From 813507267c452e2ab8532118b89b3a62b68d7e4f Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Wed, 20 May 2026 16:49:52 -0500
Subject: [PATCH] i6 brake adjust

---
 opendbc_repo/opendbc/car/hyundai/carcontroller.py      | 2 +-
 opendbc_repo/opendbc/car/hyundai/interface.py          | 3 +++
 opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py | 8 ++++----
 3 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/opendbc_repo/opendbc/car/hyundai/carcontroller.py b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
index 5a6ea9aa0d..d4b4b13978 100644
--- a/opendbc_repo/opendbc/car/hyundai/carcontroller.py
+++ b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
@@ -50,7 +50,7 @@ IONIQ_6_LAUNCH_HOLD_SPEED_BP = [0.0, 0.6, 1.25, 2.5]
 IONIQ_6_LAUNCH_HOLD_SPEED_V = [0.75, 0.6, 0.4, 0.0]
 IONIQ_6_STOP_BRAKE_CAP_MAX_SPEED = 2.0
 IONIQ_6_STOP_BRAKE_CAP_SPEED_BP = [0.0, 0.08, 0.25, 0.6, 1.2, 2.0, 3.0]
-IONIQ_6_STOP_BRAKE_CAP_ACCEL_V = [-0.09, -0.10, -0.11, -0.22, -0.50, -0.95, -1.40]
+IONIQ_6_STOP_BRAKE_CAP_ACCEL_V = [-0.15, -0.16, -0.22, -0.42, -0.78, -1.15, -1.40]
 IONIQ_6_STOP_HOLD_JERK_BP = [0.0, 0.15, 0.6, 1.2, 2.0, 3.0]
 IONIQ_6_STOP_HOLD_JERK_V = [0.35, 0.40, 0.48, 0.65, 0.85, 1.10]
 IONIQ_6_STOP_RELEASE_JERK_BP = [0.0, 0.15, 0.5]
diff --git a/opendbc_repo/opendbc/car/hyundai/interface.py b/opendbc_repo/opendbc/car/hyundai/interface.py
index c159e11433..97d14a64f2 100644
--- a/opendbc_repo/opendbc/car/hyundai/interface.py
+++ b/opendbc_repo/opendbc/car/hyundai/interface.py
@@ -201,6 +201,9 @@ class CarInterface(CarInterfaceBase):
       ret.vEgoStarting = 0.5
       ret.vEgoStopping = 0.35
 
+    if candidate == CAR.HYUNDAI_IONIQ_6:
+      ret.longitudinalActuatorDelay = 0.6
+
     if candidate == CAR.KIA_NIRO_PHEV_2022:
       ret.stopAccel = -1.4
       ret.stoppingDecelRate = 0.5
diff --git a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
index c585dcf0b7..4bbd5505be 100644
--- a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+++ b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
@@ -381,7 +381,7 @@ class TestHyundaiFingerprint:
     assert CP.vEgoStopping == pytest.approx(0.3)
     assert CP.vEgoStarting == pytest.approx(0.1)
     assert CP.stoppingDecelRate == pytest.approx(0.4)
-    assert CP.longitudinalActuatorDelay == pytest.approx(0.5)
+    assert CP.longitudinalActuatorDelay == pytest.approx(0.6)
     assert CP.startingState
 
   def test_ioniq_6_longitudinal_tuning_helper_matches_dynamic_profile(self):
@@ -447,9 +447,9 @@ class TestHyundaiFingerprint:
 
     state = update_ioniq_6_longitudinal_tuning(state, accel_cmd=-1.8, v_ego=0.0, a_ego=0.0,
                                                long_control_state=LongCtrlState.stopping, long_active=True)
-    assert state.desired_accel == pytest.approx(-0.09)
+    assert state.desired_accel == pytest.approx(-0.15)
     assert state.jerk_upper == pytest.approx(0.42)
-    assert state.actual_accel == pytest.approx(-0.099)
+    assert state.actual_accel == pytest.approx(-0.15)
 
   def test_ioniq_6_longitudinal_tuning_helper_caps_final_low_speed_stop_brake(self):
     state = Ioniq6LongitudinalTuningState(actual_accel=-2.82, accel_last=-2.82,
@@ -458,7 +458,7 @@ class TestHyundaiFingerprint:
     state = update_ioniq_6_longitudinal_tuning(state, accel_cmd=-2.82, v_ego=1.8, a_ego=-2.4,
                                                long_control_state=LongCtrlState.stopping, long_active=True)
     assert state.stopping
-    assert state.desired_accel == pytest.approx(-0.8375)
+    assert state.desired_accel == pytest.approx(-1.0575)
 
     for _ in range(10):
       state = update_ioniq_6_longitudinal_tuning(state, accel_cmd=-2.82, v_ego=1.8, a_ego=-2.4,