From 0d2f0b682552f7a33cc1793699ee451560280aec Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Fri, 24 Jul 2026 13:15:10 -0500
Subject: [PATCH] tune

---
 selfdrive/controls/lib/latcontrol_vehicle_tunes.py | 10 +++++-----
 selfdrive/controls/tests/test_latcontrol.py        |  2 +-
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/selfdrive/controls/lib/latcontrol_vehicle_tunes.py b/selfdrive/controls/lib/latcontrol_vehicle_tunes.py
index 4adc89cb6..b6e26b0cc 100644
--- a/selfdrive/controls/lib/latcontrol_vehicle_tunes.py
+++ b/selfdrive/controls/lib/latcontrol_vehicle_tunes.py
@@ -676,11 +676,11 @@ KIA_EV6_UNWIND_TAPER_LEFT = 0.56
 KIA_EV6_UNWIND_TAPER_RIGHT = 0.54
 KIA_EV6_BASE_UNWIND_TAPER_LEFT = 0.06
 KIA_EV6_BASE_UNWIND_TAPER_RIGHT = 0.05
-KIA_EV6_JWARM_BASE_TURN_IN_BOOST_LEFT = 0.13
-KIA_EV6_JWARM_BASE_TURN_IN_BOOST_RIGHT = 0.15
-KIA_EV6_JWARM_BASE_UNWIND_TAPER_LEFT = 0.17
-KIA_EV6_JWARM_BASE_UNWIND_TAPER_RIGHT = 0.18
-KIA_EV6_JWARM_PHASE_STABILITY_MAX_REDUCTION = 0.55
+KIA_EV6_JWARM_BASE_TURN_IN_BOOST_LEFT = 0.12
+KIA_EV6_JWARM_BASE_TURN_IN_BOOST_RIGHT = 0.14
+KIA_EV6_JWARM_BASE_UNWIND_TAPER_LEFT = 0.15
+KIA_EV6_JWARM_BASE_UNWIND_TAPER_RIGHT = 0.16
+KIA_EV6_JWARM_PHASE_STABILITY_MAX_REDUCTION = 0.25
 KIA_EV6_JWARM_PHASE_STABILITY_SPEED = 10.0
 KIA_EV6_JWARM_PHASE_STABILITY_SPEED_WIDTH = 1.8
 KIA_EV6_JWARM_PHASE_STABILITY_JERK = 0.70
diff --git a/selfdrive/controls/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py
index 40de639d4..2ffa248e5 100644
--- a/selfdrive/controls/tests/test_latcontrol.py
+++ b/selfdrive/controls/tests/test_latcontrol.py
@@ -1240,7 +1240,7 @@ class TestLatControl:
 
     assert abrupt_low_speed < calm_low_speed
     assert abrupt_low_speed < abrupt_high_speed
-    assert 0.45 <= abrupt_low_speed < 0.60
+    assert 0.75 <= abrupt_low_speed < 0.82
     assert calm_low_speed > 0.90
     assert abrupt_high_speed > 0.98