big if true

selfdrive/controls/lib/latcontrol_pid.py

@@ -53,15 +53,15 @@ def get_civic_bosch_modified_pid_output_alpha(desired_angle_deg: float, desired_
   onset = min(max((abs_angle - 0.75) / 5.25, 0.0), 1.0)
   cutoff = min(max((22.0 - abs_angle) / 8.0, 0.0), 1.0)
   band_weight = onset * cutoff
-  small_curve_weight = min(max((10.0 - abs_angle) / 4.0, 0.0), 1.0)
+  small_curve_weight = min(max((12.0 - abs_angle) / 6.0, 0.0), 1.0)
   large_turn_weight = min(max((abs_angle - 16.0) / 6.0, 0.0), 1.0)
   transition_weight = min(abs(desired_angle_delta_deg) / 0.35, 1.0)
   sign_change_weight = 1.0 if (output_torque * prev_output_torque) < 0.0 else 0.0
 
   smoothing = band_weight * (0.36 + (0.22 * speed_weight) + (0.12 * transition_weight) + (0.12 * sign_change_weight))
-  smoothing *= 1.0 + (0.25 * small_curve_weight)
+  smoothing *= 1.0 + (0.35 * small_curve_weight)
   smoothing *= 1.0 - (0.50 * large_turn_weight)
-  return min(max(1.0 - smoothing, 0.16), 1.0)
+  return min(max(1.0 - smoothing, 0.14), 1.0)
 
 
 class LatControlPID(LatControl):

selfdrive/controls/lib/latcontrol_torque.py

@@ -1106,9 +1106,6 @@ class LatControlTorque(LatControl):
         output_torque *= get_bolt_2018_2021_dynamic_torque_scale(setpoint, desired_lateral_jerk, CS.vEgo)
       elif volt_standard_test_active:
         output_torque *= volt_standard_center_taper
-      elif ioniq_6_test_active:
-        output_torque *= get_ioniq_6_output_taper_scale(setpoint, desired_lateral_jerk, CS.vEgo)
-
       pid_log.active = True
       pid_log.p = float(self.pid.p)
       pid_log.i = float(self.pid.i)

selfdrive/controls/tests/test_latcontrol.py

@@ -1,3 +1,4 @@
+import pytest
 from parameterized import parameterized
 from types import SimpleNamespace
 
@@ -366,6 +367,16 @@ class TestLatControl:
 
     assert lac_log.active
 
+  def test_ioniq_6_update_path_does_not_post_taper_output(self, monkeypatch):
+    base_controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(HYUNDAI.HYUNDAI_IONIQ_6)
+    base_output, _, _ = base_controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles)
+
+    monkeypatch.setattr(latcontrol_torque, "get_ioniq_6_output_taper_scale", lambda *_args: 0.01)
+    tapered_controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(HYUNDAI.HYUNDAI_IONIQ_6)
+    tapered_output, _, _ = tapered_controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles)
+
+    assert tapered_output == pytest.approx(base_output)
+
   def test_kia_ev6_testing_ground_update_path(self, monkeypatch):
     controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(HYUNDAI.KIA_EV6)
     monkeypatch.setattr(latcontrol_torque, "kia_ev6_lateral_testing_ground_active", lambda: True)