From e36a9c6c61f8b04ff7c39634c59bd9807864913e Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Tue, 5 May 2026 19:53:18 -0500
Subject: [PATCH] ye

---
 opendbc_repo/opendbc/car/tesla/preap/nap_conf.py |  2 +-
 opendbc_repo/opendbc/car/tesla/preap/teslacan.py |  5 ++++-
 selfdrive/controls/lib/latcontrol_torque.py      | 16 ++++++++--------
 3 files changed, 13 insertions(+), 10 deletions(-)

diff --git a/opendbc_repo/opendbc/car/tesla/preap/nap_conf.py b/opendbc_repo/opendbc/car/tesla/preap/nap_conf.py
index 6dd9d8f0b..81ab47fcc 100644
--- a/opendbc_repo/opendbc/car/tesla/preap/nap_conf.py
+++ b/opendbc_repo/opendbc/car/tesla/preap/nap_conf.py
@@ -74,7 +74,7 @@ class NAPConf:
 
   @property
   def double_pull_window_ms(self) -> int:
-    return 400
+    return 500
 
   def get_pedal_profile_values(self) -> list[float]:
     return PEDAL_MAX_VALUES
diff --git a/opendbc_repo/opendbc/car/tesla/preap/teslacan.py b/opendbc_repo/opendbc/car/tesla/preap/teslacan.py
index f6b16936e..408f9555d 100644
--- a/opendbc_repo/opendbc/car/tesla/preap/teslacan.py
+++ b/opendbc_repo/opendbc/car/tesla/preap/teslacan.py
@@ -15,6 +15,7 @@ _STW_DEFAULTS = {
   "HrnSw_Psd": 0, "StW_Sw00_Psd": 0, "StW_Sw01_Psd": 0,
   "StW_Sw02_Psd": 0, "StW_Sw03_Psd": 0, "StW_Sw04_Psd": 0,
   "StW_Sw05_Psd": 0, "StW_Sw06_Psd": 0,
+  "WprSw6Posn": 0,
 }
 
 
@@ -87,7 +88,9 @@ class TeslaCANPreAP:
     else:
       values.update(_STW_DEFAULTS)
 
+    # Preserve the live stalk layout, but force VSL enable on engage/resume spoofs.
+    values["VSL_Enbl_Rq"] = 0 if button_to_press == 1 else 1
+
     data = self.packer.make_can_msg("STW_ACTN_RQ", bus, values)[1]
     values["CRC_STW_ACTN_RQ"] = _crc8_stw(data[:7])
     return self.packer.make_can_msg("STW_ACTN_RQ", bus, values)
-
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 2a8205aed..aa5b96e75 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -78,14 +78,14 @@ CIVIC_BOSCH_MODIFIED_A_VARIANT_UNWIND_FRICTION_REDUCTION_LEFT = 0.04
 CIVIC_BOSCH_MODIFIED_A_VARIANT_UNWIND_FRICTION_REDUCTION_RIGHT = 0.10
 CIVIC_BOSCH_MODIFIED_B_VARIANT_FF_REDUCTION_LEFT = 0.18
 CIVIC_BOSCH_MODIFIED_B_VARIANT_FF_REDUCTION_RIGHT = 0.28
-CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_BOOST_LEFT = 0.02
-CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_BOOST_RIGHT = 0.00
-CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_TAPER_LEFT = 0.50
-CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_TAPER_RIGHT = 0.62
-CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_FRICTION_BOOST_LEFT = 0.01
-CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_FRICTION_BOOST_RIGHT = 0.00
-CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_FRICTION_REDUCTION_LEFT = 0.32
-CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_FRICTION_REDUCTION_RIGHT = 0.46
+CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_BOOST_LEFT = 0.04
+CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_BOOST_RIGHT = 0.02
+CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_TAPER_LEFT = 0.62
+CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_TAPER_RIGHT = 0.78
+CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_FRICTION_BOOST_LEFT = 0.02
+CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_FRICTION_BOOST_RIGHT = 0.01
+CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_FRICTION_REDUCTION_LEFT = 0.40
+CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_FRICTION_REDUCTION_RIGHT = 0.60
 
 BOLT_2022_2023_CARS = (
   GM_CAR.CHEVROLET_BOLT_ACC_2022_2023,