diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
index c6658bdc7..df773889a 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
@@ -14,11 +14,8 @@ from openpilot.selfdrive.modeld.constants import ModelConstants
 LAT_PLAN_MIN_IDX = 5
 LATERAL_LAG_MOD = 0.0  # seconds, modifies how far in the future we look ahead for the lateral plan
 
-# from selfdrive/controls/lib/latcontrol_torque.py
-KP = 0.8
-KI = 0.15
-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]
+KP = 1.0
+KI = 0.3
 
 
 def get_predicted_lateral_jerk(lat_accels, t_diffs):
@@ -61,9 +58,10 @@ class LatControlTorqueExtBase:
     self.lookahead_lateral_jerk: float = 0.0
 
     self.torque_from_lateral_accel_in_torque_space = CI.torque_from_lateral_accel_in_torque_space()
+    self.torque_params = lac_torque.torque_params
 
     self._ff = 0.0
-    self._pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI)
+    self._pid = PIDController(KP, KI)
     self._pid_log = None
     self._setpoint = 0.0
     self._measurement = 0.0
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
index 2db88299c..1738a11e4 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
@@ -75,14 +75,14 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
 
   def update_feedforward_torque_space(self, CS):
     torque_from_setpoint = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._setpoint, self._roll_compensation, CS.vEgo, CS.aEgo),
-                                                                          self.lac_torque.torque_params, gravity_adjusted=False)
+                                                                          self.torque_params, gravity_adjusted=False)
     torque_from_measurement = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._measurement, self._roll_compensation, CS.vEgo, CS.aEgo),
-                                                                             self.lac_torque.torque_params, gravity_adjusted=False)
+                                                                             self.torque_params, gravity_adjusted=False)
     self._pid_log.error = float(torque_from_setpoint - torque_from_measurement)
     self._ff = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._gravity_adjusted_lateral_accel, self._roll_compensation,
-                                                                               CS.vEgo, CS.aEgo), self.lac_torque.torque_params, gravity_adjusted=True)
+                                                                               CS.vEgo, CS.aEgo), self.torque_params, gravity_adjusted=True)
     self._ff += get_friction_in_torque_space(self._desired_lateral_accel - self._actual_lateral_accel, self._lateral_accel_deadzone,
-                                             FRICTION_THRESHOLD, self.lac_torque.torque_params)
+                                             FRICTION_THRESHOLD, self.torque_params)
 
   def update_output_torque(self, CS):
     freeze_integrator = self._steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
@@ -159,6 +159,6 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
 
     # apply friction override for cars with low NN friction response
     if self.model.friction_override:
-      self._pid_log.error += get_friction(friction_input, self._lateral_accel_deadzone, FRICTION_THRESHOLD, self.lac_torque.torque_params)
+      self._pid_log.error += get_friction(friction_input, self._lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
 
     self.update_output_torque(CS)