From 6764db8b3bfe868d9f71de5889b336bbd98cabb6 Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Sun, 3 May 2026 22:05:13 -0500 Subject: [PATCH] ain't no test shoooo --- selfdrive/controls/lib/latcontrol_torque.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index b1f8acd57..a334693d8 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -1051,11 +1051,11 @@ class LatControlTorque(LatControl): bolt_2018_2021_tuned_path_active = self.is_bolt_2018_2021 volt_standard_test_active = self.is_volt_standard and volt_standard_lateral_testing_ground_active() genesis_g90_test_active = self.is_genesis_g90 and genesis_g90_lateral_testing_ground_active() - ioniq_6_test_active = self.is_ioniq_6 + ioniq_6_active = self.is_ioniq_6 kia_ev6_test_active = self.is_kia_ev6 and kia_ev6_lateral_testing_ground_active() volt_plexy_test_active = self.is_volt_cc and volt_plexy_lateral_testing_ground_active() volt_standard_center_taper = get_volt_standard_center_taper_scale(setpoint, CS.vEgo) if volt_standard_test_active else 1.0 - ioniq_6_center_taper = get_ioniq_6_center_taper_scale(setpoint, CS.vEgo) if ioniq_6_test_active else 1.0 + ioniq_6_center_taper = get_ioniq_6_center_taper_scale(setpoint, CS.vEgo) if ioniq_6_active else 1.0 friction_threshold = get_friction_threshold(CS.vEgo) friction_scale = 1.0 if bolt_2022_2023_tuned_path_active: @@ -1074,7 +1074,7 @@ class LatControlTorque(LatControl): ff *= get_genesis_g90_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) friction_threshold = get_genesis_g90_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk) friction_scale = get_genesis_g90_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk) - elif ioniq_6_test_active: + elif ioniq_6_active: ff *= get_ioniq_6_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * ioniq_6_center_taper friction_threshold = get_ioniq_6_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk) / max(ioniq_6_center_taper, 1e-3) friction_scale = get_ioniq_6_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)