diff --git a/board/drivers/fan.h b/board/drivers/fan.h
index 7fcb5cc5d0b..6c265f2ea3a 100644
--- a/board/drivers/fan.h
+++ b/board/drivers/fan.h
@@ -11,8 +11,6 @@ struct fan_state_t {
 } fan_state_t;
 struct fan_state_t fan_state;
 
-const float FAN_I = 0.001f;
-
 const uint8_t FAN_TICK_FREQ = 8U;
 const uint8_t FAN_STALL_THRESHOLD_MIN = 3U;
 const uint8_t FAN_STALL_THRESHOLD_MAX = 8U;
@@ -31,6 +29,8 @@ void fan_init(void) {
 
 // Call this at FAN_TICK_FREQ
 void fan_tick(void) {
+  const float FAN_I = 0.001f;
+
   if (current_board->fan_max_rpm > 0U) {
     // Measure fan RPM
     uint16_t fan_rpm_fast = fan_state.tach_counter * (60U * FAN_TICK_FREQ / 4U);   // 4 interrupts per rotation
diff --git a/board/provision.h b/board/provision.h
index 02768c93d09..80ee688e9b4 100644
--- a/board/provision.h
+++ b/board/provision.h
@@ -3,9 +3,9 @@
 
 #define PROVISION_CHUNK_LEN 0x20
 
-const char unprovisioned_text[] = "\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff";
-
 void get_provision_chunk(uint8_t *resp) {
+  const char unprovisioned_text[] = "\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff";
+
   (void)memcpy(resp, (uint8_t *)PROVISION_CHUNK_ADDRESS, PROVISION_CHUNK_LEN);
   if (memcmp(resp, unprovisioned_text, 0x20) == 0) {
     (void)memcpy(resp, "unprovisioned\x00\x00\x00testing123\x00\x00\xa3\xa6\x99\xec", 0x20);
diff --git a/board/safety/safety_chrysler.h b/board/safety/safety_chrysler.h
index be27832c9dd..a8ff16de0fc 100644
--- a/board/safety/safety_chrysler.h
+++ b/board/safety/safety_chrysler.h
@@ -1,33 +1,3 @@
-const SteeringLimits CHRYSLER_STEERING_LIMITS = {
-  .max_steer = 261,
-  .max_rt_delta = 112,
-  .max_rt_interval = 250000,
-  .max_rate_up = 3,
-  .max_rate_down = 3,
-  .max_torque_error = 80,
-  .type = TorqueMotorLimited,
-};
-
-const SteeringLimits CHRYSLER_RAM_DT_STEERING_LIMITS = {
-  .max_steer = 350,
-  .max_rt_delta = 112,
-  .max_rt_interval = 250000,
-  .max_rate_up = 6,
-  .max_rate_down = 6,
-  .max_torque_error = 80,
-  .type = TorqueMotorLimited,
-};
-
-const SteeringLimits CHRYSLER_RAM_HD_STEERING_LIMITS = {
-  .max_steer = 361,
-  .max_rt_delta = 182,
-  .max_rt_interval = 250000,
-  .max_rate_up = 14,
-  .max_rate_down = 14,
-  .max_torque_error = 80,
-  .type = TorqueMotorLimited,
-};
-
 typedef struct {
   const int EPS_2;
   const int ESP_1;
@@ -215,6 +185,36 @@ static void chrysler_rx_hook(const CANPacket_t *to_push) {
 }
 
 static bool chrysler_tx_hook(const CANPacket_t *to_send) {
+  const SteeringLimits CHRYSLER_STEERING_LIMITS = {
+    .max_steer = 261,
+    .max_rt_delta = 112,
+    .max_rt_interval = 250000,
+    .max_rate_up = 3,
+    .max_rate_down = 3,
+    .max_torque_error = 80,
+    .type = TorqueMotorLimited,
+  };
+
+  const SteeringLimits CHRYSLER_RAM_DT_STEERING_LIMITS = {
+    .max_steer = 350,
+    .max_rt_delta = 112,
+    .max_rt_interval = 250000,
+    .max_rate_up = 6,
+    .max_rate_down = 6,
+    .max_torque_error = 80,
+    .type = TorqueMotorLimited,
+  };
+
+  const SteeringLimits CHRYSLER_RAM_HD_STEERING_LIMITS = {
+    .max_steer = 361,
+    .max_rt_delta = 182,
+    .max_rt_interval = 250000,
+    .max_rate_up = 14,
+    .max_rate_down = 14,
+    .max_torque_error = 80,
+    .type = TorqueMotorLimited,
+  };
+
   bool tx = true;
   int addr = GET_ADDR(to_send);
 
