diff --git a/opendbc b/opendbc
index 4a7ad636ff..d585a9bf29 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 4a7ad636ff806146a93f7ae541e463a7dfa5696d
+Subproject commit d585a9bf2908b2c83bf02b567b9e1f5bfc587a01
diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
index c492e6a5ff..43c9642342 100644
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -83,6 +83,7 @@ def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_ove
     "aReqRaw": a_raw,
     "VSetDis": set_speed,
     "JerkLowerLimit": jerk if enabled else 1,
+    "JerkUpperLimit": 3.0,
 
     "ACC_ObjDist": 1,
     "ObjValid": 0,
@@ -90,7 +91,6 @@ def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_ove
     "SET_ME_2": 0x4,
     "SET_ME_3": 0x3,
     "SET_ME_TMP_64": 0x64,
-    "NEW_SIGNAL_10": 4,
     "DISTANCE_SETTING": 4,
   }