From 71528fd547336cadbf15130546400d4797014c35 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sun, 26 Apr 2026 14:38:27 -0500
Subject: [PATCH] ioniq tests

---
 cereal/libcereal.a                            | Bin 613232 -> 612544 bytes
 .../opendbc/car/hyundai/carcontroller.py      |   4 +++
 opendbc_repo/opendbc/car/hyundai/carstate.py  |   8 +++--
 .../opendbc/car/hyundai/hyundaicanfd.py       |  28 ++++++++++++++++-
 .../opendbc/car/hyundai/tests/test_hyundai.py |  29 ++++++++++++++++++
 .../opendbc/safety/modes/hyundai_canfd.h      |   1 +
 .../safety/tests/test_hyundai_canfd.py        |   2 +-
 panda/board/obj/body_h7.bin.signed            | Bin 76636 -> 76652 bytes
 panda/board/obj/body_h7/bootstub.elf          | Bin 112692 -> 112692 bytes
 panda/board/obj/body_h7/main.bin              | Bin 76500 -> 76516 bytes
 panda/board/obj/body_h7/main.elf              | Bin 368520 -> 368520 bytes
 panda/board/obj/bootstub.body_h7.bin          | Bin 12644 -> 12644 bytes
 panda/board/obj/bootstub.panda.bin            | Bin 11068 -> 11068 bytes
 panda/board/obj/bootstub.panda_h7.bin         | Bin 18784 -> 18784 bytes
 panda/board/obj/bootstub.panda_h7_remote.bin  | Bin 18784 -> 18784 bytes
 panda/board/obj/bootstub.panda_jungle_h7.bin  | Bin 13956 -> 13956 bytes
 panda/board/obj/bootstub.panda_remote.bin     | Bin 11068 -> 11068 bytes
 panda/board/obj/gitversion.h                  |   2 +-
 panda/board/obj/panda.bin.signed              | Bin 68356 -> 68356 bytes
 panda/board/obj/panda/bootstub.elf            | Bin 100760 -> 100760 bytes
 panda/board/obj/panda/main.bin                | Bin 68220 -> 68220 bytes
 panda/board/obj/panda/main.elf                | Bin 332444 -> 332444 bytes
 panda/board/obj/panda_h7.bin.signed           | Bin 84572 -> 84588 bytes
 panda/board/obj/panda_h7/bootstub.elf         | Bin 152728 -> 152728 bytes
 panda/board/obj/panda_h7/main.bin             | Bin 84436 -> 84452 bytes
 panda/board/obj/panda_h7/main.elf             | Bin 411912 -> 411912 bytes
 panda/board/obj/panda_h7_remote.bin.signed    | Bin 84516 -> 84532 bytes
 panda/board/obj/panda_h7_remote/bootstub.elf  | Bin 152736 -> 152736 bytes
 panda/board/obj/panda_h7_remote/main.bin      | Bin 84380 -> 84396 bytes
 panda/board/obj/panda_h7_remote/main.elf      | Bin 411836 -> 411836 bytes
 panda/board/obj/panda_jungle_h7.bin.signed    | Bin 78492 -> 78508 bytes
 panda/board/obj/panda_jungle_h7/bootstub.elf  | Bin 123936 -> 123936 bytes
 panda/board/obj/panda_jungle_h7/main.bin      | Bin 78356 -> 78372 bytes
 panda/board/obj/panda_jungle_h7/main.elf      | Bin 376648 -> 376648 bytes
 panda/board/obj/panda_remote.bin.signed       | Bin 68312 -> 68312 bytes
 panda/board/obj/panda_remote/bootstub.elf     | Bin 100768 -> 100768 bytes
 panda/board/obj/panda_remote/main.bin         | Bin 68176 -> 68176 bytes
 panda/board/obj/panda_remote/main.elf         | Bin 332484 -> 332484 bytes
 panda/board/obj/version                       |   2 +-
 selfdrive/controls/lib/latcontrol_torque.py   |  14 ++++-----
 40 files changed, 77 insertions(+), 13 deletions(-)

diff --git a/cereal/libcereal.a b/cereal/libcereal.a
index 46369db4d99eb412c20af1fe35129979eca9a4dd..324d968cac3649c6d840af442068b72693549141 100644
GIT binary patch
delta 13988
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diff --git a/opendbc_repo/opendbc/car/hyundai/carcontroller.py b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
index 73526bfaf7..3f7e435403 100644
--- a/opendbc_repo/opendbc/car/hyundai/carcontroller.py
+++ b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
@@ -19,6 +19,7 @@ MAX_ANGLE = 85
 MAX_ANGLE_FRAMES = 89
 MAX_ANGLE_CONSECUTIVE_FRAMES = 2
 CANFD_BLINDSPOT_STATUS_STALE_NS = 200_000_000
+IONIQ_6_LANE_CHANGE_UI_MIN_SPEED = 20 * CV.MPH_TO_MS
 
 
 def process_hud_alert(enabled, fingerprint, hud_control):
@@ -223,6 +224,9 @@ class CarController(CarControllerBase):
     if self.frame % 5 == 0 and (not lka_steering or lka_steering_long):
       can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))
 
