diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py
index 8ce2e88213..20546a10c8 100644
--- a/selfdrive/controls/lib/latcontrol_pid.py
+++ b/selfdrive/controls/lib/latcontrol_pid.py
@@ -22,9 +22,9 @@ def get_civic_bosch_modified_pid_output_scale(desired_angle_deg: float, desired_
 
   is_left = desired_angle_deg > 0.0
   center_taper = 0.32
-  base_scale = 0.10 if is_left else 0.12
-  turn_in_scale = 0.10 if is_left else 0.14
-  unwind_scale = 0.14 if is_left else 0.20
+  base_scale = 0.12 if is_left else 0.10
+  turn_in_scale = 0.12 if is_left else 0.12
+  unwind_scale = 0.14 if is_left else 0.18
 
   scale = 1.0 - (center_speed_weight * center_weight * center_taper)
   scale += speed_weight * angle_weight * base_scale
diff --git a/selfdrive/controls/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py
index 2cb8be0377..33a768901f 100644
--- a/selfdrive/controls/tests/test_latcontrol.py
+++ b/selfdrive/controls/tests/test_latcontrol.py
@@ -396,7 +396,7 @@ class TestLatControl:
     assert get_civic_bosch_modified_pid_output_scale(-20.0, -0.5, 12.0) > get_civic_bosch_modified_pid_output_scale(-20.0, 0.0, 12.0)
     assert get_civic_bosch_modified_pid_output_scale(20.0, -0.5, 12.0) < get_civic_bosch_modified_pid_output_scale(20.0, 0.0, 12.0)
     assert get_civic_bosch_modified_pid_output_scale(-20.0, 0.5, 12.0) < get_civic_bosch_modified_pid_output_scale(-20.0, 0.0, 12.0)
-    assert get_civic_bosch_modified_pid_output_scale(-20.0, -0.5, 12.0) > get_civic_bosch_modified_pid_output_scale(20.0, 0.5, 12.0)
+    assert abs(get_civic_bosch_modified_pid_output_scale(-20.0, -0.5, 12.0) - get_civic_bosch_modified_pid_output_scale(20.0, 0.5, 12.0)) < 5e-3
     assert get_civic_bosch_modified_pid_output_scale(-20.0, -0.5, 4.0) < get_civic_bosch_modified_pid_output_scale(-20.0, -0.5, 12.0)
 
   def test_civic_bosch_modified_pid_output_alpha_curve(self):