From f81938639973247f5f3243ff2e738a1fd82a24b3 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Tue, 26 May 2026 22:20:19 -0500
Subject: [PATCH] happy wife happy life

---
 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 f9b9573bb..ee9e35c68 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -281,21 +281,21 @@ ELANTRA_NON_SCC_TURN_IN_BOOST_RIGHT = 0.12
 ELANTRA_NON_SCC_UNWIND_TAPER_LEFT = 0.22
 ELANTRA_NON_SCC_UNWIND_TAPER_RIGHT = 0.12
 
-KIA_FORTE_BASE_LAT_ACCEL_FACTOR_MULT = 1.08
-KIA_FORTE_FF_REDUCTION_LEFT = 0.08
-KIA_FORTE_FF_REDUCTION_RIGHT = 0.20
+KIA_FORTE_BASE_LAT_ACCEL_FACTOR_MULT = 1.10
+KIA_FORTE_FF_REDUCTION_LEFT = 0.10
+KIA_FORTE_FF_REDUCTION_RIGHT = 0.24
 KIA_FORTE_FF_ONSET = 0.16
 KIA_FORTE_FF_ONSET_WIDTH = 0.06
 KIA_FORTE_FF_CUTOFF = 1.20
 KIA_FORTE_FF_CUTOFF_WIDTH = 0.36
 KIA_FORTE_TRANSITION_SPEED = 9.0
 KIA_FORTE_PHASE_SCALE = 0.10
-KIA_FORTE_TURN_IN_BOOST_LEFT = 0.06
+KIA_FORTE_TURN_IN_BOOST_LEFT = 0.10
 KIA_FORTE_TURN_IN_BOOST_RIGHT = 0.00
-KIA_FORTE_UNWIND_TAPER_LEFT = 0.18
-KIA_FORTE_UNWIND_TAPER_RIGHT = 0.08
-KIA_FORTE_CENTER_TAPER_MAX = 0.11
-KIA_FORTE_CENTER_TAPER_LAT = 0.14
+KIA_FORTE_UNWIND_TAPER_LEFT = 0.26
+KIA_FORTE_UNWIND_TAPER_RIGHT = 0.04
+KIA_FORTE_CENTER_TAPER_MAX = 0.14
+KIA_FORTE_CENTER_TAPER_LAT = 0.16
 KIA_FORTE_CENTER_TAPER_LAT_WIDTH = 0.03
 KIA_FORTE_CENTER_TAPER_SPEED = 24.0
 KIA_FORTE_CENTER_TAPER_SPEED_WIDTH = 2.5
diff --git a/selfdrive/controls/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py
index 9da9f86af..1fabf9177 100644
--- a/selfdrive/controls/tests/test_latcontrol.py
+++ b/selfdrive/controls/tests/test_latcontrol.py
@@ -527,7 +527,7 @@ 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(CP.lateralTuning.torque.latAccelFactor * 1.08)
+    assert controller.torque_params.latAccelFactor == pytest.approx(CP.lateralTuning.torque.latAccelFactor * 1.10)
 
   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)