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Ioniq 6 weave tune

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whoisdomi
2026-09-29 14:03:52 -05:00
parent faf5b53321
commit 782634cbf0
1 changed files with 6 additions and 6 deletions
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selfdrive/controls/lib/latcontrol_vehicle_tunes.py
+6 -6
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@@ -858,7 +858,7 @@ IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 3.55
IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 9.10
IONIQ_6_CENTER_TAPER_MAX = 0.082
IONIQ_6_CENTER_TAPER_LAT = 0.24
IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.025
IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.08
IONIQ_6_CENTER_TAPER_SPEED = 18.0
IONIQ_6_CENTER_TAPER_SPEED_WIDTH = 2.5
IONIQ_6_HIGHWAY_CENTER_TAPER_MAX = 0.046
@@ -868,7 +868,7 @@ IONIQ_6_HIGHWAY_CENTER_TAPER_SPEED = 24.5
IONIQ_6_HIGHWAY_CENTER_TAPER_SPEED_WIDTH = 1.8
IONIQ_6_HIGHWAY_OUTPUT_TAPER_MAX = 0.10
IONIQ_6_HIGHWAY_OUTPUT_TAPER_LAT = 0.14
IONIQ_6_HIGHWAY_OUTPUT_TAPER_LAT_WIDTH = 0.04
IONIQ_6_HIGHWAY_OUTPUT_TAPER_LAT_WIDTH = 0.12
IONIQ_6_HIGHWAY_OUTPUT_TAPER_SPEED = 23.5
IONIQ_6_HIGHWAY_OUTPUT_TAPER_SPEED_WIDTH = 2.0
IONIQ_6_HIGHWAY_TRANSITION_OUTPUT_TAPER_MAX = 0.18
@@ -885,8 +885,8 @@ IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_WIDTH = 1.5
IONIQ_6_DIRECTIONAL_TAPER_LAT_START = 0.19
IONIQ_6_DIRECTIONAL_TAPER_LAT_END = 0.90
IONIQ_6_DIRECTIONAL_TAPER_LAT_WIDTH = 0.06
IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.11
IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.45
IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.17
IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.28
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 1.10
IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 2.10
IONIQ_6_DIRECTIONAL_TAPER_FLOOR_LEFT = 0.48
@@ -978,9 +978,9 @@ IONIQ_6_LOW_SPEED_PID_RESET_SPEED = 0.1 * CV.MPH_TO_MS
# extra P/D gain right where there is no breakaway torque to overcome. Deadzone the jerk
# feed below straight-line noise levels and fade friction near center at highway speed.
IONIQ_6_FRICTION_JERK_DEADZONE = 0.30
IONIQ_6_FRICTION_CENTER_FADE_MAX = 0.50
IONIQ_6_FRICTION_CENTER_FADE_MAX = 0.20
IONIQ_6_FRICTION_CENTER_FADE_LAT = 0.15
IONIQ_6_FRICTION_CENTER_FADE_LAT_WIDTH = 0.06
IONIQ_6_FRICTION_CENTER_FADE_LAT_WIDTH = 0.14
IONIQ_6_FRICTION_CENTER_FADE_SPEED = 18.0
IONIQ_6_FRICTION_CENTER_FADE_SPEED_WIDTH = 2.5
# Newer Ioniq 6 highway center-chatter correction; activation is firmware-gated.