From 3e591f311c0ccbebc7ee2fd5ab86ba2cb1b85698 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Wed, 3 Jun 2026 07:50:13 -0500
Subject: [PATCH] i6

---
 selfdrive/controls/lib/latcontrol_torque.py | 10 +++++-----
 selfdrive/controls/tests/test_latcontrol.py |  3 +++
 2 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index fb46b7bd0..edf2804d4 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -480,11 +480,11 @@ IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_LEFT = 0.10
 IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_RIGHT = 0.04
 IONIQ_6_DIRECTIONAL_TAPER_JERK_ONSET = 0.60
 IONIQ_6_DIRECTIONAL_TAPER_JERK_WIDTH = 0.14
-IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF = 0.72
-IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_SPEED = 9.0
-IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_SPEED_WIDTH = 1.4
-IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_LAT = 0.18
-IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_LAT_WIDTH = 0.10
+IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF = 0.88
+IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_SPEED = 9.3
+IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_SPEED_WIDTH = 0.9
+IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_LAT = 0.10
+IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_LAT_WIDTH = 0.06
 IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_START = 0.82
 IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_WIDTH = 0.12
 IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_LEFT = 0.10
diff --git a/selfdrive/controls/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py
index 7b441f21b..23d9fd500 100644
--- a/selfdrive/controls/tests/test_latcontrol.py
+++ b/selfdrive/controls/tests/test_latcontrol.py
@@ -435,6 +435,9 @@ class TestLatControl:
     assert get_ioniq_6_directional_taper_scale(-1.2, 0.7, 8.0) == pytest.approx(get_ioniq_6_directional_taper_scale(-1.2, 0.7, 25.0), abs=0.02)
     assert get_ioniq_6_directional_taper_scale(-0.18, -0.40, 3.0) > get_ioniq_6_directional_taper_scale(-0.18, -0.40, 9.0)
     assert get_ioniq_6_directional_taper_scale(-0.18, -0.40, 9.0) > get_ioniq_6_directional_taper_scale(-0.18, -0.40, 20.0)
+    assert get_ioniq_6_directional_taper_scale(-0.50, -0.40, 3.0) > get_ioniq_6_directional_taper_scale(-0.50, -0.40, 6.0)
+    assert get_ioniq_6_directional_taper_scale(-0.50, -0.40, 6.0) > get_ioniq_6_directional_taper_scale(-0.50, -0.40, 9.0)
+    assert get_ioniq_6_directional_taper_scale(-0.50, -0.40, 9.0) > get_ioniq_6_directional_taper_scale(-0.50, -0.40, 20.0)
 
   def test_ioniq_6_output_taper_curve(self):
     assert get_ioniq_6_output_taper_scale(0.0, 0.0, 25.0) < get_ioniq_6_output_taper_scale(0.0, 0.0, 8.0) <= 1.0