From 654caaef3ce0f99fdbe5a22562ca9fbf372496b0 Mon Sep 17 00:00:00 2001
From: infiniteCable <75014343+infiniteCable@users.noreply.github.com>
Date: Thu, 24 Jul 2025 17:15:56 +0200
Subject: [PATCH] Update latcontrol_curvature.py

---
 selfdrive/controls/lib/latcontrol_curvature.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/lib/latcontrol_curvature.py b/selfdrive/controls/lib/latcontrol_curvature.py
index bfd972add..3c7b9da09 100644
--- a/selfdrive/controls/lib/latcontrol_curvature.py
+++ b/selfdrive/controls/lib/latcontrol_curvature.py
@@ -37,10 +37,10 @@ class LatControlCurvature(LatControl):
       desired_curvature_corr = desired_curvature - roll_compensation
       
       pid_log.error = float(desired_curvature_corr - actual_curvature)
-      freeze_integrator = steer_limited_by_controls or CS.vEgo < 5
+      freeze_integrator = steer_limited_by_controls or CS.vEgo < 5 or CS.steeringPressed
       
       pid_curvature = self.pid.update(pid_log.error, feedforward=desired_curvature_corr, speed=CS.vEgo,
-                                      freeze_integrator=freeze_integrator) #, override=CS.steeringPressed)
+                                      freeze_integrator=freeze_integrator, override=CS.steeringPressed)
 
       output_curvature = pid_curvature + (CS.curvature - actual_curvature_vm_no_roll) if self.useCarCurvature else pid_curvature