From f06c82b2b84042c1be9e484f7e9e11ec2e67fb44 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Thu, 28 May 2026 14:19:03 -0500
Subject: [PATCH] ev6

---
 selfdrive/controls/lib/latcontrol_torque.py | 16 ++++++++--------
 selfdrive/controls/tests/test_latcontrol.py |  2 +-
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index ee9e35c68..c9e4ebed6 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -444,7 +444,7 @@ IONIQ_6_OUTPUT_DIRECTIONAL_TAPER_BLEND = 0.97
 KIA_EV6_LATERAL_TESTING_GROUND_ID = testing_ground.id_6
 KIA_EV6_LATERAL_TESTING_GROUND_VARIANT = "C"
 KIA_EV6_FF_GAIN_LEFT = 0.07
-KIA_EV6_FF_GAIN_RIGHT = 0.085
+KIA_EV6_FF_GAIN_RIGHT = 0.075
 KIA_EV6_FF_ONSET = 0.08
 KIA_EV6_FF_ONSET_WIDTH = 0.04
 KIA_EV6_FF_CUTOFF = 0.60
@@ -452,20 +452,20 @@ KIA_EV6_FF_CUTOFF_WIDTH = 0.14
 KIA_EV6_TRANSITION_SPEED = 11.0
 KIA_EV6_PHASE_SCALE = 0.09
 KIA_EV6_TURN_IN_BOOST_LEFT = 0.14
-KIA_EV6_TURN_IN_BOOST_RIGHT = 0.22
-KIA_EV6_UNWIND_TAPER_LEFT = 0.34
-KIA_EV6_UNWIND_TAPER_RIGHT = 0.44
+KIA_EV6_TURN_IN_BOOST_RIGHT = 0.16
+KIA_EV6_UNWIND_TAPER_LEFT = 0.40
+KIA_EV6_UNWIND_TAPER_RIGHT = 0.36
 KIA_EV6_FRICTION_MULT = 1.01
 KIA_EV6_FRICTION_LAT_RISE = 0.18
 KIA_EV6_FRICTION_JERK_RISE = 0.22
 KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.10
 KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.14
-KIA_EV6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.18
-KIA_EV6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.24
+KIA_EV6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.22
+KIA_EV6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.18
 KIA_EV6_TURN_IN_FRICTION_BOOST_LEFT = 0.03
 KIA_EV6_TURN_IN_FRICTION_BOOST_RIGHT = 0.05
-KIA_EV6_UNWIND_FRICTION_REDUCTION_LEFT = 0.18
-KIA_EV6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.22
+KIA_EV6_UNWIND_FRICTION_REDUCTION_LEFT = 0.22
+KIA_EV6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.16
 KIA_EV6_CENTER_TAPER_MAX = 0.08
 KIA_EV6_CENTER_TAPER_LAT = 0.16
 KIA_EV6_CENTER_TAPER_LAT_WIDTH = 0.035
diff --git a/selfdrive/controls/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py
index 1fabf9177..8984de667 100644
--- a/selfdrive/controls/tests/test_latcontrol.py
+++ b/selfdrive/controls/tests/test_latcontrol.py
@@ -426,7 +426,7 @@ class TestLatControl:
     right_turn_in = get_kia_ev6_friction_threshold(6.0, -0.5, -0.8)
     left_unwind = get_kia_ev6_friction_threshold(6.0, 0.5, -0.8)
     right_unwind = get_kia_ev6_friction_threshold(6.0, -0.5, 0.8)
-    assert right_turn_in < left_turn_in < base < left_unwind < right_unwind
+    assert right_turn_in < left_turn_in < base < right_unwind < left_unwind
 
   def test_kia_ev6_friction_scale_curve(self):
     base = get_kia_ev6_friction_scale(25.0, 0.5, 0.8)