From d1d6fae61340d75d0384dc6e39a529e6e5b5054b Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 17 Apr 2026 03:28:58 -0400 Subject: [PATCH] controls: always default Torque Lateral Control to v0 Tune (#1804) * controls: always default Torque Lateral Control to v0 Tune * add fixme --- 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 4b6c92ae2c..3d9bbe2175 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 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)