From de334b2ffd5f5aa0b9239228ddf78d30ced7e676 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Wed, 28 Jan 2026 23:52:08 -0600
Subject: [PATCH] lat updates

---
 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 cc8d4a2ed..b6200ee0d 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -23,8 +23,8 @@ 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 = 0.6
-KI = 0.3
+KP = 0.7
+KI = 0.35
 
 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]