From 1fd3f2cb9dda22c1b561980bae0c3bf3dea060ac Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Mon, 4 May 2026 13:36:11 -0500
Subject: [PATCH] i6

---
 selfdrive/controls/lib/latcontrol_torque.py | 16 ++++++++--------
 selfdrive/controls/tests/test_latcontrol.py |  4 ++--
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index fb0b34b8c..4a290406f 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -223,7 +223,7 @@ GENESIS_G90_UNWIND_FRICTION_REDUCTION_RIGHT = 0.22
 IONIQ_6_FF_GAIN_LEFT = 0.040
 IONIQ_6_FF_GAIN_RIGHT = 0.000
 IONIQ_6_BASE_LAT_ACCEL_FACTOR_MULT = 1.23
-IONIQ_6_BASE_FRICTION_THRESHOLD = 0.35
+IONIQ_6_BASE_FRICTION_THRESHOLD = 0.36
 IONIQ_6_FF_ONSET = 0.10
 IONIQ_6_FF_ONSET_WIDTH = 0.04
 IONIQ_6_FF_CUTOFF = 0.48
@@ -232,9 +232,9 @@ IONIQ_6_TRANSITION_SPEED = 10.0
 IONIQ_6_PHASE_SCALE = 0.10
 IONIQ_6_TURN_IN_BOOST_LEFT = 1.14
 IONIQ_6_TURN_IN_BOOST_RIGHT = 1.18
-IONIQ_6_UNWIND_TAPER_LEFT = 1.84
-IONIQ_6_UNWIND_TAPER_RIGHT = 4.10
-IONIQ_6_FRICTION_MULT = 0.970
+IONIQ_6_UNWIND_TAPER_LEFT = 1.92
+IONIQ_6_UNWIND_TAPER_RIGHT = 4.35
+IONIQ_6_FRICTION_MULT = 0.965
 IONIQ_6_FRICTION_LAT_RISE = 0.20
 IONIQ_6_FRICTION_JERK_RISE = 0.24
 IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.38
@@ -269,10 +269,10 @@ IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_LEFT = 0.10
 IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_RIGHT = 0.04
 IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_START = 0.95
 IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_WIDTH = 0.10
-IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_LEFT = 0.10
-IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_RIGHT = 0.18
-IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.35
-IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_RIGHT = 0.55
+IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_LEFT = 0.12
+IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_RIGHT = 0.22
+IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.42
+IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_RIGHT = 0.70
 IONIQ_6_OUTPUT_TAPER_SPEED = 8.5
 IONIQ_6_OUTPUT_TAPER_SPEED_WIDTH = 2.5
 IONIQ_6_OUTPUT_CENTER_TAPER_BLEND = 0.90
diff --git a/selfdrive/controls/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py
index b460c0f5b..257613f1e 100644
--- a/selfdrive/controls/tests/test_latcontrol.py
+++ b/selfdrive/controls/tests/test_latcontrol.py
@@ -263,7 +263,7 @@ class TestLatControl:
     assert get_ioniq_6_output_taper_scale(-1.2, 0.7, 25.0) <= get_ioniq_6_output_taper_scale(-1.2, 0.0, 25.0)
 
   def test_ioniq_6_friction_threshold_curve(self):
-    base = max(get_friction_threshold(6.0), 0.35)
+    base = max(get_friction_threshold(6.0), 0.36)
     left_turn_in = get_ioniq_6_friction_threshold(6.0, 0.5, 0.8)
     right_turn_in = get_ioniq_6_friction_threshold(6.0, -0.5, -0.8)
     left_unwind = get_ioniq_6_friction_threshold(6.0, 0.5, -0.8)
@@ -271,7 +271,7 @@ class TestLatControl:
     assert max(left_turn_in, right_turn_in) < base
     assert left_unwind >= base
     assert right_unwind >= base
-    assert get_ioniq_6_friction_threshold(25.0, 0.0, 0.0) >= 0.35
+    assert get_ioniq_6_friction_threshold(25.0, 0.0, 0.0) >= 0.36
 
   def test_ioniq_6_friction_scale_curve(self):
     base = get_ioniq_6_friction_scale(25.0, 0.5, 0.8)