Tucson (and other Hyundai CAN-FD HDA2 cars) get pinned to comma's
conservative steer ceiling of 270 in the CAN-FD branch of
selfdrive/car/hyundai/values.py and the matching panda safety limit
HYUNDAI_CANFD_STEERING_LIMITS. Comma's non-CAN-FD HKG default is 384;
PR commaai/openpilot#25723 merged 384 for HDA1 EV6/Ioniq 5 with
operator quote "max steer needed to be 384 to make basic turns."
Bumping to 324 (~+20%) keeps a safe margin under the proven 384
ceiling while giving enough headroom for moderate clover-style on-ramps
without the controller hitting the limit. Rate limits also nudged up
(2->3 up, 3->5 down) to match the slightly higher ceiling and reduce
ramp time / release lag; chose 5 instead of comma's 7 for delta_down to
keep release smoother. max_rt_delta scaled proportionally (112->134) so
the 250ms real-time check tracks the new ceiling.
Both files MUST stay in lockstep — panda safety enforces independently
and would reject larger commands if only one side was bumped. Panda
firmware re-flashes automatically on next pandad start because the
safety code hash changed.
References:
https://github.com/commaai/openpilot/pull/25723 (HDA1 270->384)
https://github.com/commaai/openpilot/issues/24122 (HKG torque blacklist)
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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