diff --git a/common/fingerprints.py b/common/fingerprints.py
index 18cde90094..051ed7a702 100644
--- a/common/fingerprints.py
+++ b/common/fingerprints.py
@@ -127,7 +127,7 @@ def fingerprint(logcan):
   elif candidate_cars[0] == "HONDA ACCORD 2016 TOURING":
     ret.steerKp, ret.steerKi = 12.0, 1.0
   elif candidate_cars[0] == "HONDA CR-V 2016 TOURING":
-    ret.steerKp, ret.steerKi = 12.0, 1.0
+    ret.steerKp, ret.steerKi = 14.0, 1.67
   else:
     raise ValueError("unsupported car %s" % candidate_cars[0])
 
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index d0ea41c535..a87af94f7f 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -141,7 +141,7 @@ class CarController(object):
     GAS_MAX = 1004
     BRAKE_MAX = 1024/4
     if CS.crv:
-      STEER_MAX = 0xFFF/2
+      STEER_MAX = 0x380  # CR-V only uses 12-bits and requires a lower value
     else:
       STEER_MAX = 0xF00
     GAS_OFFSET = 328