From 2b156073d5b91de9bc74b46e9da414b4ce64a240 Mon Sep 17 00:00:00 2001
From: infiniteCable <75014343+infiniteCable@users.noreply.github.com>
Date: Tue, 10 Jun 2025 17:35:52 +0200
Subject: [PATCH] Update latcontrol_curvature.py

---
 selfdrive/controls/lib/latcontrol_curvature.py | 2 --
 1 file changed, 2 deletions(-)

diff --git a/selfdrive/controls/lib/latcontrol_curvature.py b/selfdrive/controls/lib/latcontrol_curvature.py
index 3fcef084b..974ea6121 100644
--- a/selfdrive/controls/lib/latcontrol_curvature.py
+++ b/selfdrive/controls/lib/latcontrol_curvature.py
@@ -36,8 +36,6 @@ class LatControlCurvature(LatControl):
       
       pid_log.error = float(desired_curvature - actual_curvature)
       freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
-      if CS.steeringPressed:
-        self.pid.i *= 0.8 # soft decay
       
       output_curvature = self.pid.update(pid_log.error, feedforward=gravity_adjusted_curvature, speed=CS.vEgo, freeze_integrator=freeze_integrator)