From 6dc473713cdeb94c69c95120b7a488c0b37c9563 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Mon, 1 Jun 2026 00:10:14 -0500
Subject: [PATCH] i5

---
 selfdrive/controls/lib/latcontrol_torque.py | 22 ++++++++++-----------
 selfdrive/controls/tests/test_latcontrol.py |  6 +++---
 2 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 3c469842bf..0654b7dd54 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -362,23 +362,23 @@ IONIQ_5_FF_CUTOFF_WIDTH = 0.30
 IONIQ_5_TRANSITION_SPEED = 11.0
 IONIQ_5_PHASE_SCALE = 0.10
 IONIQ_5_FF_REDUCTION_LEFT = 0.12
-IONIQ_5_FF_REDUCTION_RIGHT = 0.20
-IONIQ_5_TURN_IN_BOOST_LEFT = 0.08
+IONIQ_5_FF_REDUCTION_RIGHT = 0.22
+IONIQ_5_TURN_IN_BOOST_LEFT = 0.11
 IONIQ_5_TURN_IN_BOOST_RIGHT = 0.00
-IONIQ_5_UNWIND_TAPER_LEFT = 0.60
-IONIQ_5_UNWIND_TAPER_RIGHT = 0.72
+IONIQ_5_UNWIND_TAPER_LEFT = 0.68
+IONIQ_5_UNWIND_TAPER_RIGHT = 0.64
 IONIQ_5_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.08
 IONIQ_5_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.00
-IONIQ_5_UNWIND_THRESHOLD_INCREASE_LEFT = 0.28
-IONIQ_5_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.30
+IONIQ_5_UNWIND_THRESHOLD_INCREASE_LEFT = 0.32
+IONIQ_5_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.24
 IONIQ_5_TURN_IN_FRICTION_BOOST_LEFT = 0.04
 IONIQ_5_TURN_IN_FRICTION_BOOST_RIGHT = 0.00
-IONIQ_5_UNWIND_FRICTION_REDUCTION_LEFT = 0.26
-IONIQ_5_UNWIND_FRICTION_REDUCTION_RIGHT = 0.26
-IONIQ_5_CENTER_TAPER_MAX = 0.10
-IONIQ_5_CENTER_TAPER_LAT = 0.14
+IONIQ_5_UNWIND_FRICTION_REDUCTION_LEFT = 0.30
+IONIQ_5_UNWIND_FRICTION_REDUCTION_RIGHT = 0.22
+IONIQ_5_CENTER_TAPER_MAX = 0.12
+IONIQ_5_CENTER_TAPER_LAT = 0.13
 IONIQ_5_CENTER_TAPER_LAT_WIDTH = 0.03
-IONIQ_5_CENTER_TAPER_SPEED = 18.0
+IONIQ_5_CENTER_TAPER_SPEED = 16.5
 IONIQ_5_CENTER_TAPER_SPEED_WIDTH = 2.5
 
 IONIQ_EV_OLD_BASE_LAT_ACCEL_FACTOR_MULT = 1.16
diff --git a/selfdrive/controls/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py
index 6dd6c62487..c5a376e4c6 100644
--- a/selfdrive/controls/tests/test_latcontrol.py
+++ b/selfdrive/controls/tests/test_latcontrol.py
@@ -354,7 +354,7 @@ class TestLatControl:
     assert turn_in_left > steady_left
     assert turn_in_right >= steady_right
     assert unwind_left < steady_left
-    assert unwind_right < unwind_left
+    assert unwind_right > unwind_left
 
   def test_ioniq_5_friction_curves(self):
     base = get_friction_threshold(12.0)
@@ -365,7 +365,7 @@ class TestLatControl:
     assert turn_in_left_threshold < base
     assert turn_in_right_threshold == pytest.approx(base)
     assert unwind_left_threshold > base
-    assert unwind_right_threshold > unwind_left_threshold
+    assert unwind_right_threshold < unwind_left_threshold
 
     turn_in_left_scale = get_ioniq_5_friction_scale(12.0, 0.7, 0.8)
     turn_in_right_scale = get_ioniq_5_friction_scale(12.0, -0.7, -0.8)
@@ -374,7 +374,7 @@ class TestLatControl:
     assert turn_in_left_scale > 1.0
     assert turn_in_right_scale == pytest.approx(1.0)
     assert unwind_left_scale < 1.0
-    assert unwind_right_scale <= unwind_left_scale
+    assert unwind_right_scale > unwind_left_scale
 
   def test_ioniq_5_center_taper_curve(self):
     assert get_ioniq_5_center_taper_scale(0.0, 25.0) < get_ioniq_5_center_taper_scale(0.0, 10.0)