From 5e3cf24afee785e7576e1fcaa3256da5962b613c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 22 Jul 2024 16:25:51 -0400
Subject: [PATCH] update rate of change properly

---
 selfdrive/car/hyundai/carcontroller.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index ee700ffc9c..f41a10c841 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -534,8 +534,10 @@ class CarController(CarControllerBase):
         self.cb_lower = clip(0.8 + accel * 0.2, 0, 1.2)
 
   def make_accel(self, accel, actuators):
+    rate_up = 0.02 * self.jerk_u
+    rate_down = 0.02 * self.jerk_l
     if actuators.longControlState == LongCtrlState.off:
       self.accel_val = 0
     else:
-      self.accel_val = clip(accel, self.accel_last - 0.1, self.accel_last + 0.1)
+      self.accel_val = clip(accel, self.accel_last - rate_down, self.accel_last + rate_up)
     self.accel_last = self.accel_val