diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index bb8ac4b37983eb..d61462222990b6 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -347,7 +347,7 @@ def get_params(candidate, fingerprint):
       ret.longitudinalKiV = [0.18, 0.12]
 
     else:
-      raise ValueError("unsupported car %s" % candidate)
+      raise ValueError("unsupported car %s" % candidate)    
 
     ret.steerControlType = car.CarParams.SteerControlType.torque
 
diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
index 4ed3118534ccc5..7b7118ccf77a36 100644
--- a/selfdrive/controls/lib/latcontrol.py
+++ b/selfdrive/controls/lib/latcontrol.py
@@ -4,6 +4,7 @@
 from cereal import car
 import math
 import numpy as np
+from selfdrive.kegman_conf import kegman_conf
 
 _DT = 0.01    # 100Hz
 _DT_MPC = 0.05  # 20Hz
@@ -25,7 +26,30 @@ def apply_deadzone(angle, deadzone):
 
 class LatControl(object):
   def __init__(self, CP):
-
+    
+    kegman = kegman_conf()
+    self.write_conf = False
+    
+    if kegman.conf['react'] == "-1":
+      kegman.conf['react'] = str(CP.steerReactance)
+      self.write_conf = True
+    if kegman.conf['damp'] == "-1":
+      kegman.conf['damp'] = str(CP.steerInductance)
+      self.write_conf = True
+    if kegman.conf['resist'] == "-1":
+      kegman.conf['resist'] = str(CP.steerResistance)
+      self.write_conf = True
+    if kegman.conf['Kp'] == "-1":
+      kegman.conf['Kp'] = str(round(CP.steerKpV[0],2))
+      self.write_conf = True
+    if kegman.conf['Ki'] == "-1":
+      kegman.conf['Ki'] = str(round(CP.steerKiV[0],2))
+      self.write_conf = True
+          
+    if self.write_conf:
+      kegman.write_config(kegman.conf)
+    
+    self.mpc_frame = 0
     if CP.steerResistance > 0 and CP.steerReactance >= 0 and CP.steerInductance > 0:
       self.smooth_factor = CP.steerInductance * 2.0 * CP.steerActuatorDelay / _DT    # Multiplier for inductive component (feed forward)
       self.projection_factor = CP.steerReactance * CP.steerActuatorDelay / 2.0       # Mutiplier for reactive component (PI)
@@ -62,8 +86,36 @@ def __init__(self, CP):
   def reset(self):
     self.pid.reset()
 
+    
+  def live_tune(self, CP):
+    self.mpc_frame += 1
+    if self.mpc_frame % 300 == 0:
+      # live tuning through /data/openpilot/tune.py overrides interface.py settings
+      kegman = kegman_conf() 
+      if kegman.conf['tuneGernby'] == "1":
+        self.reactance = float(kegman.conf['react']) 
+        self.inductance = float(kegman.conf['damp'])
+        self.resistance = float(kegman.conf['resist'])
+        self.steerKpV = np.array([float(kegman.conf['Kp'])])
+        self.steerKiV = np.array([float(kegman.conf['Ki'])])
+          
+        self.accel_limit = 2.0 / self.resistance
+        self.projection_factor = self.reactance * CP.steerActuatorDelay / 2.0
+        self.smooth_factor = self.inductance * 2.0 * CP.steerActuatorDelay / _DT
+      
+        # Eliminate break-points, since they aren't needed (and would cause problems for resonance)
+        #KpV = [np.interp(25.0, CP.steerKpBP, self.steerKpV)]
+        KpV = [np.interp(25.0, CP.steerKpBP, self.steerKpV)]
+        #KiV = [np.interp(25.0, CP.steerKiBP, self.steerKiV)]
+        KiV = [np.interp(25.0, CP.steerKiBP, self.steerKiV)]
+        self.pid = PIController(([0.], KpV),
+                                ([0.], KiV),
+                                k_f=CP.steerKf, pos_limit=1.0)
+
+    
   def update(self, active, v_ego, angle_steers, angle_rate, angle_offset, steer_override, CP, VM, path_plan):
 