+    if self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and self.long_active_ecu and CC.enabled and CS.out.vEgo >= IONIQ_6_LANE_CHANGE_UI_MIN_SPEED:
+      can_sends.append(hyundaicanfd.create_ioniq_6_lane_change_status(self.CAN, self.frame, CC.leftBlinker, CC.rightBlinker))
+
     # blinkers
     if lka_steering and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
       can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, CC.leftBlinker, CC.rightBlinker))
diff --git a/opendbc_repo/opendbc/car/hyundai/carstate.py b/opendbc_repo/opendbc/car/hyundai/carstate.py
index 1e1d28b45d..faf563ff8b 100644
--- a/opendbc_repo/opendbc/car/hyundai/carstate.py
+++ b/opendbc_repo/opendbc/car/hyundai/carstate.py
@@ -307,8 +307,12 @@ class CarState(CarStateBase):
         cp.vl["BLINDSPOTS_FRONT_CORNER_2"]["SIDE_DETECT_STATE"])
     if self.CP.enableBsm:
       if self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6:
-        ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["LEFT_MB"] != 0 or self.left_blindspot_from_radar
-        ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["MORE_LEFT_PROB"] != 0 or self.right_blindspot_from_radar
+        ret.leftBlindspot = (cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0 or
+                             cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR_ALT"] != 0 or
+                             self.left_blindspot_from_radar)
+        ret.rightBlindspot = (cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0 or
+                              cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR_ALT"] != 0 or
+                              self.right_blindspot_from_radar)
       else:
         ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0
         ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
diff --git a/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py b/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
index d78202f437..2bce97953a 100644
--- a/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
+++ b/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
@@ -1,6 +1,6 @@
 import copy
 import numpy as np
-from opendbc.car import CanBusBase
+from opendbc.car import CanBusBase, CanData
 from opendbc.car.crc import CRC16_XMODEM
 from opendbc.car.hyundai.values import HyundaiFlags
 
@@ -196,12 +196,38 @@ def create_lfahda_cluster(packer, CAN, enabled):
   return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
 
 
+IONIQ_6_LANE_CHANGE_UI_ADDR = 0x120
+IONIQ_6_LANE_CHANGE_UI_TEMPLATE = bytearray.fromhex("0000000000000005ffd9671f46454645d90200000000000000000a0000002040")
+IONIQ_6_LANE_CHANGE_UI_BASE = (0x45, 0xD9)
+IONIQ_6_LANE_CHANGE_UI_RIGHT = (0x45, 0xDA)
+IONIQ_6_LANE_CHANGE_UI_LEFT = (0x46, 0xDD)
+
+
+def create_ioniq_6_lane_change_status(CAN, counter: int, left_blinker: bool, right_blinker: bool):
+  dat = bytearray(IONIQ_6_LANE_CHANGE_UI_TEMPLATE)
+  dat[2] = counter & 0xFF
+
+  state = IONIQ_6_LANE_CHANGE_UI_BASE
+  if left_blinker:
+    state = IONIQ_6_LANE_CHANGE_UI_LEFT
+  elif right_blinker:
+    state = IONIQ_6_LANE_CHANGE_UI_RIGHT
+
+  dat[15], dat[16] = state
+  dat[0:2] = hkg_can_fd_checksum(IONIQ_6_LANE_CHANGE_UI_ADDR, None, dat).to_bytes(2, "little")
+  return CanData(IONIQ_6_LANE_CHANGE_UI_ADDR, bytes(dat), CAN.ECAN)
+
+
 def create_blindspot_status_messages(packer, CAN, rear_values, front_corner_values, left_blindspot=False, right_blindspot=False):
   # Reuse the last known-good payload but regenerate the rolling counter/checksum.
   rear = {k: v for k, v in rear_values.items() if k not in ("CHECKSUM", "COUNTER")}
   front = {k: v for k, v in front_corner_values.items() if k not in ("CHECKSUM", "COUNTER")}
   rear["LEFT_MB"] = int(left_blindspot)
   rear["MORE_LEFT_PROB"] = int(right_blindspot)
+  rear["FL_INDICATOR"] = int(left_blindspot)
+  rear["FR_INDICATOR"] = int(right_blindspot)
+  rear["FL_INDICATOR_ALT"] = int(left_blindspot)
+  rear["FR_INDICATOR_ALT"] = int(right_blindspot)
   if "NEW_SIGNAL_3" not in front:
     front["NEW_SIGNAL_3"] = 1
 
diff --git a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
index d2d222f7e3..f42be0d18f 100644
--- a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+++ b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
@@ -277,8 +277,37 @@ class TestHyundaiFingerprint:
     assert parser.vl["BLINDSPOTS_FRONT_CORNER_1"]["COUNTER"] == 0
     assert parser.vl["BLINDSPOTS_REAR_CORNERS"]["LEFT_MB"] == 1
     assert parser.vl["BLINDSPOTS_REAR_CORNERS"]["MORE_LEFT_PROB"] == 0
+    assert parser.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] == 1
+    assert parser.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] == 0
+    assert parser.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR_ALT"] == 1
+    assert parser.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR_ALT"] == 0
     assert parser.vl["BLINDSPOTS_FRONT_CORNER_1"]["NEW_SIGNAL_3"] == 1
 
