From 38cf9c653bf468ff61d841591aaeccc4e5a0800e Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sun, 1 Feb 2026 18:39:51 -0600
Subject: [PATCH] Revert "Silverado"

This reverts commit 2e37b1e5ac7f8b95a289e05300011603b4766505.
---
 selfdrive/car/gm/interface.py | 4 ++--
 selfdrive/car/gm/values.py    | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 1afa5c7d7..f7dbb40f5 100644
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -254,8 +254,8 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.torque.ki = 1.07  # torque_ff_scale_neg
       ret.lateralTuning.torque.kd = 0.93  # torque_ki_mult
       ret.lateralTuning.torque.kfDEPRECATED = 0.02  # torque_deadzone_boost_neg (lat accel)
-      ret.lateralTuning.torque.latAccelFactor = 0.78
-      ret.lateralTuning.torque.friction = 0.155
+      # Silverado-only: reduce base friction for left bias 
+      ret.lateralTuning.torque.friction *= 0.93
 
     elif candidate in (CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_EQUINOX_CC):
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index e1ec173f8..eaac4d135 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -175,7 +175,7 @@ class CAR(Platforms):
       GMCarDocs("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
       GMCarDocs("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
     ],
-    GMCarSpecs(mass=2994, wheelbase=3.75, steerRatio=17.35, tireStiffnessFactor=1.0),
+    GMCarSpecs(mass=2994, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
   )
   CHEVROLET_EQUINOX = GMPlatformConfig(
     [GMCarDocs("Chevrolet Equinox 2019-22")],