From 4532e7f5d1d4c8a085d479a4f5875dcb033035f9 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Wed, 15 Oct 2025 20:18:52 -0500
Subject: [PATCH] lat3

---
 selfdrive/controls/lib/latcontrol_torque.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 35bf53480..db647ae50 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -85,7 +85,7 @@ class LatControlTorque(LatControl):
       low_speed_factor = (np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y_NN if frogpilot_toggles.nnff else LOW_SPEED_Y) / max(CS.vEgo, MIN_SPEED)) ** 2
       setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
       error = setpoint - measurement
-      error_lsf = error + low_speed_factor * error
+      error_lsf = error + low_speed_factor / self.torque_params.kp * error
 
       if self.nnff_loaded and frogpilot_toggles.nnff or frogpilot_toggles.nnff_lite:
         pid_log, ff = self.nnff.compute_nnff(