From 85986542f08165991a795687b42e4b5ec3bcc363 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 27 Apr 2024 03:35:11 -0400
Subject: [PATCH 1/2] adjust steering threshold

---
 panda                           | 2 +-
 selfdrive/car/hyundai/values.py | 7 ++-----
 2 files changed, 3 insertions(+), 6 deletions(-)

diff --git a/panda b/panda
index 70f326fcd1..11674ab671 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 70f326fcd127b0b49a7e01a6285888ead7659014
+Subproject commit 11674ab6712b4843599d5c570d7fc9eaa0b69769
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index d991ea84e7..ee5231fbe2 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -33,11 +33,6 @@ class CarControllerParams:
       self.STEER_DELTA_UP = 2
       self.STEER_DELTA_DOWN = 3
 
-    elif CP.carFingerprint in CAN_CANFD_HYBRID_CAR:
-      self.STEER_MAX = 270
-      self.STEER_DELTA_UP = 2
-      self.STEER_DELTA_DOWN = 3
-
     # To determine the limit for your car, find the maximum value that the stock LKAS will request.
     # If the max stock LKAS request is <384, add your car to this list.
     elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.HYUNDAI_ELANTRA, CAR.HYUNDAI_ELANTRA_GT_I30, CAR.HYUNDAI_IONIQ,
@@ -54,6 +49,8 @@ class CarControllerParams:
     # Default for most HKG
     else:
       self.STEER_MAX = 384
+      if CAN_CANFD_HYBRID_CAR:
+        self.STEER_DRIVER_ALLOWANCE = 250
 
 
 class HyundaiFlags(IntFlag):

From 323956d37cfe62a14a3e01927ee7ddf3bf8b0e5e Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 27 Apr 2024 03:37:49 -0400
Subject: [PATCH 2/2] adjust steering threshold limits

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 11674ab671..6c25912c89 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 11674ab6712b4843599d5c570d7fc9eaa0b69769
+Subproject commit 6c25912c89bb3e3791e1b3814f7b0dc5cc04f784