diff --git a/opendbc_repo b/opendbc_repo
index 5a2d1aeef3..6904a8c41d 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 5a2d1aeef3c89be54d65d057dfb93ea6ce6cfd1d
+Subproject commit 6904a8c41d2c64830c7c53d442e671b9c995e106
diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py
index 808c9a659a..a7d0403248 100644
--- a/selfdrive/controls/lib/latcontrol_angle.py
+++ b/selfdrive/controls/lib/latcontrol_angle.py
@@ -11,7 +11,7 @@ class LatControlAngle(LatControl):
   def __init__(self, CP, CI, dt):
     super().__init__(CP, CI, dt)
     self.sat_check_min_speed = 5.
-    self.use_steer_limited_by_safety = CP.brand == "tesla"
+    self.use_steer_limited_by_safety = CP.brand in ("tesla", "hyundai")
 
   def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay):
     angle_log = log.ControlsState.LateralAngleState.new_message()