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

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

This reverts commit d1d6fae613.
This commit is contained in:
Jason Wen
2026-04-18 00:48:28 -04:00
committed by GitHub
parent d1d6fae613
commit afdf30cf2c
1 changed files with 1 additions and 1 deletions
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sunnypilot/selfdrive/controls/controlsd_ext.py
+1 -1
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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 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)