diff --git a/selfdrive/car/body/values.py b/selfdrive/car/body/values.py
index 66f1b947a8..551a786c76 100644
--- a/selfdrive/car/body/values.py
+++ b/selfdrive/car/body/values.py
@@ -17,6 +17,9 @@ class CarControllerParams:
   LKAS_MAX_TORQUE = 1               # A value of 1 is easy to overpower
   STEER_THRESHOLD = 1.0
 
+  def __init__(self, CP):
+    pass
+
 
 class CAR:
   BODY = "COMMA BODY"
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index 5a2d90c64c..8bb8d916c1 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -45,7 +45,7 @@ class CarController:
         self.hud_count += 1
 
     # steering
-    if self.frame % 2 == 0:
+    if self.frame % self.params.STEER_STEP == 0:
 
       # TODO: can we make this more sane? why is it different for all the cars?
       lkas_control_bit = self.lkas_control_bit_prev
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 3b3fc6e558..dd901d87ab 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -30,6 +30,7 @@ class CAR:
 
 class CarControllerParams:
   def __init__(self, CP):
+    self.STEER_STEP = 2  # 50 Hz
     self.STEER_ERROR_MAX = 80
     if CP.carFingerprint in RAM_HD:
       self.STEER_DELTA_UP = 14
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index 592d8586ca..b3c619859e 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -63,7 +63,7 @@ class CarController:
       apply_angle = CS.out.steeringAngleDeg
 
     # send steering commands at 20Hz
-    if (self.frame % CarControllerParams.LKAS_STEER_STEP) == 0:
+    if (self.frame % CarControllerParams.STEER_STEP) == 0:
       lca_rq = 1 if CC.latActive else 0
 
       # use LatCtlPath_An_Actl to actuate steering
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index 5820b5c9fd..3495976d99 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -17,7 +17,7 @@ AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_p
 
 class CarControllerParams:
   # Messages: Lane_Assist_Data1, LateralMotionControl
-  LKAS_STEER_STEP = 5
+  STEER_STEP = 5
   # Message: IPMA_Data
   LKAS_UI_STEP = 100
   # Message: ACCDATA_3
@@ -29,6 +29,9 @@ class CarControllerParams:
   RATE_LIMIT_UP = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., .8, .15])
   RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4])
 
+  def __init__(self, CP):
+    pass
+
 
 class RADAR:
   DELPHI_ESR = 'ford_fusion_2018_adas'
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index 21ede171e0..40c4595f13 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -49,6 +49,9 @@ class CarControllerParams:
   GAS_LOOKUP_V = [MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
   BRAKE_LOOKUP_V = [MAX_BRAKE, 0.]
 
+  def __init__(self, CP):
+    pass
+
 
 class CAR:
   HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 4225826c1d..b5f349cf9b 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -18,11 +18,12 @@ class CarControllerParams:
 
   def __init__(self, CP):
     self.STEER_DELTA_UP = 3
-    self.STEER_DELTA_DOWN = 7
+    self.STEER_DELTA_DOWN = 4
     self.STEER_DRIVER_ALLOWANCE = 50
     self.STEER_DRIVER_MULTIPLIER = 2
     self.STEER_DRIVER_FACTOR = 1
     self.STEER_THRESHOLD = 150
+    self.STEER_STEP = 1  # 100 Hz
 
     if CP.carFingerprint in CANFD_CAR:
       self.STEER_MAX = 270
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index 9befad4d0b..f4826d2785 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -20,6 +20,10 @@ class CarControllerParams:
   STEER_DRIVER_MULTIPLIER = 1     # weight driver torque
   STEER_DRIVER_FACTOR = 1         # from dbc
   STEER_ERROR_MAX = 350           # max delta between torque cmd and torque motor
+  STEER_STEP = 1  # 100 Hz
+
+  def __init__(self, CP):
+    pass
 
 
 class CAR:
diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py
index 09bd7ca838..0736bf95cd 100644
--- a/selfdrive/car/nissan/values.py
+++ b/selfdrive/car/nissan/values.py
@@ -18,6 +18,9 @@ class CarControllerParams:
   LKAS_MAX_TORQUE = 1               # A value of 1 is easy to overpower
   STEER_THRESHOLD = 1.0
 
+  def __init__(self, CP):
+    pass
+
 
 class CAR:
   XTRAIL = "NISSAN X-TRAIL 2017"
diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py
index 296169587a..1fc6f418a5 100644
--- a/selfdrive/car/tesla/values.py
+++ b/selfdrive/car/tesla/values.py
@@ -75,3 +75,6 @@ class CarControllerParams:
   JERK_LIMIT_MAX = 8
   JERK_LIMIT_MIN = -8
   ACCEL_TO_SPEED_MULTIPLIER = 3
+
+  def __init__(self, CP):
+    pass
diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py
index c8609acc5c..8a070cc1bb 100755
--- a/selfdrive/car/tests/test_lateral_limits.py
+++ b/selfdrive/car/tests/test_lateral_limits.py
@@ -1,8 +1,10 @@
 #!/usr/bin/env python3
+import argparse
 import random
 import unittest
 from parameterized import parameterized, parameterized_class
-from selfdrive.car.hyundai.values import CarControllerParams
+# from selfdrive.car.hyundai.values import CarControllerParams
+import importlib
 
