Hyndai safety: tuned
const int HYUNDAI_MAX_STEER = 250;
const int HYUNDAI_MAX_RT_DELTA = 128; // max delta torque allowed for real time checks
const int32_t HYUNDAI_RT_INTERVAL = 250000; // 250ms between real time checks
-const int HYUNDAI_MAX_RATE_UP = 4;
-const int HYUNDAI_MAX_RATE_DOWN = 10;
+const int HYUNDAI_MAX_RATE_UP = 3;
+const int HYUNDAI_MAX_RATE_DOWN = 7;
const int HYUNDAI_DRIVER_TORQUE_ALLOWANCE = 50;
-const int HYUNDAI_DRIVER_TORQUE_FACTOR = 4;
+const int HYUNDAI_DRIVER_TORQUE_FACTOR = 2;
int hyundai_brake_prev = 0;
int hyundai_gas_prev = 0;
