diff --git a/panda b/panda
index f120999e19..38257a93e4 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit f120999e19fed7208534ae74b542b5cca6bafeaa
+Subproject commit 38257a93e4733819a109a4ef52efed1bbeb45cc4
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 7fb8363a67..b816614879 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -29,6 +29,8 @@ class CarControllerParams:
       self.STEER_DRIVER_ALLOWANCE = 250
       self.STEER_DRIVER_MULTIPLIER = 2
       self.STEER_THRESHOLD = 250
+      self.STEER_DELTA_UP = 2
+      self.STEER_DELTA_DOWN = 3
 
     # To determine the limit for your car, find the maximum value that the stock LKAS will request.
     # If the max stock LKAS request is <384, add your car to this list.
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index d0c769a0b0..b25e2fecfc 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-3ad478bf44f50815d05acc5b12ff2f01a6cb42ff
+dac3c51684e101672bc27df13e76577103531e30
\ No newline at end of file