different jerk limits

selfdrive/car/hyundai/carcontroller.py

@@ -146,7 +146,7 @@ class CarController(CarControllerBase):
 
       if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
         # TODO: unclear if this is needed
-        jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
+        jerk = 2.0 if actuators.longControlState == LongCtrlState.pid else 1.0
         use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
         self.create_accel_value(CC, accel)
         can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, self.accel_raw, self.accel_val, jerk,

selfdrive/car/hyundai/hyundaican.py

@@ -166,7 +166,7 @@ def create_acc_commands(packer, enabled, accel_raw, accel_val, upper_jerk, idx,
     "ComfortBandUpper": 0.0, # stock usually is 0 but sometimes uses higher values
     "ComfortBandLower": 0.0, # stock usually is 0 but sometimes uses higher values
     "JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values
-    "JerkLowerLimit": 5.0, # stock usually is 0.5 but sometimes uses higher values
+    "JerkLowerLimit": 3.0, # stock usually is 0.5 but sometimes uses higher values
     "ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
     "ObjGap": 2 if hud_control.leadVisible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
   }