From 5e748613116450485bfa65594970309dda3327dd Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Wed, 20 May 2026 21:04:59 -0500 Subject: [PATCH] genesis --- selfdrive/controls/lib/latcontrol_torque.py | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 7f3c189ad9..0694e41446 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -284,27 +284,27 @@ KIA_FORTE_CENTER_TAPER_SPEED = 24.0 KIA_FORTE_CENTER_TAPER_SPEED_WIDTH = 2.5 GENESIS_G90_LATERAL_TESTING_GROUND_ID = testing_ground.id_4 -GENESIS_G90_FF_GAIN_LEFT = 0.28 -GENESIS_G90_FF_GAIN_RIGHT = 0.12 +GENESIS_G90_FF_GAIN_LEFT = 0.32 +GENESIS_G90_FF_GAIN_RIGHT = 0.16 GENESIS_G90_FF_ONSET = 0.10 GENESIS_G90_FF_ONSET_WIDTH = 0.05 GENESIS_G90_FF_CUTOFF = 2.35 GENESIS_G90_FF_CUTOFF_WIDTH = 0.48 -GENESIS_G90_TRANSITION_SPEED = 8.5 +GENESIS_G90_TRANSITION_SPEED = 10.0 GENESIS_G90_PHASE_SCALE = 0.12 -GENESIS_G90_TURN_IN_BOOST_LEFT = 0.56 -GENESIS_G90_TURN_IN_BOOST_RIGHT = 0.42 +GENESIS_G90_TURN_IN_BOOST_LEFT = 0.66 +GENESIS_G90_TURN_IN_BOOST_RIGHT = 0.50 GENESIS_G90_UNWIND_TAPER_LEFT = 0.10 GENESIS_G90_UNWIND_TAPER_RIGHT = 0.55 GENESIS_G90_FRICTION_MULT = 1.02 GENESIS_G90_FRICTION_LAT_RISE = 0.22 GENESIS_G90_FRICTION_JERK_RISE = 0.24 -GENESIS_G90_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.24 -GENESIS_G90_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.18 +GENESIS_G90_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.28 +GENESIS_G90_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.22 GENESIS_G90_UNWIND_THRESHOLD_INCREASE_LEFT = 0.06 GENESIS_G90_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.32 -GENESIS_G90_TURN_IN_FRICTION_BOOST_LEFT = 0.14 -GENESIS_G90_TURN_IN_FRICTION_BOOST_RIGHT = 0.12 +GENESIS_G90_TURN_IN_FRICTION_BOOST_LEFT = 0.16 +GENESIS_G90_TURN_IN_FRICTION_BOOST_RIGHT = 0.14 GENESIS_G90_UNWIND_FRICTION_REDUCTION_LEFT = 0.04 GENESIS_G90_UNWIND_FRICTION_REDUCTION_RIGHT = 0.30