From c26b8b282caccede2b7e21b9c6c48dbd9415ecc9 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Thu, 6 Nov 2025 17:21:31 -0600
Subject: [PATCH] more lateral

---
 frogpilot/ui/qt/offroad/frogpilot_settings.cc | 2 +-
 selfdrive/controls/lib/latcontrol_torque.py   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/frogpilot/ui/qt/offroad/frogpilot_settings.cc b/frogpilot/ui/qt/offroad/frogpilot_settings.cc
index cdca5fa06..2ce9a4e1d 100644
--- a/frogpilot/ui/qt/offroad/frogpilot_settings.cc
+++ b/frogpilot/ui/qt/offroad/frogpilot_settings.cc
@@ -284,7 +284,7 @@ void FrogPilotSettingsWindow::updateVariables() {
     longitudinalActuatorDelay = CP.getLongitudinalActuatorDelay();
     startAccel = CP.getStartAccel();
     steerActuatorDelay = CP.getSteerActuatorDelay();
-    steerKp = CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::PID ? CP.getLateralTuning().getPid().getKpV()[0] : 1.0;
+    steerKp = CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::PID ? CP.getLateralTuning().getPid().getKpV()[0] : 0.6;
     steerRatio = CP.getSteerRatio();
     stopAccel = CP.getStopAccel();
     stoppingDecelRate = CP.getStoppingDecelRate();
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 25bb81f13..eb45d0191 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -21,7 +21,7 @@ from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_G
 # Additionally, there is friction in the steering wheel that needs
 # to be overcome to move it at all, this is compensated for too.
 
-KP = 1.0
+KP = 0.6
 KI = 0.3
 KD = 0.0
 INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]