diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 6ce0930c45668c..bf66c9d43a0928 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -1,7 +1,7 @@
 from selfdrive.car import limit_steer_rate
 from selfdrive.car.hyundai.hyundaican import create_lkas11, create_lkas12, \
                                              create_1191, create_1156, \
-                                             create_clu11, learn_checksum, create_mdps12
+                                             learn_checksum, create_mdps12 #, create_clu11
 from selfdrive.car.hyundai.values import Buttons
 from selfdrive.can.packer import CANPacker
 import zmq
@@ -18,7 +18,7 @@
 class SteerLimitParams:
   STEER_MAX = 255   # >255 results in frozen torque, >409 results in no torque
   STEER_DELTA_UP = 3
-  STEER_DELTA_DOWN = 7
+  STEER_DELTA_DOWN = 5
   STEER_DRIVER_ALLOWANCE = 50
   STEER_DRIVER_MULTIPLIER = 2
   STEER_DRIVER_FACTOR = 1
@@ -157,7 +157,7 @@ def update(self, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
     ### Generate CAN Messages ###
 
     self.lkas11_cnt = self.cnt % 0x10
-    self.clu11_cnt = self.cnt % 0x10
+#   self.clu11_cnt = self.cnt % 0x10
     self.mdps12_cnt = self.cnt % 0x100
 
     if self.camera_disconnected:
@@ -175,11 +175,11 @@ def update(self, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
       can_sends.append(create_mdps12(self.packer, self.car_fingerprint, self.mdps12_cnt, CS.mdps12, CS.lkas11, \
                                     self.checksum))
 
-    if pcm_cancel_cmd:
-      can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.CANCEL, 0))
-    elif CS.stopped and (self.cnt - self.last_resume_cnt) > 5:
-      self.last_resume_cnt = self.cnt
-      can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.RES_ACCEL, 0))
+#    if pcm_cancel_cmd:
+#      can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.CANCEL, 0))
+#    elif CS.stopped and (self.cnt - self.last_resume_cnt) > 5:
+#      self.last_resume_cnt = self.cnt
+#      can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.RES_ACCEL, 0))
 
     self.cnt += 1
 
diff --git a/selfdrive/controls/lib/model_parser.py b/selfdrive/controls/lib/model_parser.py
index 0b4bb241dbf342..9b28c66bb9da48 100644
--- a/selfdrive/controls/lib/model_parser.py
+++ b/selfdrive/controls/lib/model_parser.py
@@ -44,7 +44,7 @@ def update(self, v_ego, md):
     self.lane_width_certainty += 0.05 * (lr_prob - self.lane_width_certainty)
     current_lane_width = abs(l_poly[3] - r_poly[3])
     self.lane_width_estimate += 0.005 * (current_lane_width - self.lane_width_estimate)
-    speed_lane_width = interp(v_ego, [0., 31.], [3., 3.8])
+    speed_lane_width = interp(v_ego, [0., 31.], [2.8, 3.5])
     self.lane_width = self.lane_width_certainty * self.lane_width_estimate + \
                       (1 - self.lane_width_certainty) * speed_lane_width