From 86ce0b03ee24435fc97903a08fa19aa47fcc3032 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Thu, 7 May 2026 10:48:44 -0500
Subject: [PATCH] i6

---
 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 996179e89..831a92bbf 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -256,7 +256,7 @@ IONIQ_6_TURN_IN_BOOST_LEFT = 1.44
 IONIQ_6_TURN_IN_BOOST_RIGHT = 1.56
 IONIQ_6_UNWIND_TAPER_LEFT = 2.46
 IONIQ_6_UNWIND_TAPER_RIGHT = 5.60
-IONIQ_6_FRICTION_MULT = 0.965
+IONIQ_6_FRICTION_MULT = 0.955
 IONIQ_6_FRICTION_LAT_RISE = 0.20
 IONIQ_6_FRICTION_JERK_RISE = 0.24
 IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.60
@@ -267,8 +267,8 @@ IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.32
 IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.55
 IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 2.65
 IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 6.35
-IONIQ_6_CENTER_TAPER_MAX = 0.063
-IONIQ_6_CENTER_TAPER_LAT = 0.205
+IONIQ_6_CENTER_TAPER_MAX = 0.066
+IONIQ_6_CENTER_TAPER_LAT = 0.215
 IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.02
 IONIQ_6_CENTER_TAPER_SPEED = 18.0
 IONIQ_6_CENTER_TAPER_SPEED_WIDTH = 2.5