From 5276fe2c9307e04ae068fb9303409a06c29bac69 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Mon, 3 Nov 2025 16:51:17 -0600
Subject: [PATCH] Update latcontrol_torque.py

---
 selfdrive/controls/lib/latcontrol_torque.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 4e8b62bac..25bb81f13 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -22,8 +22,8 @@ from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_G
 # to be overcome to move it at all, this is compensated for too.
 
 KP = 1.0
-KI = 0.1
-KD = 0.3
+KI = 0.3
+KD = 0.0
 INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
 KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]