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Reapply "controls: always default Torque Lateral Control to v0 Tune" (#1806) (#1807)

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* Reapply "controls: always default Torque Lateral Control to v0 Tune" (#1806)

This reverts commit 5f6e05410d.

* this is better
This commit is contained in:
Jason Wen
2026-04-18 03:10:40 -04:00
committed by GitHub
parent 5f6e05410d
commit f93481d0d4
1 changed files with 2 additions and 0 deletions
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2
sunnypilot/selfdrive/controls/controlsd_ext.py
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@@ -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