From 1729d3cda30380abc8bd433706d8ffce28a1f148 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Thu, 14 May 2026 10:08:41 -0500
Subject: [PATCH] i6

---
 selfdrive/controls/lib/latcontrol_torque.py | 8 ++++----
 selfdrive/controls/tests/test_latcontrol.py | 2 ++
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 4cda3018c..d2c7db9ea 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -334,8 +334,8 @@ IONIQ_6_CENTER_TAPER_LAT = 0.24
 IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.025
 IONIQ_6_CENTER_TAPER_SPEED = 18.0
 IONIQ_6_CENTER_TAPER_SPEED_WIDTH = 2.5
-IONIQ_6_HIGHWAY_CENTER_TAPER_MAX = 0.022
-IONIQ_6_HIGHWAY_CENTER_TAPER_LAT = 0.14
+IONIQ_6_HIGHWAY_CENTER_TAPER_MAX = 0.030
+IONIQ_6_HIGHWAY_CENTER_TAPER_LAT = 0.10
 IONIQ_6_HIGHWAY_CENTER_TAPER_LAT_WIDTH = 0.03
 IONIQ_6_HIGHWAY_CENTER_TAPER_SPEED = 26.0
 IONIQ_6_HIGHWAY_CENTER_TAPER_SPEED_WIDTH = 1.8
@@ -356,8 +356,8 @@ IONIQ_6_DIRECTIONAL_TAPER_FLOOR_LEFT = 0.48
 IONIQ_6_DIRECTIONAL_TAPER_FLOOR_RIGHT = 0.52
 IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_LEFT = 0.10
 IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_RIGHT = 0.04
-IONIQ_6_DIRECTIONAL_TAPER_JERK_ONSET = 0.35
-IONIQ_6_DIRECTIONAL_TAPER_JERK_WIDTH = 0.08
+IONIQ_6_DIRECTIONAL_TAPER_JERK_ONSET = 0.45
+IONIQ_6_DIRECTIONAL_TAPER_JERK_WIDTH = 0.10
 IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_START = 0.82
 IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_WIDTH = 0.12
 IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_LEFT = 0.10
diff --git a/selfdrive/controls/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py
index 9555a8dcb..b437f4221 100644
--- a/selfdrive/controls/tests/test_latcontrol.py
+++ b/selfdrive/controls/tests/test_latcontrol.py
@@ -311,7 +311,9 @@ class TestLatControl:
     assert get_ioniq_6_directional_taper_scale(-1.2, 0.0) < get_ioniq_6_directional_taper_scale(1.2, 0.0) < 1.0
     assert get_ioniq_6_directional_taper_scale(-1.2, 0.7) <= get_ioniq_6_directional_taper_scale(-1.2, 0.0)
     assert get_ioniq_6_directional_taper_scale(-1.2, 0.25) > get_ioniq_6_directional_taper_scale(-1.2, 0.7)
+    assert get_ioniq_6_directional_taper_scale(-1.2, 0.40) > get_ioniq_6_directional_taper_scale(-1.2, 0.7)
     assert get_ioniq_6_directional_taper_scale(1.2, -0.25) > get_ioniq_6_directional_taper_scale(1.2, -0.7)
+    assert get_ioniq_6_directional_taper_scale(1.2, -0.40) > get_ioniq_6_directional_taper_scale(1.2, -0.7)
 
   def test_ioniq_6_output_taper_curve(self):
     assert get_ioniq_6_output_taper_scale(0.0, 0.0, 25.0) < get_ioniq_6_output_taper_scale(0.0, 0.0, 8.0) <= 1.0