+  def test_ioniq_6_lane_change_ui_helper_regenerates_checksum_and_state(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.HYUNDAI_IONIQ_6
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_LKA_STEERING)
+
+    can_bus = CanBus(CP)
+
+    base_msg = hyundaicanfd.create_ioniq_6_lane_change_status(can_bus, 0x12, left_blinker=False, right_blinker=False)
+    right_msg = hyundaicanfd.create_ioniq_6_lane_change_status(can_bus, 0x34, left_blinker=False, right_blinker=True)
+    left_msg = hyundaicanfd.create_ioniq_6_lane_change_status(can_bus, 0x56, left_blinker=True, right_blinker=False)
+
+    assert base_msg[0] == 0x120
+    assert base_msg[2] == can_bus.ECAN
+    assert base_msg[1][2] == 0x12
+    assert right_msg[1][2] == 0x34
+    assert left_msg[1][2] == 0x56
+
+    assert hyundaicanfd.hkg_can_fd_checksum(base_msg[0], None, bytearray(base_msg[1])) == int.from_bytes(base_msg[1][:2], "little")
+    assert hyundaicanfd.hkg_can_fd_checksum(right_msg[0], None, bytearray(right_msg[1])) == int.from_bytes(right_msg[1][:2], "little")
+    assert hyundaicanfd.hkg_can_fd_checksum(left_msg[0], None, bytearray(left_msg[1])) == int.from_bytes(left_msg[1][:2], "little")
+
+    assert (base_msg[1][15], base_msg[1][16]) == hyundaicanfd.IONIQ_6_LANE_CHANGE_UI_BASE
+    assert (right_msg[1][15], right_msg[1][16]) == hyundaicanfd.IONIQ_6_LANE_CHANGE_UI_RIGHT
+    assert (left_msg[1][15], left_msg[1][16]) == hyundaicanfd.IONIQ_6_LANE_CHANGE_UI_LEFT
+
   def test_ioniq_6_blindspot_radar_state_decode(self):
     assert decode_ioniq_6_blindspot_radar_state(0x02) == (False, False)
     assert decode_ioniq_6_blindspot_radar_state(0x0A) == (False, True)
diff --git a/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h b/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
index ee50b824fd..08b8339dd4 100644
--- a/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
+++ b/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
@@ -289,6 +289,7 @@ static safety_config hyundai_canfd_init(uint16_t param) {
     HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(1)
     HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(1, true)
     HYUNDAI_CANFD_BLINDSPOT_DASH_TX_MSGS(1)
+    {0x120, 1, 32, .check_relay = false},  // IONIQ_6 lane change UI
     {0x51,  0, 32, .check_relay = false},  // ADRV_0x51
     {0x730, 1,  8, .check_relay = false},  // tester present for ADAS ECU disable
     {0x160, 1, 16, .check_relay = false},  // ADRV_0x160
diff --git a/opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py b/opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py
index 9929bae0ad..d01d04679c 100755
--- a/opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py
+++ b/opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py
@@ -450,7 +450,7 @@ class TestHyundaiCanfdLKASteeringAltEV(TestHyundaiCanfdBase):
 
 class TestHyundaiCanfdLKASteeringLongEV(HyundaiLongitudinalBase, TestHyundaiCanfdLKASteeringEV):
 
-  TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0], [0x51, 0], [0x730, 1], [0x12a, 1], [0x160, 1],
+  TX_MSGS = [[0x50, 0], [0x120, 1], [0x1CF, 1], [0x2A4, 0], [0x51, 0], [0x730, 1], [0x12a, 1], [0x160, 1],
              [0x1ba, 1], [0x1e0, 1], [0x1e5, 1], [0x1a0, 1], [0x1ea, 1], [0x200, 1], [0x345, 1], [0x1da, 1]]
 
   RELAY_MALFUNCTION_ADDRS = {0: (0x50, 0x2a4), 1: (0x1a0,)}  # LKAS, CAM_0x2A4, SCC_CONTROL
diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed
index f2a6d75f3072fa0b8eea0d44225764d68523cb43..14720ca7b05480aaca2a6dcc52eaed71363dd8ec 100644
GIT binary patch
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diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf
index 4efe241b97167960a47edf30a4bb099674128501..004514eeedf1f4a0019601b776c39cff40d2d824 100755
GIT binary patch
delta 26
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delta 26
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diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin
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GIT binary patch
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diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf
index ee58fd9c17e96ca4bd13cadea8567a477321f58a..ba6b5d473726c4ffff10e19f0318466baa9e87c0 100755
GIT binary patch
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delta 3015
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diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin
index 780a23f3f4206157f1fd5a57220df0146863c93e..45b1cab77c81a927941f988d62bdb63a7ecde1dd 100755
GIT binary patch
delta 20
bcmaEo^dxD6n-05~QK~_Txyfc<9dT9wS0o0?