diff --git a/board/safety/safety_gm.h b/board/safety/safety_gm.h
index 09ac34ecbd0..e33886d8946 100644
--- a/board/safety/safety_gm.h
+++ b/board/safety/safety_gm.h
@@ -1,28 +1,3 @@
-const SteeringLimits GM_STEERING_LIMITS = {
-  .max_steer = 300,
-  .max_rate_up = 10,
-  .max_rate_down = 15,
-  .driver_torque_allowance = 65,
-  .driver_torque_factor = 4,
-  .max_rt_delta = 128,
-  .max_rt_interval = 250000,
-  .type = TorqueDriverLimited,
-};
-
-const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
-  .max_gas = 3072,
-  .min_gas = 1404,
-  .inactive_gas = 1404,
-  .max_brake = 400,
-};
-
-const LongitudinalLimits GM_CAM_LONG_LIMITS = {
-  .max_gas = 3400,
-  .min_gas = 1514,
-  .inactive_gas = 1554,
-  .max_brake = 400,
-};
-
 const LongitudinalLimits *gm_long_limits;
 
 const int GM_STANDSTILL_THRSLD = 10;  // 0.311kph
@@ -139,6 +114,17 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
 }
 
 static bool gm_tx_hook(const CANPacket_t *to_send) {
+  const SteeringLimits GM_STEERING_LIMITS = {
+    .max_steer = 300,
+    .max_rate_up = 10,
+    .max_rate_down = 15,
+    .driver_torque_allowance = 65,
+    .driver_torque_factor = 4,
+    .max_rt_delta = 128,
+    .max_rt_interval = 250000,
+    .type = TorqueDriverLimited,
+  };
+
   bool tx = true;
   int addr = GET_ADDR(to_send);
 
@@ -218,6 +204,20 @@ static int gm_fwd_hook(int bus_num, int addr) {
 }
 
 static safety_config gm_init(uint16_t param) {
+  const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
+    .max_gas = 3072,
+    .min_gas = 1404,
+    .inactive_gas = 1404,
+    .max_brake = 400,
+  };
+
+  const LongitudinalLimits GM_CAM_LONG_LIMITS = {
+    .max_gas = 3400,
+    .min_gas = 1514,
+    .inactive_gas = 1554,
+    .max_brake = 400,
+  };
+
   gm_hw = GET_FLAG(param, GM_PARAM_HW_CAM) ? GM_CAM : GM_ASCM;
 
   if (gm_hw == GM_ASCM) {
diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
index 5a324bff29f..2dc256557ca 100644
--- a/board/safety/safety_hyundai.h
+++ b/board/safety/safety_hyundai.h
@@ -17,9 +17,6 @@
   .has_steer_req_tolerance = true, \
 }
 
-const SteeringLimits HYUNDAI_STEERING_LIMITS = HYUNDAI_LIMITS(384, 3, 7);
-const SteeringLimits HYUNDAI_STEERING_LIMITS_ALT = HYUNDAI_LIMITS(270, 2, 3);
-
 const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
   .max_accel = 200,   // 1/100 m/s2
   .min_accel = -350,  // 1/100 m/s2
@@ -215,6 +212,9 @@ static void hyundai_rx_hook(const CANPacket_t *to_push) {
 }
 
 static bool hyundai_tx_hook(const CANPacket_t *to_send) {
+  const SteeringLimits HYUNDAI_STEERING_LIMITS = HYUNDAI_LIMITS(384, 3, 7);
+  const SteeringLimits HYUNDAI_STEERING_LIMITS_ALT = HYUNDAI_LIMITS(270, 2, 3);
+
   bool tx = true;
   int addr = GET_ADDR(to_send);
 
diff --git a/board/safety/safety_hyundai_canfd.h b/board/safety/safety_hyundai_canfd.h
index fb6ccf55a0d..220cf490700 100644
--- a/board/safety/safety_hyundai_canfd.h
+++ b/board/safety/safety_hyundai_canfd.h
@@ -1,23 +1,5 @@
 #include "safety_hyundai_common.h"
 
-const SteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = {
-  .max_steer = 270,
-  .max_rt_delta = 112,
-  .max_rt_interval = 250000,
-  .max_rate_up = 2,
-  .max_rate_down = 3,
-  .driver_torque_allowance = 250,
-  .driver_torque_factor = 2,
-  .type = TorqueDriverLimited,
-
-  // the EPS faults when the steering angle is above a certain threshold for too long. to prevent this,
-  // we allow setting torque actuation bit to 0 while maintaining the requested torque value for two consecutive frames
-  .min_valid_request_frames = 89,
-  .max_invalid_request_frames = 2,
-  .min_valid_request_rt_interval = 810000,  // 810ms; a ~10% buffer on cutting every 90 frames
-  .has_steer_req_tolerance = true,
-};
-
 const CanMsg HYUNDAI_CANFD_HDA2_TX_MSGS[] = {
   {0x50, 0, 16},  // LKAS
   {0x1CF, 1, 8},  // CRUISE_BUTTON
@@ -228,6 +210,24 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *to_push) {
 }
 
