From 3f4d1e4fcc7072730eaddb26ff3d5f276879039d Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sun, 13 Sep 2026 14:04:42 -0500
Subject: [PATCH] Reapply "g70"

This reverts commit eb088bccfa3b635b316b79f92da11c3956f8b71c.
---
 selfdrive/controls/lib/latcontrol_vehicle_tunes.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/controls/lib/latcontrol_vehicle_tunes.py b/selfdrive/controls/lib/latcontrol_vehicle_tunes.py
index 811bffa5d9..75d7b00275 100644
--- a/selfdrive/controls/lib/latcontrol_vehicle_tunes.py
+++ b/selfdrive/controls/lib/latcontrol_vehicle_tunes.py
@@ -353,13 +353,13 @@ GENESIS_G70_OUTPUT_SMOOTHING_SPEED = 40.0 * CV.MPH_TO_MS
 GENESIS_G70_OUTPUT_SMOOTHING_SPEED_WIDTH = 6.0 * CV.MPH_TO_MS
 GENESIS_G70_OUTPUT_SMOOTHING_CENTER_LAT = 0.42
 GENESIS_G70_OUTPUT_SMOOTHING_CENTER_LAT_WIDTH = 0.14
-GENESIS_G70_OUTPUT_SMOOTHING_CENTER_RC = 0.30
-GENESIS_G70_OUTPUT_SMOOTHING_CURVE_RC = 0.10
-GENESIS_G70_OUTPUT_SMOOTHING_UNWIND_RC = 0.10
+GENESIS_G70_OUTPUT_SMOOTHING_CENTER_RC = 0.35
+GENESIS_G70_OUTPUT_SMOOTHING_CURVE_RC = 0.16
+GENESIS_G70_OUTPUT_SMOOTHING_UNWIND_RC = 0.14
 GENESIS_G70_OUTPUT_SMOOTHING_UNWIND_PHASE = 0.04
 GENESIS_G70_OUTPUT_SMOOTHING_UNWIND_PHASE_WIDTH = 0.08
 GENESIS_G70_OUTPUT_SMOOTHING_DIRECTION_CHANGE_LAT = 0.45
-GENESIS_G70_OUTPUT_SMOOTHING_DIRECTION_CHANGE_RC = 0.16
+GENESIS_G70_OUTPUT_SMOOTHING_DIRECTION_CHANGE_RC = 0.20
 GENESIS_G70_ANGLE_OUTPUT_TAPER_MIN = 0.45
 GENESIS_G70_ANGLE_OUTPUT_TAPER_START = 70.0
 GENESIS_G70_ANGLE_OUTPUT_TAPER_WIDTH = 6.0