From 94c71b8b20e90360258dddf05253e546796587a4 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Tue, 28 Apr 2026 18:08:41 -0500
Subject: [PATCH] i6

---
 selfdrive/controls/lib/latcontrol_torque.py | 44 ++++++++++-----------
 selfdrive/controls/tests/test_latcontrol.py |  3 +-
 2 files changed, 24 insertions(+), 23 deletions(-)

diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index df59cb4ea2..092a8c28f2 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -203,45 +203,45 @@ 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"
-IONIQ_6_FF_GAIN_LEFT = 0.050
+IONIQ_6_FF_GAIN_LEFT = 0.040
 IONIQ_6_FF_GAIN_RIGHT = 0.000
 IONIQ_6_FF_ONSET = 0.10
 IONIQ_6_FF_ONSET_WIDTH = 0.04
-IONIQ_6_FF_CUTOFF = 0.52
+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 = 0.52
-IONIQ_6_TURN_IN_BOOST_RIGHT = 0.36
-IONIQ_6_UNWIND_TAPER_LEFT = 0.82
-IONIQ_6_UNWIND_TAPER_RIGHT = 1.52
+IONIQ_6_TURN_IN_BOOST_LEFT = 0.58
+IONIQ_6_TURN_IN_BOOST_RIGHT = 0.42
+IONIQ_6_UNWIND_TAPER_LEFT = 0.94
+IONIQ_6_UNWIND_TAPER_RIGHT = 1.74
 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 = 0.12
-IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.10
-IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.60
-IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 1.34
-IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.05
-IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.04
-IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 0.50
-IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 1.10
-IONIQ_6_CENTER_TAPER_MAX = 0.030
-IONIQ_6_CENTER_TAPER_LAT = 0.12
+IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.14
+IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.12
+IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.72
+IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 1.56
+IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.06
+IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.05
+IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 0.60
+IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 1.28
+IONIQ_6_CENTER_TAPER_MAX = 0.032
+IONIQ_6_CENTER_TAPER_LAT = 0.13
 IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.02
 IONIQ_6_CENTER_TAPER_SPEED = 18.0
 IONIQ_6_CENTER_TAPER_SPEED_WIDTH = 2.5
 IONIQ_6_DIRECTIONAL_TAPER_LAT_START = 0.15
 IONIQ_6_DIRECTIONAL_TAPER_LAT_END = 0.90
 IONIQ_6_DIRECTIONAL_TAPER_LAT_WIDTH = 0.08
-IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.03
-IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.26
-IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.24
-IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 0.72
+IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.02
+IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.30
+IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.28
+IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 0.86
 IONIQ_6_OUTPUT_TAPER_SPEED = 8.5
 IONIQ_6_OUTPUT_TAPER_SPEED_WIDTH = 2.5
-IONIQ_6_OUTPUT_CENTER_TAPER_BLEND = 0.68
-IONIQ_6_OUTPUT_DIRECTIONAL_TAPER_BLEND = 0.86
+IONIQ_6_OUTPUT_CENTER_TAPER_BLEND = 0.70
+IONIQ_6_OUTPUT_DIRECTIONAL_TAPER_BLEND = 0.90
 
 KIA_EV6_LATERAL_TESTING_GROUND_ID = testing_ground.id_6
 KIA_EV6_LATERAL_TESTING_GROUND_VARIANT = "C"
diff --git a/selfdrive/controls/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py
index 66c64e8179..e2b8f4f713 100644
--- a/selfdrive/controls/tests/test_latcontrol.py
+++ b/selfdrive/controls/tests/test_latcontrol.py
@@ -213,7 +213,8 @@ class TestLatControl:
     assert get_ioniq_6_ff_scale(0.4, 0.0, 20.0) > get_ioniq_6_ff_scale(-0.4, 0.0, 20.0)
     assert get_ioniq_6_ff_scale(0.4, 0.7, 8.0) > get_ioniq_6_ff_scale(0.4, 0.0, 8.0) > get_ioniq_6_ff_scale(0.4, -0.7, 8.0)
     assert get_ioniq_6_ff_scale(-0.4, -0.7, 8.0) >= get_ioniq_6_ff_scale(-0.4, 0.0, 8.0) > get_ioniq_6_ff_scale(-0.4, 0.7, 8.0)
-    assert get_ioniq_6_ff_scale(0.4, 0.0, 20.0) < get_ioniq_6_ff_scale(1.2, 0.0, 20.0) < 1.0
+    assert get_ioniq_6_ff_scale(0.4, 0.0, 20.0) > get_ioniq_6_ff_scale(1.2, 0.0, 20.0)
+    assert abs(get_ioniq_6_ff_scale(1.2, 0.0, 20.0) - 1.0) < 0.02
 
   def test_ioniq_6_directional_taper_curve(self):
     assert get_ioniq_6_directional_taper_scale(0.0, 0.0) == 1.0