 static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send) {
+  const SteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = {
+    .max_steer = 270,
+    .max_rt_delta = 112,
+    .max_rt_interval = 250000,
+    .max_rate_up = 2,
+    .max_rate_down = 3,
+    .driver_torque_allowance = 250,
+    .driver_torque_factor = 2,
+    .type = TorqueDriverLimited,
+
+    // the EPS faults when the steering angle is above a certain threshold for too long. to prevent this,
+    // we allow setting torque actuation bit to 0 while maintaining the requested torque value for two consecutive frames
+    .min_valid_request_frames = 89,
+    .max_invalid_request_frames = 2,
+    .min_valid_request_rt_interval = 810000,  // 810ms; a ~10% buffer on cutting every 90 frames
+    .has_steer_req_tolerance = true,
+  };
+
   bool tx = true;
   int addr = GET_ADDR(to_send);
 
diff --git a/board/safety/safety_mazda.h b/board/safety/safety_mazda.h
index 7c6d8be9c78..dc17eb7f996 100644
--- a/board/safety/safety_mazda.h
+++ b/board/safety/safety_mazda.h
@@ -12,17 +12,6 @@
 #define MAZDA_AUX  1
 #define MAZDA_CAM  2
 
-const SteeringLimits MAZDA_STEERING_LIMITS = {
-  .max_steer = 800,
-  .max_rate_up = 10,
-  .max_rate_down = 25,
-  .max_rt_delta = 300,
-  .max_rt_interval = 250000,
-  .driver_torque_factor = 1,
-  .driver_torque_allowance = 15,
-  .type = TorqueDriverLimited,
-};
-
 const CanMsg MAZDA_TX_MSGS[] = {{MAZDA_LKAS, 0, 8}, {MAZDA_CRZ_BTNS, 0, 8}, {MAZDA_LKAS_HUD, 0, 8}};
 
 RxCheck mazda_rx_checks[] = {
@@ -69,6 +58,17 @@ static void mazda_rx_hook(const CANPacket_t *to_push) {
 }
 
 static bool mazda_tx_hook(const CANPacket_t *to_send) {
+  const SteeringLimits MAZDA_STEERING_LIMITS = {
+    .max_steer = 800,
+    .max_rate_up = 10,
+    .max_rate_down = 25,
+    .max_rt_delta = 300,
+    .max_rt_interval = 250000,
+    .driver_torque_factor = 1,
+    .driver_torque_allowance = 15,
+    .type = TorqueDriverLimited,
+  };
+
   bool tx = true;
   int addr = GET_ADDR(to_send);
   int bus = GET_BUS(to_send);
diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 581dc50b7f1..5e8c73d3c42 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -16,11 +16,6 @@
     .has_steer_req_tolerance = true,                                                  \
   }
 
-
-const SteeringLimits SUBARU_STEERING_LIMITS      = SUBARU_STEERING_LIMITS_GENERATOR(2047, 50, 70);
-const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(1000, 40, 40);
-
-
 const LongitudinalLimits SUBARU_LONG_LIMITS = {
   .min_gas = 808,       // appears to be engine braking
   .max_gas = 3400,      // approx  2 m/s^2 when maxing cruise_rpm and cruise_throttle
@@ -180,6 +175,9 @@ static void subaru_rx_hook(const CANPacket_t *to_push) {
 }
 
 static bool subaru_tx_hook(const CANPacket_t *to_send) {
+  const SteeringLimits SUBARU_STEERING_LIMITS      = SUBARU_STEERING_LIMITS_GENERATOR(2047, 50, 70);
+  const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(1000, 40, 40);
+
   bool tx = true;
   int addr = GET_ADDR(to_send);
   bool violation = false;
diff --git a/board/safety/safety_subaru_preglobal.h b/board/safety/safety_subaru_preglobal.h
index 1047814ac35..7737ee75ed8 100644
--- a/board/safety/safety_subaru_preglobal.h
+++ b/board/safety/safety_subaru_preglobal.h
@@ -1,14 +1,3 @@
-const SteeringLimits SUBARU_PG_STEERING_LIMITS = {
-  .max_steer = 2047,
-  .max_rt_delta = 940,
-  .max_rt_interval = 250000,
-  .max_rate_up = 50,
-  .max_rate_down = 70,
-  .driver_torque_factor = 10,
-  .driver_torque_allowance = 75,
-  .type = TorqueDriverLimited,
-};
-
 // Preglobal platform
 // 0x161 is ES_CruiseThrottle
 // 0x164 is ES_LKAS
@@ -78,6 +67,17 @@ static void subaru_preglobal_rx_hook(const CANPacket_t *to_push) {
 }
 
