From 8cb3ded338c0332fa44c43d2706071f78bb4b4a0 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Fri, 6 Feb 2026 01:35:46 -0600
Subject: [PATCH] Integrator Smooth On Handoff

---
 selfdrive/controls/lib/latcontrol_pid.py    | 8 ++++++++
 selfdrive/controls/lib/latcontrol_torque.py | 7 +++++++
 2 files changed, 15 insertions(+)

diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py
index 2dd7e2167..ea51462e5 100644
--- a/selfdrive/controls/lib/latcontrol_pid.py
+++ b/selfdrive/controls/lib/latcontrol_pid.py
@@ -8,6 +8,8 @@ from openpilot.selfdrive.controls.lib.pid import PIDController
 class LatControlPID(LatControl):
   def __init__(self, CP, CI, dt):
     super().__init__(CP, CI, dt)
+    self.steer_release_i_decay = 0.8
+    self.prev_steering_pressed = False
     self.pid = PIDController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
                              (CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
                              pos_limit=self.steer_max, neg_limit=-self.steer_max)
@@ -29,8 +31,12 @@ class LatControlPID(LatControl):
     if not active:
       output_torque = 0.0
       pid_log.active = False
+      self.pid.reset()
 
     else:
+      if self.prev_steering_pressed and not CS.steeringPressed:
+        self.pid.i *= self.steer_release_i_decay
+
       # offset does not contribute to resistive torque
       ff = self.ff_factor * self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
       if CS.vEgo < self.low_speed_reset_threshold:
@@ -49,4 +55,6 @@ class LatControlPID(LatControl):
       pid_log.output = float(output_torque)
       pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
 
+    self.prev_steering_pressed = CS.steeringPressed
+
     return output_torque, angle_steers_des, pid_log
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index ee918b166..d30732f9c 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -40,6 +40,8 @@ VERSION = 2
 class LatControlTorque(LatControl):
   def __init__(self, CP, CI, dt):
     super().__init__(CP, CI, dt)
+    self.steer_release_i_decay = 0.8
+    self.prev_steering_pressed = False
     self.torque_params = CP.lateralTuning.torque
     self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
     self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
@@ -75,6 +77,9 @@ class LatControlTorque(LatControl):
       self.measurement_rate_filter.x = 0.0
       self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
     else:
+      if self.prev_steering_pressed and not CS.steeringPressed:
+        self.pid.i *= self.steer_release_i_decay
+
       measured_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
       roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
       curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
@@ -124,5 +129,7 @@ class LatControlTorque(LatControl):
       pid_log.desiredLateralJerk = float(desired_lateral_jerk)
       pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
 
+    self.prev_steering_pressed = CS.steeringPressed
+
     # TODO left is positive in this convention
     return -output_torque, 0.0, pid_log