From 7e6b6039a5e31b92a4e86f74a123e3248304b6b5 Mon Sep 17 00:00:00 2001
From: infiniteCable <75014343+infiniteCable@users.noreply.github.com>
Date: Mon, 9 Jun 2025 11:02:23 +0200
Subject: [PATCH] Update latcontrol_curvature.py

---
 selfdrive/controls/lib/latcontrol_curvature.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/selfdrive/controls/lib/latcontrol_curvature.py b/selfdrive/controls/lib/latcontrol_curvature.py
index f52dc1d94..62c066621 100644
--- a/selfdrive/controls/lib/latcontrol_curvature.py
+++ b/selfdrive/controls/lib/latcontrol_curvature.py
@@ -5,6 +5,8 @@ from cereal import log
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.common.pid import PIDController
 
+CURVATURE_SATURATION_THRESHOLD = 0.005
+
 
 class LatControlCurvature(LatControl):
   def __init__(self, CP, CP_SP, CI):
@@ -39,6 +41,6 @@ class LatControlCurvature(LatControl):
       pid_log.output = float(output_curvature)
       pid_log.actualCurvature = float(actual_curvature)
       pid_log.desiredCurvature = float(desired_curvature)
-      pid_log.saturated = bool(self._check_saturation(self.curvature_max - abs(output_curvature) < 1e-5, CS, steer_limited_by_controls, curvature_limited))
+      pid_log.saturated = bool(self._check_saturation(self.curvature_max - abs(output_curvature) < CURVATURE_SATURATION_THRESHOLD, CS, steer_limited_by_controls, curvature_limited))
 
     return 0.0, 0.0, output_curvature, pid_log