diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index c2cadc896a..c189821253 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -53,12 +53,13 @@ class CarInterface(CarInterfaceBase):
       ret.experimentalLongitudinalAvailable = True
       ret.stopAccel = -.5
       ret.vEgoStarting = .2
+      ret.longitudinalActuatorDelay = 0.35 # gas is 0.25s and brake looks like 0.5
       ret.longitudinalTuning.kpBP = [0., 5., 35.]
       ret.longitudinalTuning.kpV = [0.0, 0.0, 0.0]
       ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.1, 0.1]
+      ret.longitudinalTuning.kiV = [0.01, 0.01]
       ret.startingState = True
-      ret.steerActuatorDelay = 0.3
+      ret.steerActuatorDelay = 0.335
       if p.get_bool("ManualTransmission"):
         ret.flags |= MazdaFlags.MANUAL_TRANSMISSION.value