From 5607d3d01a1dcef50c227bf4f9e77564add2b658 Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Sat, 2 May 2026 15:29:05 -0500 Subject: [PATCH] i6 --- selfdrive/controls/lib/latcontrol_torque.py | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index ec74862ba..61a89041e 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -213,19 +213,19 @@ IONIQ_6_TRANSITION_SPEED = 10.0 IONIQ_6_PHASE_SCALE = 0.10 IONIQ_6_TURN_IN_BOOST_LEFT = 1.02 IONIQ_6_TURN_IN_BOOST_RIGHT = 1.12 -IONIQ_6_UNWIND_TAPER_LEFT = 1.52 -IONIQ_6_UNWIND_TAPER_RIGHT = 2.92 +IONIQ_6_UNWIND_TAPER_LEFT = 1.66 +IONIQ_6_UNWIND_TAPER_RIGHT = 3.50 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 = 0.31 IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.46 -IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 1.60 -IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 3.50 +IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 1.92 +IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 4.40 IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.16 IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.28 -IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 1.38 -IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 3.00 +IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 1.66 +IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 3.95 IONIQ_6_CENTER_TAPER_MAX = 0.046 IONIQ_6_CENTER_TAPER_LAT = 0.18 IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.02 @@ -242,8 +242,8 @@ IONIQ_6_DIRECTIONAL_TAPER_LAT_END = 0.90 IONIQ_6_DIRECTIONAL_TAPER_LAT_WIDTH = 0.08 IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.05 IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.47 -IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.72 -IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 1.74 +IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.90 +IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 2.30 IONIQ_6_OUTPUT_TAPER_SPEED = 8.5 IONIQ_6_OUTPUT_TAPER_SPEED_WIDTH = 2.5 IONIQ_6_OUTPUT_CENTER_TAPER_BLEND = 0.90