcontrol.py | 8 ++------
 1 file changed, 2 insertions(+), 6 deletions(-)

diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
index cca420a25..93f59f276 100644
--- a/selfdrive/controls/lib/latcontrol.py
+++ b/selfdrive/controls/lib/latcontrol.py
@@ -24,12 +24,8 @@ class LatControl(ABC):
     self.sat_count = 0.
 
   def _check_saturation(self, saturated, CS, steer_limited_by_safety, curvature_limited):
-    # Treat either controller saturation, curvature limiting, or the safety layer
-    # clamping the request as a saturation event. The additional safety check
-    # catches cases where the torque request is being clipped
-    saturated = saturated or curvature_limited or steer_limited_by_safety
-
-    if saturated and CS.vEgo > self.sat_check_min_speed and not CS.steeringPressed:
+    # Saturated only if control output is not being limited by car torque/angle rate limits
+    if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_safety and not CS.steeringPressed:
       self.sat_count += self.sat_count_rate
     else:
       self.sat_count -= self.sat_count_rate