From f132bd7b82cd2bb586efe833a438dc322004bf0a Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Mon, 4 May 2026 10:38:55 -0500
Subject: [PATCH] i6

---
 selfdrive/controls/lib/latcontrol_torque.py | 20 ++++++++++----------
 selfdrive/controls/tests/test_latcontrol.py |  8 ++++----
 2 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 0714ae012..1336f61ff 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -222,8 +222,8 @@ GENESIS_G90_UNWIND_FRICTION_REDUCTION_RIGHT = 0.22
 
 IONIQ_6_FF_GAIN_LEFT = 0.040
 IONIQ_6_FF_GAIN_RIGHT = 0.000
-IONIQ_6_BASE_LAT_ACCEL_FACTOR_MULT = 1.15
-IONIQ_6_BASE_FRICTION_THRESHOLD = 0.30
+IONIQ_6_BASE_LAT_ACCEL_FACTOR_MULT = 1.22
+IONIQ_6_BASE_FRICTION_THRESHOLD = 0.34
 IONIQ_6_FF_ONSET = 0.10
 IONIQ_6_FF_ONSET_WIDTH = 0.04
 IONIQ_6_FF_CUTOFF = 0.48
@@ -259,14 +259,14 @@ IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_WIDTH = 1.5
 IONIQ_6_DIRECTIONAL_TAPER_LAT_START = 0.15
 IONIQ_6_DIRECTIONAL_TAPER_LAT_END = 0.90
 IONIQ_6_DIRECTIONAL_TAPER_LAT_WIDTH = 0.08
-IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.10
-IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.40
-IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 1.20
-IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 2.30
-IONIQ_6_DIRECTIONAL_TAPER_FLOOR_LEFT = 0.54
-IONIQ_6_DIRECTIONAL_TAPER_FLOOR_RIGHT = 0.60
-IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_LEFT = 0.10
-IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_RIGHT = 0.04
+IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.14
+IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.46
+IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 1.32
+IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 2.55
+IONIQ_6_DIRECTIONAL_TAPER_FLOOR_LEFT = 0.50
+IONIQ_6_DIRECTIONAL_TAPER_FLOOR_RIGHT = 0.56
+IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_LEFT = 0.12
+IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_RIGHT = 0.06
 IONIQ_6_OUTPUT_TAPER_SPEED = 8.5
 IONIQ_6_OUTPUT_TAPER_SPEED_WIDTH = 2.5
 IONIQ_6_OUTPUT_CENTER_TAPER_BLEND = 0.90
diff --git a/selfdrive/controls/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py
index 0d103132d..bfd93ab96 100644
--- a/selfdrive/controls/tests/test_latcontrol.py
+++ b/selfdrive/controls/tests/test_latcontrol.py
@@ -260,7 +260,7 @@ class TestLatControl:
     assert get_ioniq_6_output_taper_scale(1.2, 0.0, 25.0) > 0.94
 
   def test_ioniq_6_friction_threshold_curve(self):
-    base = max(get_friction_threshold(6.0), 0.30)
+    base = max(get_friction_threshold(6.0), 0.34)
     left_turn_in = get_ioniq_6_friction_threshold(6.0, 0.5, 0.8)
     right_turn_in = get_ioniq_6_friction_threshold(6.0, -0.5, -0.8)
     left_unwind = get_ioniq_6_friction_threshold(6.0, 0.5, -0.8)
@@ -268,7 +268,7 @@ class TestLatControl:
     assert max(left_turn_in, right_turn_in) < base
     assert left_unwind >= base
     assert right_unwind >= base
-    assert get_ioniq_6_friction_threshold(25.0, 0.0, 0.0) >= 0.30
+    assert get_ioniq_6_friction_threshold(25.0, 0.0, 0.0) >= 0.34
 
   def test_ioniq_6_friction_scale_curve(self):
     base = get_ioniq_6_friction_scale(25.0, 0.5, 0.8)
@@ -369,7 +369,7 @@ class TestLatControl:
     _, _, lac_log = controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles)
 
     assert lac_log.active
-    assert controller.torque_params.latAccelFactor == pytest.approx(3.0 * 1.15)
+    assert controller.torque_params.latAccelFactor == pytest.approx(3.0 * 1.22)
 
   def test_ioniq_6_update_path_does_not_post_taper_output(self, monkeypatch):
     base_controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(HYUNDAI.HYUNDAI_IONIQ_6)
@@ -438,7 +438,7 @@ class TestLatControl:
 
     assert steady_left < 1.0
     assert steady_right < 1.0
-    assert steady_left < steady_right
+    assert steady_right < steady_left
     assert turn_in_left > steady_left
     assert turn_in_right > steady_right
     assert unwind_left < steady_left