From 89d3a0ef233ca898ae7c2826c6adf0d4df226ae7 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Wed, 8 Apr 2026 15:55:51 -0500
Subject: [PATCH] 2022

---
 selfdrive/controls/lib/latcontrol_torque.py | 16 ++++++++--------
 selfdrive/controls/tests/test_latcontrol.py |  5 +++--
 2 files changed, 11 insertions(+), 10 deletions(-)

diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 7a583d92..3c4a6ff7 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -98,27 +98,27 @@ BOLT_2018_2021_UNWIND_FRICTION_REDUCTION_LEFT = 0.14
 BOLT_2018_2021_UNWIND_FRICTION_REDUCTION_RIGHT = 0.19
 
 BOLT_2022_2023_LATERAL_TESTING_GROUND_ID = testing_ground.id_5
-BOLT_2022_2023_FF_GAIN_LEFT = 0.11
-BOLT_2022_2023_FF_GAIN_RIGHT = 0.08
+BOLT_2022_2023_FF_GAIN_LEFT = 0.13
+BOLT_2022_2023_FF_GAIN_RIGHT = 0.07
 BOLT_2022_2023_FF_ONSET = 0.12
 BOLT_2022_2023_FF_ONSET_WIDTH = 0.07
 BOLT_2022_2023_FF_CUTOFF = 1.35
 BOLT_2022_2023_FF_CUTOFF_WIDTH = 0.28
 BOLT_2022_2023_TRANSITION_SPEED = 9.0
 BOLT_2022_2023_PHASE_SCALE = 0.12
-BOLT_2022_2023_TURN_IN_BOOST_LEFT = 0.05
-BOLT_2022_2023_TURN_IN_BOOST_RIGHT = 0.10
+BOLT_2022_2023_TURN_IN_BOOST_LEFT = 0.12
+BOLT_2022_2023_TURN_IN_BOOST_RIGHT = 0.06
 BOLT_2022_2023_UNWIND_TAPER_LEFT = 0.24
 BOLT_2022_2023_UNWIND_TAPER_RIGHT = 0.20
 BOLT_2022_2023_FRICTION_MULT = 1.15
 BOLT_2022_2023_FRICTION_LAT_RISE = 0.22
 BOLT_2022_2023_FRICTION_JERK_RISE = 0.26
-BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.08
-BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.11
+BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.14
+BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.08
 BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_LEFT = 0.16
 BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.13
-BOLT_2022_2023_TURN_IN_FRICTION_BOOST_LEFT = 0.04
-BOLT_2022_2023_TURN_IN_FRICTION_BOOST_RIGHT = 0.06
+BOLT_2022_2023_TURN_IN_FRICTION_BOOST_LEFT = 0.08
+BOLT_2022_2023_TURN_IN_FRICTION_BOOST_RIGHT = 0.04
 BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_LEFT = 0.17
 BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_RIGHT = 0.14
 
diff --git a/selfdrive/controls/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py
index e1eda53c..fc137ea7 100644
--- a/selfdrive/controls/tests/test_latcontrol.py
+++ b/selfdrive/controls/tests/test_latcontrol.py
@@ -91,6 +91,7 @@ class TestLatControl:
   def test_bolt_2022_2023_ff_scale_curve(self):
     assert get_bolt_2022_2023_ff_scale(0.0, 0.0, 20.0) == 1.0
     assert get_bolt_2022_2023_ff_scale(0.5, 0.0, 20.0) > get_bolt_2022_2023_ff_scale(-0.5, 0.0, 20.0)
+    assert get_bolt_2022_2023_ff_scale(0.6, 0.7, 8.0) > get_bolt_2022_2023_ff_scale(-0.6, -0.7, 8.0)
     assert get_bolt_2022_2023_ff_scale(-0.6, -0.7, 8.0) > get_bolt_2022_2023_ff_scale(-0.6, 0.0, 8.0)
     assert get_bolt_2022_2023_ff_scale(0.6, -0.7, 8.0) < get_bolt_2022_2023_ff_scale(0.6, 0.0, 8.0)
 
@@ -100,7 +101,7 @@ class TestLatControl:
     right_turn_in = get_bolt_2022_2023_friction_threshold(6.0, -0.7, -0.8)
     left_unwind = get_bolt_2022_2023_friction_threshold(6.0, 0.7, -0.8)
     right_unwind = get_bolt_2022_2023_friction_threshold(6.0, -0.7, 0.8)
-    assert right_turn_in < left_turn_in < base < right_unwind < left_unwind
+    assert left_turn_in < right_turn_in < base < right_unwind < left_unwind
 
   def test_bolt_2022_2023_friction_scale_curve(self):
     base = get_bolt_2022_2023_friction_scale(25.0, 0.7, 0.8)
@@ -108,7 +109,7 @@ class TestLatControl:
     right_turn_in = get_bolt_2022_2023_friction_scale(6.0, -0.7, -0.8)
     left_unwind = get_bolt_2022_2023_friction_scale(6.0, 0.7, -0.8)
     right_unwind = get_bolt_2022_2023_friction_scale(6.0, -0.7, 0.8)
-    assert right_turn_in > left_turn_in > base
+    assert left_turn_in > right_turn_in > base
     assert base > right_unwind > left_unwind
 
   def test_bolt_2017_testing_ground_update_path(self, monkeypatch):