From 124daf1f513f65b92d21b257148470ed70c57688 Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Sat, 25 Apr 2026 14:26:42 -0500 Subject: [PATCH] ioniq 6 --- selfdrive/controls/lib/latcontrol_torque.py | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 609533392..c95dabd9e 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -204,28 +204,28 @@ GENESIS_G90_UNWIND_FRICTION_REDUCTION_RIGHT = 0.16 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_RIGHT = 0.006 +IONIQ_6_FF_GAIN_RIGHT = 0.004 IONIQ_6_FF_ONSET = 0.10 IONIQ_6_FF_ONSET_WIDTH = 0.04 IONIQ_6_FF_CUTOFF = 0.52 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 = 0.48 -IONIQ_6_TURN_IN_BOOST_RIGHT = 0.46 -IONIQ_6_UNWIND_TAPER_LEFT = 0.54 -IONIQ_6_UNWIND_TAPER_RIGHT = 0.84 +IONIQ_6_TURN_IN_BOOST_LEFT = 0.52 +IONIQ_6_TURN_IN_BOOST_RIGHT = 0.50 +IONIQ_6_UNWIND_TAPER_LEFT = 0.60 +IONIQ_6_UNWIND_TAPER_RIGHT = 0.98 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 = 0.36 -IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.60 +IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.42 +IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.76 IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.05 IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.04 -IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 0.30 -IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.46 +IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 0.36 +IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.58 IONIQ_6_CENTER_TAPER_MAX = 0.015 IONIQ_6_CENTER_TAPER_LAT = 0.06 IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.02