From 7f06773c26f1a072efad53a061ffb798510d0ae4 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 22 Jul 2024 23:22:33 -0400
Subject: [PATCH] higher jerk limits

---
 selfdrive/car/hyundai/carcontroller.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 53aa9b6111..028bc796d6 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -513,7 +513,7 @@ class CarController(CarControllerBase):
         self.jerk_l = min(max(1.0, -jerk * 3.0), jerkLimit)
     else:
       startingJerk = self.jerkStartLimit
-      jerkLimit = 3.0
+      jerkLimit = 5.0
       self.jerk_count += DT_CTRL
       jerk_max = interp(self.jerk_count, [0, 1.5, 2.5], [startingJerk, startingJerk, jerkLimit])
       self.cb_upper = self.cb_lower = 0