diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 9af39af085..a8d0f9d5c1 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -144,13 +144,19 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
     elif candidate == CAR.KIA_SELTOS:
-      ret.lateralTuning.pid.kf = 0.00005
-      ret.mass = 1310. + STD_CARGO_KG
-      ret.wheelbase = 2.6
-      ret.steerRatio = 13.73  # Spec
-      tire_stiffness_factor = 0.5
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+      ret.mass = 1337. + STD_CARGO_KG
+      ret.wheelbase = 2.63
+      ret.steerRatio = 14.56
+      tire_stiffness_factor = 1
+      ret.lateralTuning.init('indi')
+      ret.lateralTuning.indi.innerLoopGainBP = [0.]
+      ret.lateralTuning.indi.innerLoopGainV = [4.]
+      ret.lateralTuning.indi.outerLoopGainBP = [0.]
+      ret.lateralTuning.indi.outerLoopGainV = [3.]
+      ret.lateralTuning.indi.timeConstantBP = [0.]
+      ret.lateralTuning.indi.timeConstantV = [1.4]
+      ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
+      ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
     elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3558. * CV.LB_TO_KG
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 1c0761a419..4de10ea269 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -7,7 +7,7 @@ Ecu = car.CarParams.Ecu
 # Steer torque limits
 class CarControllerParams:
   def __init__(self, CP):
-    if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70, CAR.IONIQ_EV_2020, CAR.KIA_CEED]:
+    if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70, CAR.IONIQ_EV_2020, CAR.KIA_CEED, CAR.KIA_SELTOS]:
       self.STEER_MAX = 384
     else:
       self.STEER_MAX = 255
@@ -271,11 +271,11 @@ FW_VERSIONS = {
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\xf1\x81606EA051\x00\x00\x00\x00\x00\x00\x00\x00',      
+      b'\xf1\x81606EA051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00TM  MDPS C 1.00 1.01 56340-S2000 9129',
-      b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8409',      
+      b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8409',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00TM  MFC  AT USA LHD 1.00 1.00 99211-S2000 180409',