From 96e578fa713f27eced1f5d2e79bed03a6ad0232b Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sun, 28 Jun 2026 16:35:14 -0500
Subject: [PATCH] pri pri 2

---
 .../controls/lib/latcontrol_vehicle_tunes.py  | 40 +++++++++----------
 1 file changed, 20 insertions(+), 20 deletions(-)

diff --git a/selfdrive/controls/lib/latcontrol_vehicle_tunes.py b/selfdrive/controls/lib/latcontrol_vehicle_tunes.py
index aed6f2b7b..0ffbc27a7 100644
--- a/selfdrive/controls/lib/latcontrol_vehicle_tunes.py
+++ b/selfdrive/controls/lib/latcontrol_vehicle_tunes.py
@@ -611,31 +611,31 @@ VOLT_PLEXY_FRICTION_THRESHOLD_MULT_RIGHT = 0.96
 VOLT_PLEXY_CENTER_TAPER_REDUCTION_MULT = 1.02
 PRIUS_TRANSITION_SPEED = 11.0
 PRIUS_PHASE_SCALE = 0.09
-PRIUS_FF_GAIN_LEFT = 0.08
-PRIUS_FF_GAIN_RIGHT = 0.09
+PRIUS_FF_GAIN_LEFT = 0.06
+PRIUS_FF_GAIN_RIGHT = 0.07
 PRIUS_FF_ONSET = 0.15
 PRIUS_FF_ONSET_WIDTH = 0.08
-PRIUS_FF_CUTOFF = 1.45
-PRIUS_FF_CUTOFF_WIDTH = 0.36
+PRIUS_FF_CUTOFF = 1.30
+PRIUS_FF_CUTOFF_WIDTH = 0.32
 PRIUS_FRICTION_LAT_RISE = 0.18
 PRIUS_FRICTION_JERK_RISE = 0.22
-PRIUS_TURN_IN_BOOST_LEFT = 0.38
-PRIUS_TURN_IN_BOOST_RIGHT = 0.34
-PRIUS_UNWIND_TAPER_LEFT = 0.28
-PRIUS_UNWIND_TAPER_RIGHT = 0.42
-PRIUS_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.22
-PRIUS_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.22
-PRIUS_UNWIND_THRESHOLD_INCREASE_LEFT = 0.28
-PRIUS_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.38
-PRIUS_TURN_IN_FRICTION_BOOST_LEFT = 0.10
-PRIUS_TURN_IN_FRICTION_BOOST_RIGHT = 0.10
-PRIUS_UNWIND_FRICTION_REDUCTION_LEFT = 0.16
-PRIUS_UNWIND_FRICTION_REDUCTION_RIGHT = 0.22
-PRIUS_CENTER_TAPER_MAX = 0.12
-PRIUS_CENTER_TAPER_LAT = 0.14
+PRIUS_TURN_IN_BOOST_LEFT = 0.24
+PRIUS_TURN_IN_BOOST_RIGHT = 0.22
+PRIUS_UNWIND_TAPER_LEFT = 0.42
+PRIUS_UNWIND_TAPER_RIGHT = 0.62
+PRIUS_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.14
+PRIUS_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.14
+PRIUS_UNWIND_THRESHOLD_INCREASE_LEFT = 0.40
+PRIUS_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.56
+PRIUS_TURN_IN_FRICTION_BOOST_LEFT = 0.06
+PRIUS_TURN_IN_FRICTION_BOOST_RIGHT = 0.06
+PRIUS_UNWIND_FRICTION_REDUCTION_LEFT = 0.22
+PRIUS_UNWIND_FRICTION_REDUCTION_RIGHT = 0.30
+PRIUS_CENTER_TAPER_MAX = 0.15
+PRIUS_CENTER_TAPER_LAT = 0.16
 PRIUS_CENTER_TAPER_LAT_WIDTH = 0.035
-PRIUS_CENTER_TAPER_SPEED = 20.0
-PRIUS_CENTER_TAPER_SPEED_WIDTH = 2.5
+PRIUS_CENTER_TAPER_SPEED = 18.0
+PRIUS_CENTER_TAPER_SPEED_WIDTH = 2.2
 
 TRAILER_LOAD_FULL_ASSIST_KG = 15000.0 * CV.LB_TO_KG
 TRAILER_LATERAL_MIN_SPEED = 15.0 * CV.MPH_TO_MS