From 5f6e05410d19798075466f2723401b3ea3845612 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 18 Apr 2026 00:48:28 -0400 Subject: [PATCH] Revert "controls: always default Torque Lateral Control to v0 Tune" (#1806) Revert "controls: always default Torque Lateral Control to v0 Tune (#1804)" This reverts commit d1d6fae61340d75d0384dc6e39a529e6e5b5054b. --- sunnypilot/selfdrive/controls/controlsd_ext.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py index 3d9bbe2175..4b6c92ae2c 100644 --- a/sunnypilot/selfdrive/controls/controlsd_ext.py +++ b/sunnypilot/selfdrive/controls/controlsd_ext.py @@ -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 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 return LatControlTorqueV0(self.CP, self.CP_SP, CI, dt)