delta 20
bcmaEo^dxD6n+|)LVWOpxrNw4n9dT9wSQrM<

diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin
index 2489b6456b0e9fa4d10e7d1a2e4b5ad50e7edbe3..3a4ab4f0a0036a03de0676034f67f27dd1c2e434 100755
GIT binary patch
delta 33
pcmdlJwkK?ZpPGP~QK~_Txrwfet5c{uLj%L)iK+^l>(utK006!a3cCOR

delta 33
pcmdlJwkK?ZpPE3LVWOpxrG>7Gt5c{uLj%L)iK+^l>(utK006&i3c~;Z

diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin
index 0405b300abcb2298863f230ac29c9b55be131db3..8cb038c5b6fbb32936ed260dd34b4cc1b30e6b9a 100755
GIT binary patch
delta 22
ecmaDbiSfZC#tmK0>}E!(1}Wwyn<qM-X9WOh%m|VI

delta 22
ecmaDbiSfZC#tmK0>}iIHmPVEqn<qM-X9WOizzCWE

diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin
index 0405b300abcb2298863f230ac29c9b55be131db3..8cb038c5b6fbb32936ed260dd34b4cc1b30e6b9a 100755
GIT binary patch
delta 22
ecmaDbiSfZC#tmK0>}E!(1}Wwyn<qM-X9WOh%m|VI

delta 22
ecmaDbiSfZC#tmK0>}iIHmPVEqn<qM-X9WOizzCWE

diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin
index 0bdaf7bab3277d6dd2ed7cc2ac3a70f5d9ab312e..697c26a718e9e93b60126c882544023a3416c459 100755
GIT binary patch
delta 20
bcmZq4ZOPrR&w$;`DAgdv++_1ngZ-=kRO|=9

delta 20
bcmZq4ZOPrR&wxG6FwxS;(qi*bgZ-=kRp1B6

diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin
index 2489b6456b0e9fa4d10e7d1a2e4b5ad50e7edbe3..3a4ab4f0a0036a03de0676034f67f27dd1c2e434 100755
GIT binary patch
delta 33
pcmdlJwkK?ZpPGP~QK~_Txrwfet5c{uLj%L)iK+^l>(utK006!a3cCOR

delta 33
pcmdlJwkK?ZpPE3LVWOpxrG>7Gt5c{uLj%L)iK+^l>(utK006&i3c~;Z

diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h
index 520b3107f2..a4c4b2f697 100644
--- a/panda/board/obj/gitversion.h
+++ b/panda/board/obj/gitversion.h
@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-9f1a9298-DEBUG";
+const uint8_t gitversion[19] = "DEV-962e0d74-DEBUG";
diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed
index 53832ed9ebb84505143fc66624c6c9febd1e7a49..666e45822d146e7c812c5fc0c6d6761d791ddab0 100644
GIT binary patch
delta 152
zcmV;J0B8S%mIQ>B1hCPY2R1TgFl0A0v)G%gZhxORcT-6v{(M}KakY%JzpB8cxev31
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delta 152
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GPyzbtSWN@~

diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf
index a4b70f8ac23958b17b54ac897eec6797e143faa3..d1860cb0a5c55be994268a3c71c15db08d876b55 100755
GIT binary patch
delta 39
vcmbO+nQg{owhew}0%k_31}Wwyx-PCxq3#R~43j6CDm2%bZLc$9lnMp_`LPTT

delta 39
vcmbO+nQg{owhew}0%?YcmPVEqx-PCxq3#R~43j6CDm2%bZLc$9lnMp_`z;I@

diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin
index c9952de202a3e18f44b62d7c5d60587d22cccade..b4c22183ca1c0f07f00bc5674393efca2162a8ce 100755
GIT binary patch
delta 22
ecmew}h2_r_mJJtYvzr;E8l;$;Y`!sjNge=tH40Dw

delta 22
ecmew}h2_r_mJJtYv!@v*S{hkeY`!sjNge=uDGFEs

diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf
index cb53d9574f69f0d64c041ea0f1fd29648e97c279..4b79a41b4bba7e90c07d18f0e86b10c5dde29da4 100755
GIT binary patch
delta 38
scmbQURAkOlkqsADvzr;E8l;$;G~Za=eq%Kw5HkTW^Y$C7S&pOu09COPJOBUy

delta 38
scmbQURAkOlkqsADv!@v*S{hkeG~Za=eq%Kw5HkTW^Y$C7S&pOu09PdvL;wH)

diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed
index e2f6c71dd0205f6040db6728fd0fd88f41dd08cc..20b43b004c876581091a0d20501a7447c5a13a77 100644
GIT binary patch
delta 1271
zcmZXTe@xV69LJyMxgUHlJc1oc3VPqe1zbWM%0wG5-9es;K`II+HA<<rNG+>ljyY$`
zG|}7x^IR@-*V?gU6CW6dC&U&MKcpZb$doz%sH@TV5jgA@y`R2!*w(XszOT>o{(PPv
zpU-o5tHv-^W1wRVw3pG7qK^fZ(;9v}X*2cmp(LlVafB(6H~F&UC3HZnP4?=|b5Jbb
zOO+|V@t;?CO$nIUVL75UHC}JXg<Bw+9J&Q`yJ*R}p`-gm^*XCA<^%#B*ag@b*j3T$
zJjCYZp^!W&Ha>NT8O_)~@}}r<B}N!iG=HjK38SlpdF$e2Lrmf)GZTD8rIRXrU*&r9
z#8*t&pGQ>BlSFlh*2-0SrtcC{RpoJpomgEVN^3Vn8Qy^#5Ov;6y=@NepH{MFw7q`x
zC-~!S^`mh=Foh7NbaXLggj3%ii4G{2HWGCMc*jZ9=fJ`$qRt|t7CvsctnMC7SG(m(
z;vm6EYw|6vI}y>up@a4;<`<FM2b+fJFkdI~K5J&QLi|+^92ZTOo0*{jfnk0?Y{pBp
ziqq6aZZl;)tQb}XlRY2t8_3cIoc1fZ^SY>L`jFY(L)a9j%Q5&eQB9!hKUzmQQH{{t
zJl$_u82p+kawbPO;^QU$OghWY;Jb!*<Ll?N#ggs2jzhInlCYbo2KdF$B<0w%OVfhA
zOo`B>dCkM0X|dSdh_Fy(dWV+nf)>7SR#9jNUfuE{&Yr}Y6f~2D)(n<v@%Q>3tO;wy
zBJHY<(nolDz>*#OmMOAuInKvw1^Wh>@{lIYYbns=Q^^s|^Y9}9i+#5L|Jm*v4;m28
zE*7nUW2S6h4^#BoKBS|NsIq<+wE5nKv{_UW?pNc}+Qt0*NT-FmMQvw1HL0jomaB@o
zFP-#oOlVJugZQ(_PzETwI6bU&VZnFW*^QXTLXSmU7PTL9*#rkD-)#bU4}<w&6!-yX
z0p-4NU?K9%;AQCX;Mfo=`nP}@1Z)tZLD|7UFaf-TpOqE74lV-wv2Zc?D!33#1!V!-
zaX@a~j<mI_SMGJ}$;=S#U7juUU~|bLdUVy{>MxEJO>CN)x!0Z+cyw?7{ruN#XWxD$
znnW7?-3Q)0HTThN>ZN7A)bSH-{kcnXfAP#jmTfTw-_6hOEc89rF<^fq=SuIXZ9Q!(
z?-pEn>&L41uMKSSKJJN#8vi)({0muspF4T<o8iyT?smqPC)`cCpHupT&3gXag_7T2
M3hr{veM&R_0Sd!n#{d8T

delta 1261
zcmZXTe@xV69LJyMxjXJl0l`j>pUD?Ykdbwl6^DamJHT@kX`8qjXJw3CTg}@1qYHmP
zp-~%i?2+vfGaamf%90)#hu0}87x=3=fjA7<m8@N>Bvf1rsosy@J8bLOKHt~pd4E37
zkI(1X_qY9qiTwsT(M>Ngx<g!HzU8!mf09#9IUmij$Fv8TGC$6j<)+cIqA<5jA3p;{
zH!fAC+~B|Dx5dW6ONBilS{_f=8=i*yoanLW;%JHJD;n0(*F@9WOkL6k2sFa>!Rld0
zh2LJw7Ue)h{!y$it7S0@n9h%ji;iq#Ov?59{;ikN7|jv!FQ?`j60_Uq!aUz?r+U84
z{d|0AkSXt$64kSYsH*V0SL@lGL2+wmO|oGfRy&2WWnF?{JKSTUv#mg%H3RovCb3QR
zcTJ7KpE=z%W&D9DgfQjg5L1RY?U>J2p&VaN)B-SMCu#+_VJA_;$k+oPH(b_vms%4q
z$d$xG!n2vl6IyqSiNvCVR*rcya{aJr*ln0alpgD4)F~Fa0JrEl(aQ`+kT}TS6Xkdb
zzt~5!{(xYeWQqf}5hi;c^cu*c-8k)c651->>1kzou2DP*PM2fEMbuc(_8)DahNv;n
zT-@q4Ee(Fh6giV48u9Q~yahDOoAF)AFW}q3X`iXsbD1d*YpEooil_$o4rr2cRKKce
z!AndrYSN<C$T#+x@?40pNaRkXmTiL;y>HQ`$PT=z?@gRNi!~`|CXK8aacc4RuRK^2
z)f{5gDIKK>xB5)Q!D~#Bh0AepiB_;@geebc(xR3EO+J+z(Y!`p?=$6vul_&VHT<9f
z(QJqC`#z2>_FQC&UfYKZY#^$v-v({5w-GIjYNGu*S)pC5gVzU4)FoO1=~VQ8TSRv!
zMs|{@#xEx8e+-npn;z3@zlS%KC$?k01k@ugOL-l0S-J|!*9v{llt;iKFafLsO`zO2
z8C;9Jc<?avbZ}ynZMuK$1_ZJo5K#7Q0L%an;^0j18_*2)V__;-1ug|Mz$CB)2b7dn
zt}3jtzESv8p-o&J^1Mi^d*3qCk5=#Q{&PC5vid9U*yaT9u8O(3sy$z?uuOLDJzSP#
zAJPRr`|??H>y{VjjcZ+(cO3D}oqqDBbLQvI%g*Fi)|@{uIp6fxw(!d7P+h_HbF;rT
zd~vh?pS{cD{yrYq+IeV;`_q&Y7Mrnk;ja0N{?PF4@@F!xzkRm0;wbyj+`MMw{7<!E
H58d@I-^Od)

diff --git a/panda/board/obj/panda_h7/bootstub.elf b/panda/board/obj/panda_h7/bootstub.elf
index fa4c04749631c7768ac9630399137906ab7d31ff..aacba5b3c56231ce1b08c4b599cda321e66ce87c 100755
GIT binary patch
delta 30
mcmbQSl5@sN&JA6`>}E!(1}Wwy%@c#$Ck8WapBT)<&Ikap$O>%$