+    self.live_tune(CP)  
     if angle_rate == 0.0 and self.calculate_rate:
       if angle_steers != self.prev_angle_steers:
         self.steer_counter_prev = self.steer_counter
diff --git a/selfdrive/kegman_conf.py b/selfdrive/kegman_conf.py
index e269c77e45ddde..1a10d4127324a8 100644
--- a/selfdrive/kegman_conf.py
+++ b/selfdrive/kegman_conf.py
@@ -11,15 +11,21 @@ def read_config(self):
     if os.path.isfile('/data/kegman.json'):
       with open('/data/kegman.json', 'r') as f:
         self.config = json.load(f)
+        
       if "battPercOff" not in self.config:
         self.config.update({"battPercOff":"25"})
-        self.element_updated = True
-      if "carVoltageMinEonShutdown" not in self.config:
         self.config.update({"carVoltageMinEonShutdown":"11800"})
-        self.element_updated = True
-      if "brakeStoppingTarget" not in self.config:
         self.config.update({"brakeStoppingTarget":"0.25"})
         self.element_updated = True
+ 
+      if "tuneGernby" not in self.config:
+        self.config.update({"tuneGernby":"0"})
+        self.config.update({"react":"-1"})
+        self.config.update({"damp":"-1"})
+        self.config.update({"resist":"-1"})
+        self.config.update({"Kp":"-1"})
+        self.config.update({"Ki":"-1"})    
+        self.element_updated = True 
       
       # Force update battery charge limits to higher values for Big Model
       #if self.config['battChargeMin'] != "75":
@@ -31,7 +37,10 @@ def read_config(self):
         self.write_config(self.config)
 
     else:
-      self.config = {"cameraOffset":"0.06", "lastTrMode":"1", "battChargeMin":"85", "battChargeMax":"90", "wheelTouchSeconds":"180", "battPercOff":"25", "carVoltageMinEonShutdown":"11800", "brakeStoppingTarget":"0.25" }
+      self.config = {"cameraOffset":"0.06", "lastTrMode":"1", "battChargeMin":"60", "battChargeMax":"70", \
+                     "wheelTouchSeconds":"180", "battPercOff":"25", "carVoltageMinEonShutdown":"11800", \
+                     "brakeStoppingTarget":"0.25", "tuneGernby":"0", "react":"-1", "damp":"-1", \
+                     "resist":"-1", "Kp":"-1", "Ki":"-1"}
       self.write_config(self.config)
     return self.config
 
