From f93481d0d41d8fcf129b36d020141dbd26a21a85 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 18 Apr 2026 03:10:40 -0400 Subject: [PATCH] Reapply "controls: always default Torque Lateral Control to v0 Tune" (#1806) (#1807) * Reapply "controls: always default Torque Lateral Control to v0 Tune" (#1806) This reverts commit 5f6e05410d19798075466f2723401b3ea3845612. * this is better --- sunnypilot/selfdrive/controls/controlsd_ext.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py index 4b6c92ae2..dfda5549f 100644 --- a/sunnypilot/selfdrive/controls/controlsd_ext.py +++ b/sunnypilot/selfdrive/controls/controlsd_ext.py @@ -38,6 +38,8 @@ class ControlsExt(ModelStateBase): enforce_torque_control = self.params.get_bool("EnforceTorqueControl") torque_versions = self.params.get("TorqueControlTune") if not enforce_torque_control: + if self.CP.lateralTuning.which() == 'torque': + return LatControlTorqueV0(self.CP, self.CP_SP, CI, dt) # FIXME-SP: revert when upstream fixes tuning issues with v1 return lac if torque_versions == 0.0: # v0