From 1a016da5fa5eaf8ceb3d13c24af34dc8fc42d551 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sat, 2 May 2026 12:20:57 -0500
Subject: [PATCH] i6

---
 selfdrive/controls/lib/latcontrol_torque.py | 23 +++++++++++----------
 selfdrive/controls/tests/test_latcontrol.py |  2 +-
 2 files changed, 13 insertions(+), 12 deletions(-)

diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 0789dcd354..9b16263aaf 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -211,21 +211,21 @@ IONIQ_6_FF_CUTOFF = 0.48
 IONIQ_6_FF_CUTOFF_WIDTH = 0.12
 IONIQ_6_TRANSITION_SPEED = 10.0
 IONIQ_6_PHASE_SCALE = 0.10
-IONIQ_6_TURN_IN_BOOST_LEFT = 0.88
-IONIQ_6_TURN_IN_BOOST_RIGHT = 0.92
+IONIQ_6_TURN_IN_BOOST_LEFT = 0.96
+IONIQ_6_TURN_IN_BOOST_RIGHT = 1.00
 IONIQ_6_UNWIND_TAPER_LEFT = 1.52
 IONIQ_6_UNWIND_TAPER_RIGHT = 2.92
 IONIQ_6_FRICTION_MULT = 0.995
 IONIQ_6_FRICTION_LAT_RISE = 0.20
 IONIQ_6_FRICTION_JERK_RISE = 0.24
-IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.25
-IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.36
-IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 1.40
-IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 3.22
-IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.12
-IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.19
-IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 1.22
-IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 2.70
+IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.29
+IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.40
+IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 1.60
+IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 3.50
+IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.14
+IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.22
+IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 1.38
+IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 3.00
 IONIQ_6_CENTER_TAPER_MAX = 0.046
 IONIQ_6_CENTER_TAPER_LAT = 0.18
 IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.02
@@ -780,7 +780,8 @@ def get_ioniq_6_directional_taper_scale(desired_lateral_accel: float, desired_la
   base_reduction = _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT, IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT)
   unwind_reduction = _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT, IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT)
   reduction = band_weight * (base_reduction + unwind_reduction * unwind_weight)
-  return max(1.0 - reduction, 0.56)
+  floor = 0.56 - (0.06 * unwind_weight)
+  return max(1.0 - reduction, floor)
 
 
 def get_ioniq_6_output_taper_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float:
diff --git a/selfdrive/controls/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py
index a66e8038d7..b5d7457135 100644
--- a/selfdrive/controls/tests/test_latcontrol.py
+++ b/selfdrive/controls/tests/test_latcontrol.py
@@ -275,7 +275,7 @@ class TestLatControl:
     assert get_ioniq_6_center_taper_scale(0.0, 10.0) < get_ioniq_6_center_taper_scale(0.0, 30.0)
     assert get_ioniq_6_center_taper_scale(0.0, 30.0) < get_ioniq_6_center_taper_scale(0.2, 30.0)
     assert get_ioniq_6_center_taper_scale(0.0, 12.0) < get_ioniq_6_center_taper_scale(0.25, 12.0)
-    assert abs(get_ioniq_6_center_taper_scale(0.2, 30.0) - 1.0) < 1.2e-2
+    assert abs(get_ioniq_6_center_taper_scale(0.2, 30.0) - 1.0) < 1.3e-2
 
   def test_kia_ev6_ff_scale_curve(self):
     assert get_kia_ev6_ff_scale(0.0, 0.0, 20.0) == 1.0