delta 30
mcmbQSl5@sN&JA6`>}iIHmPVEq%@c#$Ck8WapBT)<&Ikaq{0emd

diff --git a/panda/board/obj/panda_h7/main.bin b/panda/board/obj/panda_h7/main.bin
index 9d290ad2682be67223384d465689b9e592799c10..dc78c5665d145921ddfe3f412860e6070f480be9 100755
GIT binary patch
delta 1138
zcmZXTZAg<*6vywq+cTeKD`l3Y)*cO<qQb053yoq~MlV{Z*(*dAeMowt4-=6Pf-;hd
z+h9--u|7;nP_E*1Ec#%jreQhDtfUV?3yQQX1{L+cJ=+SpaGu|}|8wrkId=<j<t<k_
zh8evmMp$4Oy~<m%w@@!1&vu%+CYYKy$(P#G=o7Kp?loF|L9xD&DpSAk_jz7(24=ai
zwZfgBZd5kFtq|P~!(3V=dP~L(^tfnUXEP*UK)?gL0lNb06G3Mqi_7Ctc}8sB*vL#4
z?4LL(hRU-NOgXy$xgw3xRl>4!v0X{dy7hIM=QTK~%8xg!w@g1|>WMO<dDalkA%YDn
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zL?iqPzQueHUq7e4)>7Xv4%Jgh#y+Ac@N1z-%2BsR*TRpOnxIQ@&BJ%}T60~9uxMnq
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zJw-3r7h>uhU5aZt(BxCe5zF)N=72RfGWvhEYwT|WV%fDK7&vDx^$juAsP9AiD~TrS
zFNYTIZB&b(npnTOw(A%3^XB_j>Jskz>C~*DR#~nl+8#LRndIo65~uNJlcANM?BeWm
zy$f@n>1TIgo&r4uaaq&}%w-cCpnSJ!<jn`Sg7d)3pcRz+rh=8ovw$7Y)4>nptoly@
zR}sjBkOayOhQJK)4t`cPa2Q+&j$+|r@EEuN%m-xwRXAWnSxv#}Rm%@M>WWs1djp<r
M^mNbeg|u<SZ>F^%F8}}l

delta 1128
zcmZXTTS$~a6vt;~_tVdEZDq?#T7Ft+(gimIcVneuHCH6lprCN+CbB(51wCXYB^23%
zhz!C)Jrw$27oiwMZQC%=w9=5&T+3u5AGU|Ei}j*H|MA<^pn>!K&iv1r%Q?e0!<8|v
zJRV~7iWp|TP4qgym03bLAJ23~wFa0vKgl;{t*0-9J*&lNnuTJRlqyrd@UL52Vq)PX
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ze|4^r%?*g3wN;5q5mvi}ySXS%xd`{6xZjdzOrM3jkVb6Nz3tNz@MoX5Pe*@bDj`hm
z7-Z@or)~2Y8k9%HM9Tw%PNJ29Wwk^LA>#&o+;HRlKh$b|C0CLh68e#rIHh+d+Dvi`
z&`L0GLarY+1N#Nb5rq%C7<G%qcA#2xKJH@5JtPkB3!(%s;TMfG{W}EfC#Je!<uKXv
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z(PaHLXv@6~Yavt<=~qXoez7)Q*KeU7(cGUxMej=oy=o5cBvFZ9OxC{{l)amo&}(17
zo5~YgF<%QB5tpT$z+9HDf%3J2@0q#=bbxW-HP8aeeG|dG$TNX=p{IaT<LvO#wXY+P
z4uOEOZ+&1Ycn1fkfzQAMuonxH!3uC4m<q;&1vsFf@W^(1mGz{3r`;w-2E7MpW!ISm
HT9f-1t%xKN

diff --git a/panda/board/obj/panda_h7/main.elf b/panda/board/obj/panda_h7/main.elf
index 03f8790dd49ec574b064a989a26f420c71d1961e..37e8f1b21b2fe3a105044f3a2d8c86185a7a1b42 100755
GIT binary patch
delta 3451
zcmZWs0aTP#7Jm1=`Eh0$oEc_f7*S@>RY5ILNuW&OsEO$&r6FiVYH4+rGPB+Bw51){
zf(=jDNN>!{+Hx05)BLR;^q6egCThD<3?inByD5;CqSjK{w%?oir}mtka~}8I@80{~
zfA72R-bdAozN!~}wf7IIImwtB8pF@Y7%6&D{b7Ncwa@tJi+5iinM^hMC&_z;(7I6d
z_!;y@C^CL>!mf61P3#Dz=MJD2JwNviOVW=(+{YElt(QYRH@{&U2rdg_qFy&4&7w`g
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zIY4KE_6My6b%UyPy`aU=O9I^iJPq`Ggx?i)U>yV*0GyyIf~}wfLAN5U{GdlbQ$UZx
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hp^bR^e!$kXM&l2fgOKpe|Izl`N&}7GPfb`Y{tII%kShQH

