From c79e2b3ad74fcca4a6011c1fb4bf3b498377e1c0 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Wed, 6 May 2026 13:54:16 -0500
Subject: [PATCH] i6

---
 selfdrive/controls/lib/latcontrol_torque.py | 28 ++++++++++-----------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index f9038791d..675bd534d 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -252,23 +252,23 @@ IONIQ_6_FF_CUTOFF = 0.48
 IONIQ_6_FF_CUTOFF_WIDTH = 0.12
 IONIQ_6_TRANSITION_SPEED = 10.0
 IONIQ_6_PHASE_SCALE = 0.10
-IONIQ_6_TURN_IN_BOOST_LEFT = 1.40
-IONIQ_6_TURN_IN_BOOST_RIGHT = 1.50
-IONIQ_6_UNWIND_TAPER_LEFT = 2.40
-IONIQ_6_UNWIND_TAPER_RIGHT = 5.40
+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_LAT_RISE = 0.20
 IONIQ_6_FRICTION_JERK_RISE = 0.24
-IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.56
-IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.82
-IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 2.80
-IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 6.70
-IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.30
-IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.50
-IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 2.55
-IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 6.10
-IONIQ_6_CENTER_TAPER_MAX = 0.060
-IONIQ_6_CENTER_TAPER_LAT = 0.21
+IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.60
+IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.90
+IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 2.90
+IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 6.95
+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_LAT_WIDTH = 0.02
 IONIQ_6_CENTER_TAPER_SPEED = 18.0
 IONIQ_6_CENTER_TAPER_SPEED_WIDTH = 2.5