 
 from cereal import car
@@ -25,17 +27,19 @@ jerks = defaultdict(dict)
 class TestLateralLimits(unittest.TestCase):
   @classmethod
   def setUpClass(cls):
-    # TODO: remove these once it works with all platforms
-    if not cls.car_model.startswith(('KIA', 'HYUNDAI', 'GENESIS')):
-      raise unittest.SkipTest
-
-    # if not cls.car_model.startswith('KIA EV6'):
-    #   raise unittest.SkipTest
-
     CarInterface, _, _ = interfaces[cls.car_model]
     CP = CarInterface.get_params(cls.car_model)
-    # TODO: just make all CCPs take CarParams
+
+    if CP.dashcamOnly:
+      raise unittest.SkipTest("Platform is behind dashcamOnly")
+
+    # TODO: test these
+    if CP.carName in ("honda", "nissan", "body"):
+      raise unittest.SkipTest("No steering safety")
+
+    CarControllerParams = importlib.import_module(f'selfdrive.car.{CP.carName}.values').CarControllerParams
     cls.control_params = CarControllerParams(CP)
+
     cls.torque_params = get_torque_params(cls.car_model)
 
   @classmethod
@@ -47,19 +51,28 @@ class TestLateralLimits(unittest.TestCase):
 
   def _calc_jerk(self):
     # TODO: some cars don't send at 100hz, put steer rate/step into CCP to calculate this properly
-    time_to_max = self.control_params.STEER_MAX / self.control_params.STEER_DELTA_UP / 100.
-    time_to_min = self.control_params.STEER_MAX / self.control_params.STEER_DELTA_DOWN / 100.
-    # TODO: fix this
-    max_lat_accel = (self.torque_params['LAT_ACCEL_FACTOR'] + self.torque_params['MAX_LAT_ACCEL_MEASURED']) / 2.
+    steer_step = self.control_params.STEER_STEP
+    time_to_max = self.control_params.STEER_MAX / self.control_params.STEER_DELTA_UP / 100. * steer_step
+    time_to_min = self.control_params.STEER_MAX / self.control_params.STEER_DELTA_DOWN / 100. * steer_step
+    max_lat_accel = self.torque_params['LAT_ACCEL_FACTOR']
 
     return max_lat_accel / time_to_max, max_lat_accel / time_to_min
 
-  def test_something(self):
+  def test_jerk_limits(self):
     up_jerk, down_jerk = self._calc_jerk()
     jerks[self.car_model] = {"up_jerk": up_jerk, "down_jerk": down_jerk}
-    # self.assertLess(up_jerk, 2.0)
-    # self.assertLess(down_jerk, 2.5)
+    self.assertLess(up_jerk, 2.5)
+    # self.assertGreater(down_jerk, 2.0)
 
 
 if __name__ == "__main__":
-  unittest.main()
+  parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser.add_argument("--print-jerks", action="store_true", help="Print theoretical max lateral jerk values for all platforms")
+
+  args = parser.parse_args()
+
+  if args.print_jerks:
+    # TODO: would be nice to support this
+    pass
+  else:
+    unittest.main()
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 94fbdc8bf2..7be2795a7a 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -21,6 +21,8 @@ class CarControllerParams:
   STEER_MAX = 1500
   STEER_ERROR_MAX = 350     # max delta between torque cmd and torque motor
 
+  STEER_STEP = 1
+
   def __init__(self, CP):
     if CP.lateralTuning.which == 'torque':
       self.STEER_DELTA_UP = 15       # 1.0s time to peak torque
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 5624c3dd5f..9e2d1ea5e7 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -30,7 +30,7 @@ class CarController:
 
     # **** Steering Controls ************************************************ #
 
-    if self.frame % self.CCP.HCA_STEP == 0:
+    if self.frame % self.CCP.STEER_STEP == 0:
       # Logic to avoid HCA state 4 "refused":
       #   * Don't steer unless HCA is in state 3 "ready" or 5 "active"
       #   * Don't steer at standstill
@@ -49,14 +49,14 @@ class CarController:
           self.hcaEnabledFrameCount = 0
         else:
           self.hcaEnabledFrameCount += 1
-          if self.hcaEnabledFrameCount >= 118 * (100 / self.CCP.HCA_STEP):  # 118s
+          if self.hcaEnabledFrameCount >= 118 * (100 / self.CCP.STEER_STEP):  # 118s
             hcaEnabled = False
             self.hcaEnabledFrameCount = 0
           else:
             hcaEnabled = True
             if self.apply_steer_last == apply_steer:
               self.hcaSameTorqueCount += 1
-              if self.hcaSameTorqueCount > 1.9 * (100 / self.CCP.HCA_STEP):  # 1.9s
+              if self.hcaSameTorqueCount > 1.9 * (100 / self.CCP.STEER_STEP):  # 1.9s
                 apply_steer -= (1, -1)[apply_steer < 0]
                 self.hcaSameTorqueCount = 0
             else:
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 05994c0100..c071c603a8 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -18,7 +18,7 @@ Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
 
 
 class CarControllerParams:
-  HCA_STEP = 2                            # HCA_01/HCA_1 message frequency 50Hz
+  STEER_STEP = 2                          # HCA_01/HCA_1 message frequency 50Hz
   ACC_CONTROL_STEP = 2                    # ACC_06/ACC_07/ACC_System frequency 50Hz
   ACC_HUD_STEP = 4                        # ACC_GRA_Anziege frequency 25Hz