From 804316e40c32fa5296a68bfb681365778f5eea40 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Fri, 10 Jul 2026 17:41:56 -0500
Subject: [PATCH] Eden Falls

---
 .../controls/lib/latcontrol_vehicle_tunes.py     | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/selfdrive/controls/lib/latcontrol_vehicle_tunes.py b/selfdrive/controls/lib/latcontrol_vehicle_tunes.py
index 7a72b9c97..b343a045b 100644
--- a/selfdrive/controls/lib/latcontrol_vehicle_tunes.py
+++ b/selfdrive/controls/lib/latcontrol_vehicle_tunes.py
@@ -571,22 +571,22 @@ IONIQ_6_HIGH_SPEED_RIGHT_TURN_IN_FF_LAT_START = 0.06
 IONIQ_6_HIGH_SPEED_RIGHT_TURN_IN_FF_LAT_END = 0.22
 IONIQ_6_HIGH_SPEED_RIGHT_TURN_IN_FF_LAT_WIDTH = 0.035
 IONIQ_6_CURVY_SPEED_MIN = 7.2
-IONIQ_6_CURVY_SPEED_MAX = 19.0
+IONIQ_6_CURVY_SPEED_MAX = 21.5
 IONIQ_6_CURVY_SPEED_MIN_WIDTH = 1.1
 IONIQ_6_CURVY_SPEED_MAX_WIDTH = 1.8
-IONIQ_6_CURVY_UNWIND_EXTRA_REDUCTION_LEFT = 0.18
-IONIQ_6_CURVY_UNWIND_EXTRA_REDUCTION_RIGHT = 0.24
-IONIQ_6_CURVY_UNWIND_FLOOR_RELIEF_LEFT = 0.16
-IONIQ_6_CURVY_UNWIND_FLOOR_RELIEF_RIGHT = 0.22
+IONIQ_6_CURVY_UNWIND_EXTRA_REDUCTION_LEFT = 0.26
+IONIQ_6_CURVY_UNWIND_EXTRA_REDUCTION_RIGHT = 0.30
+IONIQ_6_CURVY_UNWIND_FLOOR_RELIEF_LEFT = 0.22
+IONIQ_6_CURVY_UNWIND_FLOOR_RELIEF_RIGHT = 0.28
 IONIQ_6_CURVY_UNWIND_LAT_START = 0.45
 IONIQ_6_CURVY_UNWIND_LAT_END = 3.6
 IONIQ_6_CURVY_UNWIND_LAT_ONSET_WIDTH = 0.14
 IONIQ_6_CURVY_UNWIND_LAT_CUTOFF_WIDTH = 0.55
 IONIQ_6_CURVY_TURN_IN_TRIM_SPEED_MIN = 11.5
-IONIQ_6_CURVY_TURN_IN_TRIM_SPEED_MAX = 18.5
+IONIQ_6_CURVY_TURN_IN_TRIM_SPEED_MAX = 20.5
 IONIQ_6_CURVY_TURN_IN_TRIM_SPEED_WIDTH = 1.2
-IONIQ_6_CURVY_TURN_IN_TRIM_LEFT = 0.06
-IONIQ_6_CURVY_TURN_IN_TRIM_RIGHT = 0.06
+IONIQ_6_CURVY_TURN_IN_TRIM_LEFT = 0.08
+IONIQ_6_CURVY_TURN_IN_TRIM_RIGHT = 0.09
 IONIQ_6_CURVY_TURN_IN_TRIM_LAT_START = 1.0
 IONIQ_6_CURVY_TURN_IN_TRIM_LAT_END = 2.5
 IONIQ_6_CURVY_TURN_IN_TRIM_LAT_ONSET_WIDTH = 0.18