From de9cbc5de6059ea2b30aae4d17917ce47994816c Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Mon, 20 Oct 2025 11:07:32 -0500
Subject: [PATCH] Update interfaces.py

---
 selfdrive/car/interfaces.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 5ff68442b..ce63eb2c5 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -302,10 +302,10 @@ class CarInterfaceBase(ABC):
 
     tune.init('torque')
     tune.torque.useSteeringAngle = use_steering_angle
-    tune.torque.kf = 0.65
+    tune.torque.kf = 0.95
     tune.torque.kp = 0.6
-    tune.torque.ki = 1.0
-    tune.torque.kd = 0.75
+    tune.torque.ki = 0.3
+    tune.torque.kd = 0.3
     tune.torque.friction = params['FRICTION']
     tune.torque.latAccelFactor = params['LAT_ACCEL_FACTOR']
     tune.torque.latAccelOffset = 0.0