diff --git a/selfdrive/visiond/visiond b/selfdrive/visiond/visiond
index ff58f7f6a6c556..1f630853ad8870 100755
Binary files a/selfdrive/visiond/visiond and b/selfdrive/visiond/visiond differ
diff --git a/tune.py b/tune.py
new file mode 100644
index 00000000000000..7c5979be8b3a6d
--- /dev/null
+++ b/tune.py
@@ -0,0 +1,113 @@
+from selfdrive.kegman_conf import kegman_conf
+
+letters = { "a":[ "###", "# #", "###", "# #", "# #"], "b":[ "###", "# #", "###", "# #", "###"], "c":[ "###", "#", "#", "#", "###"], "d":[ "##", "# #", "# #", "# #", "##"], "e":[ "###", "#", "###", "#", "###"], "f":[ "###", "#", "###", "#", "#"], "g":[ "###", "# #", "###", "  #", "###"], "h":[ "# #", "# #", "###", "# #", "# #"], "i":[ "###", " #", " #", " #", "###"], "j":[ "###", " #", " #", " #", "##"], "k":[ "# #", "##", "#", "##", "# #"], "l":[ "#", "#", "#", "#", "###"], "m":[ "# #", "###", "###", "# #", "# #"], "n":[ "###", "# #", "# #", "# #", "# #"], "o":[ "###", "# #", "# #", "# #", "###"], "p":[ "###", "# #", "###", "#", "#"], "q":[ "###", "# #", "###", "  #", "  #"], "r":[ "###", "# #", "##", "# #", "# #"], "s":[ "###", "#", "###", "  #", "###"], "t":[ "###", " #", " #", " #", " #"], "u":[ "# #", "# #", "# #", "# #", "###"], "v":[ "# #", "# #", "# #", "# #", " #"], "w":[ "# #", "# #", "# #", "###", "###"], "x":[ "# #", " #", " #", " #", "# #"], "y":[ "# #", "# #", "###", "  #", "###"], "z":[ "###", "  #", " #", "#", "###"], " ":[ " "], "1":[ " #", "##", " #", " #", "###"], "2":[ "###", "  #", "###", "#", "###"], "3":[ "###", "  #", "###", "  #", "###"], "4":[ "#", "#", "# #", "###", "  #"], "5":[ "###", "#", "###", "  #", "###"], "6":[ "###", "#", "###", "# #", "###"], "7":[ "###", "  # ", " #", " #", "#"], "8":[ "###", "# #", "###", "# #", "###"], "9":[ "###", "# #", "###", "  #", "###"], "0":[ "###", "# #", "# #", "# #", "###"], "!":[ " # ", " # ", " # ", "   ", " # "], "?":[ "###", "  #", " ##", "   ", " # "], ".":[ "   ", "   ", "   ", "   ", " # "], "]":[ "   ", "   ", "   ", "  #", " # "], "/":[ "  #", "  #", " # ", "# ", "# "], ":":[ "   ", " # ", "   ", " # ", "   "], "@":[ "###", "# #", "## ", "#  ", "###"], "'":[ " # ", " # ", "   ", "   ", "   "], "#":[ " # ", "###", " # ", "###", " # "], "-":[ "  ", "  ","###","   ","   "] }
+# letters stolen from here: http://www.stuffaboutcode.com/2013/08/raspberry-pi-minecraft-twitter.html
+
+def print_letters(text):
+    bigletters = []
+    for i in text:
+        bigletters.append(letters.get(i.lower(),letters[' ']))
+    output = ['']*5
+    for i in range(5):
+        for j in bigletters:
+            temp = ' '
+            try:
+                temp = j[i]
+            except:
+                pass
+            temp += ' '*(5-len(temp))
+            temp = temp.replace(' ',' ')
+            temp = temp.replace('#','@')
+            output[i] += temp
+    return '\n'.join(output)
+import sys, termios, tty, os, time
+ 
+def getch():
+    fd = sys.stdin.fileno()
+    old_settings = termios.tcgetattr(fd)
+    try:
+        tty.setraw(sys.stdin.fileno())
+        ch = sys.stdin.read(1)
+ 
+    finally:
+        termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
+    return ch
+ 
+button_delay = 0.2
+
+kegman = kegman_conf()
+#kegman.conf['tuneGernby'] = "1"
+#kegman.write_config(kegman.conf)
+param = ["tuneGernby", "react", "damp", "resist", "Kp", "Ki"]
+
+j = 0
+while True:
+  print ""
+  print ""
+  print print_letters(param[j])
+  print ""
+  print print_letters(kegman.conf[param[j]])
+  print ""
+  print ("Press 7, 5, 3 to increase by 0.1, 0.05, 0.01")
+  print ("press d, g, j to decrease by 0.1, 0.05, 0.01")
+  print ("press 0 to make the value 0")
+  print ("press 1 to make the value 1")
+  print ("press SPACE for next parameter")
+  print ("press m for previous parameter")
+  print ("press q to quit") 
+  
+  char  = getch()
+  if (char == "7"):
+    kegman.conf[param[j]] = str(float(kegman.conf[param[j]]) + 0.01)
+    kegman.write_config(kegman.conf)
+    time.sleep(button_delay)
+
+  elif (char == "5"):
+    kegman.conf[param[j]] = str(float(kegman.conf[param[j]]) + 0.05)
+    kegman.write_config(kegman.conf)
+    time.sleep(button_delay)
+
+  elif (char == "3"):
+    kegman.conf[param[j]] = str(float(kegman.conf[param[j]]) + 0.1)
+    kegman.write_config(kegman.conf)
+    time.sleep(button_delay)
+
+  elif (char == "j"):
+    kegman.conf[param[j]] = str(float(kegman.conf[param[j]]) - 0.01)
+    kegman.write_config(kegman.conf)
+    time.sleep(button_delay)
+
+  elif (char == "g"):
+    kegman.conf[param[j]] = str(float(kegman.conf[param[j]]) - 0.05)
+    kegman.write_config(kegman.conf)
+    time.sleep(button_delay)
+
+  elif (char == "d"):
+    kegman.conf[param[j]] = str(float(kegman.conf[param[j]]) - 0.1)
+    kegman.write_config(kegman.conf)
+    time.sleep(button_delay)
+    
+  elif (char == "0"):
+    kegman.conf[param[j]] = "0"
+    kegman.write_config(kegman.conf)
+    time.sleep(button_delay)
+
+  elif (char == "1"):
+    kegman.conf[param[j]] = "1"
+    kegman.write_config(kegman.conf)
+    time.sleep(button_delay)  
+
+  elif (char == " "):
+    if j < len(param) - 1:
+      j = j + 1
+    else:
+      j = 0
+    
+  elif (char == "m"):
+    if j > 0:
+      j = j - 1
+    else:
+      j = len(param) - 1
+
+  elif (char == "q"):
+    break
diff --git a/tune.sh b/tune.sh
new file mode 100755
index 00000000000000..d13626c182b26c
--- /dev/null
+++ b/tune.sh
@@ -0,0 +1 @@
+python2.7 tune.py