From b17bba7e93cabc089ff75dccc49cde6d8eec604a Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Wed, 20 May 2026 10:59:38 -0500
Subject: [PATCH] Ioniq 6

---
 selfdrive/controls/lib/latcontrol_torque.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index e3536c43f..7f3c189ad 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -401,8 +401,8 @@ IONIQ_6_DIRECTIONAL_TAPER_FLOOR_LEFT = 0.48
 IONIQ_6_DIRECTIONAL_TAPER_FLOOR_RIGHT = 0.52
 IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_LEFT = 0.10
 IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_RIGHT = 0.04
-IONIQ_6_DIRECTIONAL_TAPER_JERK_ONSET = 0.45
-IONIQ_6_DIRECTIONAL_TAPER_JERK_WIDTH = 0.10
+IONIQ_6_DIRECTIONAL_TAPER_JERK_ONSET = 0.60
+IONIQ_6_DIRECTIONAL_TAPER_JERK_WIDTH = 0.14
 IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF = 0.30
 IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_SPEED = 13.5
 IONIQ_6_DIRECTIONAL_TAPER_LOW_SPEED_RELIEF_SPEED_WIDTH = 2.0