delta 3445
zcmZWs3viT05}uyfKkOcX-Oa}QSpvz1XTmc)j%+lNPy`9a;y}(w5DWssY89R@>c|--
z6j3*&6yl1r2q>O#7eEC0(ch>*5I6|v9cVTrye>I;B%;QEdTQY6zS;d3uj>A)*`EHU
zdmi0A-Lt`$y}_5gFD>j>d5$sFG=|T`7%BRl`eDAxH7hcx@!dCvB~hjES<*)Xs5(?L
zzJx-d$oNSKo13}4yCsyK+lLMqdAV=ddUXO3EehrKFGC%-z2!(m&x<zFSeu__)5f7&
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zl-rMn=!5S5J|J&TWxia{)=A7a4Rrd`%-0TyXVJ$F)9Zeu(XIxi$#PhGSB8EzW}O}`
zmLq_bfL{aIy=WKEuA$`^lRq*!%{6Z91*tIJt2ep!CIpX!9y?e9PwYLonlirwF!~&~
z7o*KUQ#Nn@Kx6&h#cJQM*7?Sg!|Qo=AOe>}y~$W(fcYHg`~L?!w21i<fCWOMk9uxt
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bSh~uryP-J=0pIW+?V~#=(R_At!b<U9Ew_{i

diff --git a/panda/board/obj/panda_h7_remote.bin.signed b/panda/board/obj/panda_h7_remote.bin.signed
index 8e55756c155befd6dff52255bcf558cb1059cefc..3b8bd98cb0e137e52b0bab30e1e7121efda1dbfa 100644
GIT binary patch
delta 1277
zcmZ9L4@}f$7{}lDz5D48<Zp)p-PQdr7VJh2CeVq4x*J)zQzJ_z3^taOYt0F*KQLrE
z3Dd1+^`g?UrQ*shZ=StJ{BEc1W)cue*+HQY(I1*^8Qg}8O;&wheh}^6?b-KvKF{<1
zp7(j*yE7e1phKa73v`gtXT&uY%Az&=aJHAe$Valvl)a-&jqv+&tn@umoYQ4a>;o8+
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z_|u>JCVqqx!qhkWnR=2Be0<k22Xbx`(UQlQI$1`vY-mL*(ZZ;xg&z@9XaAz>ZXqOu
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z&(JQ8P)9#N+z(9EU{09)?5M7gDL>lXCX*XPQTO|dy7~1UOKHjoQ_*i>U3s2pE8w|@
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zp5a<!PX+%8do*z;Xrj)^ubG;(Sa2fExB>sSxWX8QX+xIMnF!t?CR2BvsR=PG{0&p%
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M^|yol;~wh$7gnuby8r+H

delta 1262
zcmZ9Le@xV69LJyMx%<YW@#Ea-8DZUB1V~bzlIh)GfhQ<Ki&|iq6cw>*w9xv88Dk|Z
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z<DbF5cCvf?Jd_Z|-x*;1Lv`?ro7NbJw~Sc+gGQaiV!DC`nu*1Sh;8sgVzToFT^qra
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z-PkGB(eHdO^!V3*95V%WJK|^F4GkVC?YUvSS~*<*QpDrvDJ^|$XSMriL-nz2*Zm%M
H9sTux9j;>+

diff --git a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf
index d852ade783c41f5b293d7aafa34b2e4deae17626..d0461d5a5681ee77d54a7aaae913d3d17767fdbc 100755
GIT binary patch
delta 30
mcmZ3ml5@dI&JA6`>}E!(1}Wwy%@c#$Ck8WapBT)<&j<jspbCWm

delta 30
mcmZ3ml5@dI&JA6`>}iIHmPVEq%@c#$Ck8WapBT)<&j<jt)C!FN

diff --git a/panda/board/obj/panda_h7_remote/main.bin b/panda/board/obj/panda_h7_remote/main.bin
index 3bae2f5375c46095542937421119342fce4efb6f..0d5c78cabcbafeafd58ebb9548c1aae662eb8737 100755
GIT binary patch
delta 1144
zcmZ9LYe-Z<6vt;~_tt1WS@V(B-c3@LibOLXD6DK&Vh@Xo5(ObEq7NzbAyFxcsGx|L
z3?rk!pdh7%(Y(uA?1xM(d#;w1nL$E*h+HrdlITBP&Dep%|D4}BbI+Wa-4>y>3C%OW
z=uY{J`BG_xIG0vR4~wBRx7IMsct9*oPo`I8UV5uFvKQckg6|mjiEk@g!@nR3!WO)f
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O<}I|K%MnlOv;G3V6C@S@

delta 1129
zcmZ9LeMr+m7{~8!`{iX*Co9b?wq>>~qp5@~6f%2J%o>6A4n`3LLRx=`N&h4j6a_~i
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F!9OG1AT<C0

diff --git a/panda/board/obj/panda_h7_remote/main.elf b/panda/board/obj/panda_h7_remote/main.elf
index 0040c8c820ac918d1a3aef15d26c08544623c5ca..f1a9b7544f5ae7f0e3bad9b4713e781aa1b36ad5 100755
GIT binary patch
delta 3458
zcmZ8k4OG-s7Jnb}*C9t{h9Ulps57IXlBFgBYMSHmtAsUFG&DTW2b%4v#nN3m;gL<P
zJZr~nbRT}OvTJPTxTxe`d-#z}87r*TsxX9tg&y!DOQEDV$=3ef%zw5$&N+|!zrT0y
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delta 3447
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diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed
index f0450fbd0a7396e6a7c7cfb81af8beb818297867..613f044eedcd4ba9096371c7f8aca406933f4137 100644
GIT binary patch
delta 1370
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delta 1361
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diff --git a/panda/board/obj/panda_jungle_h7/bootstub.elf b/panda/board/obj/panda_jungle_h7/bootstub.elf
index cb340d4566b3b3b20d50a62ea7e38727a93b85c9..584f570b1c938e6146ec34f80e23d6e4fdaf82d2 100755
GIT binary patch
delta 26
icmZ2*f_=dW_6_?S*v*Vm4N}ZanvXhcKkC33y%+$K*$Sfo

