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controls: always default Torque Lateral Control to v0 Tune (#1804)

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* controls: always default Torque Lateral Control to v0 Tune

* add fixme
This commit is contained in:
Jason Wen
2026-04-17 03:28:58 -04:00
committed by GitHub
parent 35aeeee657
commit d1d6fae613
1 changed files with 1 additions and 1 deletions
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sunnypilot/selfdrive/controls/controlsd_ext.py
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@@ -38,7 +38,7 @@ class ControlsExt(ModelStateBase):
enforce_torque_control = self.params.get_bool("EnforceTorqueControl")
torque_versions = self.params.get("TorqueControlTune")
if not enforce_torque_control:
return lac
return LatControlTorqueV0(self.CP, self.CP_SP, CI, dt) # FIXME-SP: revert when upstream fixes tuning issues with v1
if torque_versions == 0.0: # v0
return LatControlTorqueV0(self.CP, self.CP_SP, CI, dt)