From 8f7b28deed30cae99a39820f5438275f702f4898 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sun, 26 Apr 2026 23:20:43 -0500
Subject: [PATCH] genesis

---
 selfdrive/controls/lib/latcontrol_torque.py | 32 ++++++++++-----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 84971817d4..90a7facc0b 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -177,29 +177,29 @@ VOLT_STANDARD_CENTER_TAPER_SPEED = 20.0
 VOLT_STANDARD_CENTER_TAPER_SPEED_WIDTH = 2.5
 
 GENESIS_G90_LATERAL_TESTING_GROUND_ID = testing_ground.id_4
-GENESIS_G90_FF_GAIN_LEFT = 0.13
-GENESIS_G90_FF_GAIN_RIGHT = 0.14
+GENESIS_G90_FF_GAIN_LEFT = 0.17
+GENESIS_G90_FF_GAIN_RIGHT = 0.16
 GENESIS_G90_FF_ONSET = 0.10
 GENESIS_G90_FF_ONSET_WIDTH = 0.05
-GENESIS_G90_FF_CUTOFF = 1.55
-GENESIS_G90_FF_CUTOFF_WIDTH = 0.30
+GENESIS_G90_FF_CUTOFF = 1.75
+GENESIS_G90_FF_CUTOFF_WIDTH = 0.36
 GENESIS_G90_TRANSITION_SPEED = 8.5
 GENESIS_G90_PHASE_SCALE = 0.12
-GENESIS_G90_TURN_IN_BOOST_LEFT = 0.22
-GENESIS_G90_TURN_IN_BOOST_RIGHT = 0.34
-GENESIS_G90_UNWIND_TAPER_LEFT = 0.18
-GENESIS_G90_UNWIND_TAPER_RIGHT = 0.26
+GENESIS_G90_TURN_IN_BOOST_LEFT = 0.34
+GENESIS_G90_TURN_IN_BOOST_RIGHT = 0.42
+GENESIS_G90_UNWIND_TAPER_LEFT = 0.24
+GENESIS_G90_UNWIND_TAPER_RIGHT = 0.34
 GENESIS_G90_FRICTION_MULT = 1.02
 GENESIS_G90_FRICTION_LAT_RISE = 0.22
 GENESIS_G90_FRICTION_JERK_RISE = 0.24
-GENESIS_G90_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.10
-GENESIS_G90_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.14
-GENESIS_G90_UNWIND_THRESHOLD_INCREASE_LEFT = 0.12
-GENESIS_G90_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.20
-GENESIS_G90_TURN_IN_FRICTION_BOOST_LEFT = 0.06
-GENESIS_G90_TURN_IN_FRICTION_BOOST_RIGHT = 0.10
-GENESIS_G90_UNWIND_FRICTION_REDUCTION_LEFT = 0.10
-GENESIS_G90_UNWIND_FRICTION_REDUCTION_RIGHT = 0.16
+GENESIS_G90_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.14
+GENESIS_G90_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.18
+GENESIS_G90_UNWIND_THRESHOLD_INCREASE_LEFT = 0.16
+GENESIS_G90_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.26
+GENESIS_G90_TURN_IN_FRICTION_BOOST_LEFT = 0.09
+GENESIS_G90_TURN_IN_FRICTION_BOOST_RIGHT = 0.12
+GENESIS_G90_UNWIND_FRICTION_REDUCTION_LEFT = 0.14
+GENESIS_G90_UNWIND_FRICTION_REDUCTION_RIGHT = 0.22
 
 IONIQ_6_LATERAL_TESTING_GROUND_ID = testing_ground.id_5
 IONIQ_6_LATERAL_TESTING_GROUND_VARIANT = "C"