delta 26
icmZ2*f_=dW_6_?S*wYLXEsZQKnvXhcKkC33y%+$L?Fy>^

diff --git a/panda/board/obj/panda_jungle_h7/main.bin b/panda/board/obj/panda_jungle_h7/main.bin
index 063d31fa36ed21bc812692ef404e64506ace7adf..d0b2689c80abe75ebd006f0d58ab1cf5730a5a50 100755
GIT binary patch
delta 1237
zcmZWoZAer>6rCC0%dxavcGn6epJLdS(JG}DEktfXwPp)O6cUm~1VIKH6eT4oL4OLy
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delta 1228
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diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf
index 64b5677e41590c02abe6c7e653666d7df594cf4c..a369a4962585873aae9cc7d4b6fb276b3611520a 100755
GIT binary patch
delta 3445
zcmZWr4RF&%7T>p<zoa#ogrrHal?E+hkDfv)&~kLjM+AFR3P%+<ixjBTmeUr9P(*AC
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diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed
index 37c05ea780ab3e030796267ed83b064e554fc4b0..82de84e197cb349d68bf2d5fe2cfdc5d78d9696b 100644
GIT binary patch
delta 152
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delta 152
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diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf
index be9be20c6c86d299ee4e0cb5690ed4cf6227b336..d358c2ce15a3c43fb1aab6d3581da90321dee731 100755
GIT binary patch
delta 39
vcmZ25nQg&jwhew}0%k_31}Wwyx-PCxq3#R~43j6CDm2%bZLc$9R0;+F{22@=

delta 39
vcmZ25nQg&jwhew}0%?YcmPVEqx-PCxq3#R~43j6CDm2%bZLc$9R0;+F{gn(b

diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin
index 2702c94638d887205e970455601d39d60cb877ee..1b418a124d80d64650748476eb8beb2562aef400 100755
GIT binary patch
delta 22
ecmcaGh2_E&mJLg1vzr;E8l;$;Y+f^aNge=i<q4nw

delta 22
ecmcaGh2_E&mJLg1v!@v*S{hkeY+f^aNge=j*$Jos

diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf
index ed7bb74013d6adba8439eb0a69636cbd01308601..4973e6cb9e70bb131e7288e119dab29064d36503 100755
GIT binary patch
delta 38
rcmX@IROHA~kqt{%vzr;E8l;$;G_P6RzGgKe5HkTW^Y%5XStQZ{Pi_#|

delta 38
rcmX@IROHA~kqt{%v!@v*S{hkeG_P6RzGgKe5HkTW^Y%5XStQZ{P~s5b

diff --git a/panda/board/obj/version b/panda/board/obj/version
index 49889d2fae..e5159e20ef 100644
--- a/panda/board/obj/version
+++ b/panda/board/obj/version
@@ -1 +1 @@
-DEV-9f1a9298-DEBUG
\ No newline at end of file
+DEV-962e0d74-DEBUG
\ No newline at end of file
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index fe97511c5f..fb8b95ad7a 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -204,7 +204,7 @@ GENESIS_G90_UNWIND_FRICTION_REDUCTION_RIGHT = 0.16
 IONIQ_6_LATERAL_TESTING_GROUND_ID = testing_ground.id_5
 IONIQ_6_LATERAL_TESTING_GROUND_VARIANT = "C"
 IONIQ_6_FF_GAIN_LEFT = 0.050
-IONIQ_6_FF_GAIN_RIGHT = 0.004
+IONIQ_6_FF_GAIN_RIGHT = 0.000
 IONIQ_6_FF_ONSET = 0.10
 IONIQ_6_FF_ONSET_WIDTH = 0.04
 IONIQ_6_FF_CUTOFF = 0.52
@@ -212,22 +212,22 @@ IONIQ_6_FF_CUTOFF_WIDTH = 0.12
 IONIQ_6_TRANSITION_SPEED = 10.0
 IONIQ_6_PHASE_SCALE = 0.10
 IONIQ_6_TURN_IN_BOOST_LEFT = 0.52
-IONIQ_6_TURN_IN_BOOST_RIGHT = 0.40
+IONIQ_6_TURN_IN_BOOST_RIGHT = 0.36
 IONIQ_6_UNWIND_TAPER_LEFT = 0.60
-IONIQ_6_UNWIND_TAPER_RIGHT = 1.18
+IONIQ_6_UNWIND_TAPER_RIGHT = 1.24
 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 = 0.12
 IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.10
 IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.42
-IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 1.02
+IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 1.08
 IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.05
 IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.04
 IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 0.36
-IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.82
-IONIQ_6_CENTER_TAPER_MAX = 0.015
-IONIQ_6_CENTER_TAPER_LAT = 0.06
+IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.88
+IONIQ_6_CENTER_TAPER_MAX = 0.018
+IONIQ_6_CENTER_TAPER_LAT = 0.07
 IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.02
 IONIQ_6_CENTER_TAPER_SPEED = 18.0
 IONIQ_6_CENTER_TAPER_SPEED_WIDTH = 2.5