From a2d51807c76d710fbb9de7ef3314d76af322bd58 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sat, 25 Apr 2026 15:58:10 -0500
Subject: [PATCH] ioniq 6

---
 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 c95dabd9e..d6cf48206 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -214,18 +214,18 @@ IONIQ_6_PHASE_SCALE = 0.10
 IONIQ_6_TURN_IN_BOOST_LEFT = 0.52
 IONIQ_6_TURN_IN_BOOST_RIGHT = 0.50
 IONIQ_6_UNWIND_TAPER_LEFT = 0.60
-IONIQ_6_UNWIND_TAPER_RIGHT = 0.98
+IONIQ_6_UNWIND_TAPER_RIGHT = 1.08
 IONIQ_6_FRICTION_MULT = 0.995
 IONIQ_6_FRICTION_LAT_RISE = 0.20
 IONIQ_6_FRICTION_JERK_RISE = 0.24
 IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.12
 IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.10
 IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.42
-IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.76
+IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.92
 IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.05
 IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.04
 IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 0.36
-IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.58
+IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.72
 IONIQ_6_CENTER_TAPER_MAX = 0.015
 IONIQ_6_CENTER_TAPER_LAT = 0.06
 IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.02