lower some rates on hkg

selfdrive/car/hyundai/values.py

@@ -18,7 +18,7 @@ class CarControllerParams:
 
   def __init__(self, CP):
     self.STEER_DELTA_UP = 3
-    self.STEER_DELTA_DOWN = 7
+    self.STEER_DELTA_DOWN = 3
     self.STEER_DRIVER_ALLOWANCE = 50
     self.STEER_DRIVER_MULTIPLIER = 2
     self.STEER_DRIVER_FACTOR = 1
@@ -27,6 +27,8 @@ class CarControllerParams:
 
     if CP.carFingerprint in CANFD_CAR:
       self.STEER_MAX = 270
+      self.STEER_DELTA_UP = 2
+      self.STEER_DELTA_DOWN = 2
       self.STEER_DRIVER_ALLOWANCE = 250
       self.STEER_DRIVER_MULTIPLIER = 2
       self.STEER_THRESHOLD = 250

selfdrive/car/tests/test_lateral_limits.py

@@ -10,7 +10,7 @@ from selfdrive.car.interfaces import get_torque_params
 
 
 MAX_LAT_UP_JERK = 2.5  # m/s^3
-MAX_LAT_UP_JERK_TOLERANCE = 0.1  # m/s^3
+MAX_LAT_UP_JERK_TOLERANCE = 0.5  # m/s^3
 MIN_LAT_DOWN_JERK = 2.0  # m/s^3