From e22dba42a5d060dbbd8a0d384da924f12a4e7ea4 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Tue, 21 Apr 2026 23:03:29 -0500
Subject: [PATCH] volt and genesis

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

diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 3f4697ebd..d8830a646 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -168,35 +168,35 @@ VOLT_STANDARD_TURN_IN_FRICTION_BOOST_RIGHT = 0.10
 VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_LEFT = 0.02
 VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_RIGHT = 0.08
 VOLT_STANDARD_CENTER_TAPER_MAX = 0.11
-VOLT_STANDARD_CENTER_TAPER_LAT = 0.16
-VOLT_STANDARD_CENTER_TAPER_LAT_WIDTH = 0.03
+VOLT_STANDARD_CENTER_TAPER_LAT = 0.12
+VOLT_STANDARD_CENTER_TAPER_LAT_WIDTH = 0.02
 VOLT_STANDARD_CENTER_TAPER_SPEED = 17.0
 VOLT_STANDARD_CENTER_TAPER_SPEED_WIDTH = 2.5
 
 GENESIS_G90_LATERAL_TESTING_GROUND_ID = testing_ground.id_4
-GENESIS_G90_FF_GAIN_LEFT = 0.09
-GENESIS_G90_FF_GAIN_RIGHT = 0.06
-GENESIS_G90_FF_ONSET = 0.12
+GENESIS_G90_FF_GAIN_LEFT = 0.13
+GENESIS_G90_FF_GAIN_RIGHT = 0.10
+GENESIS_G90_FF_ONSET = 0.10
 GENESIS_G90_FF_ONSET_WIDTH = 0.05
-GENESIS_G90_FF_CUTOFF = 1.35
-GENESIS_G90_FF_CUTOFF_WIDTH = 0.25
+GENESIS_G90_FF_CUTOFF = 1.55
+GENESIS_G90_FF_CUTOFF_WIDTH = 0.30
 GENESIS_G90_TRANSITION_SPEED = 8.5
 GENESIS_G90_PHASE_SCALE = 0.12
-GENESIS_G90_TURN_IN_BOOST_LEFT = 0.06
-GENESIS_G90_TURN_IN_BOOST_RIGHT = 0.14
-GENESIS_G90_UNWIND_TAPER_LEFT = 0.08
-GENESIS_G90_UNWIND_TAPER_RIGHT = 0.12
-GENESIS_G90_FRICTION_MULT = 1.01
+GENESIS_G90_TURN_IN_BOOST_LEFT = 0.14
+GENESIS_G90_TURN_IN_BOOST_RIGHT = 0.22
+GENESIS_G90_UNWIND_TAPER_LEFT = 0.12
+GENESIS_G90_UNWIND_TAPER_RIGHT = 0.18
+GENESIS_G90_FRICTION_MULT = 1.02
 GENESIS_G90_FRICTION_LAT_RISE = 0.22
 GENESIS_G90_FRICTION_JERK_RISE = 0.24
-GENESIS_G90_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.06
-GENESIS_G90_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.10
-GENESIS_G90_UNWIND_THRESHOLD_INCREASE_LEFT = 0.06
-GENESIS_G90_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.10
-GENESIS_G90_TURN_IN_FRICTION_BOOST_LEFT = 0.03
-GENESIS_G90_TURN_IN_FRICTION_BOOST_RIGHT = 0.05
-GENESIS_G90_UNWIND_FRICTION_REDUCTION_LEFT = 0.06
-GENESIS_G90_UNWIND_FRICTION_REDUCTION_RIGHT = 0.08
+GENESIS_G90_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.10
+GENESIS_G90_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.14
+GENESIS_G90_UNWIND_THRESHOLD_INCREASE_LEFT = 0.08
+GENESIS_G90_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.14
+GENESIS_G90_TURN_IN_FRICTION_BOOST_LEFT = 0.05
+GENESIS_G90_TURN_IN_FRICTION_BOOST_RIGHT = 0.08
+GENESIS_G90_UNWIND_FRICTION_REDUCTION_LEFT = 0.07
+GENESIS_G90_UNWIND_FRICTION_REDUCTION_RIGHT = 0.11
 
 KIA_EV6_LATERAL_TESTING_GROUND_ID = testing_ground.id_6
 KIA_EV6_LATERAL_TESTING_GROUND_VARIANT = "C"