 static bool subaru_preglobal_tx_hook(const CANPacket_t *to_send) {
+  const SteeringLimits SUBARU_PG_STEERING_LIMITS = {
+    .max_steer = 2047,
+    .max_rt_delta = 940,
+    .max_rt_interval = 250000,
+    .max_rate_up = 50,
+    .max_rate_down = 70,
+    .driver_torque_factor = 10,
+    .driver_torque_allowance = 75,
+    .type = TorqueDriverLimited,
+  };
+
   bool tx = true;
   int addr = GET_ADDR(to_send);
 
diff --git a/board/safety/safety_tesla.h b/board/safety/safety_tesla.h
index 652161ff2c1..1a5e8ccdb8b 100644
--- a/board/safety/safety_tesla.h
+++ b/board/safety/safety_tesla.h
@@ -1,15 +1,3 @@
-const SteeringLimits TESLA_STEERING_LIMITS = {
-  .angle_deg_to_can = 10,
-  .angle_rate_up_lookup = {
-    {0., 5., 15.},
-    {10., 1.6, .3}
-  },
-  .angle_rate_down_lookup = {
-    {0., 5., 15.},
-    {10., 7.0, .8}
-  },
-};
-
 const LongitudinalLimits TESLA_LONG_LIMITS = {
   .max_accel = 425,       // 2. m/s^2
   .min_accel = 287,       // -3.52 m/s^2  // TODO: limit to -3.48
@@ -129,6 +117,18 @@ static void tesla_rx_hook(const CANPacket_t *to_push) {
 
 
 static bool tesla_tx_hook(const CANPacket_t *to_send) {
+  const SteeringLimits TESLA_STEERING_LIMITS = {
+    .angle_deg_to_can = 10,
+    .angle_rate_up_lookup = {
+      {0., 5., 15.},
+      {10., 1.6, .3}
+    },
+    .angle_rate_down_lookup = {
+      {0., 5., 15.},
+      {10., 7.0, .8}
+    },
+  };
+  
   bool tx = true;
   int addr = GET_ADDR(to_send);
   bool violation = false;
diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
index 05f84e46049..d7a7ff31c28 100644
--- a/board/safety/safety_toyota.h
+++ b/board/safety/safety_toyota.h
@@ -28,8 +28,6 @@ const SteeringLimits TOYOTA_STEERING_LIMITS = {
 };
 
 const int TOYOTA_LTA_MAX_ANGLE = 1657;  // EPS only accepts up to 94.9461
-const int TOYOTA_LTA_MAX_MEAS_TORQUE = 1500;
-const int TOYOTA_LTA_MAX_DRIVER_TORQUE = 150;
 
 // longitudinal limits
 const LongitudinalLimits TOYOTA_LONG_LIMITS = {
@@ -75,7 +73,6 @@ RxCheck toyota_lta_rx_checks[] = {
 // safety param flags
 // first byte is for EPS factor, second is for flags
 const uint32_t TOYOTA_PARAM_OFFSET = 8U;
-const uint32_t TOYOTA_EPS_FACTOR = (1UL << TOYOTA_PARAM_OFFSET) - 1U;
 const uint32_t TOYOTA_PARAM_ALT_BRAKE = 1UL << TOYOTA_PARAM_OFFSET;
 const uint32_t TOYOTA_PARAM_STOCK_LONGITUDINAL = 2UL << TOYOTA_PARAM_OFFSET;
 const uint32_t TOYOTA_PARAM_LTA = 4UL << TOYOTA_PARAM_OFFSET;
@@ -184,6 +181,9 @@ static void toyota_rx_hook(const CANPacket_t *to_push) {
 }
 
 static bool toyota_tx_hook(const CANPacket_t *to_send) {
+  const int TOYOTA_LTA_MAX_DRIVER_TORQUE = 150;
+  const int TOYOTA_LTA_MAX_MEAS_TORQUE = 1500;
+
   bool tx = true;
   int addr = GET_ADDR(to_send);
   int bus = GET_BUS(to_send);
@@ -302,6 +302,8 @@ static bool toyota_tx_hook(const CANPacket_t *to_send) {
 }
 
 static safety_config toyota_init(uint16_t param) {
+  const uint32_t TOYOTA_EPS_FACTOR = (1UL << TOYOTA_PARAM_OFFSET) - 1U;
+
   toyota_alt_brake = GET_FLAG(param, TOYOTA_PARAM_ALT_BRAKE);
   toyota_stock_longitudinal = GET_FLAG(param, TOYOTA_PARAM_STOCK_LONGITUDINAL);
   toyota_lta = GET_FLAG(param, TOYOTA_PARAM_LTA);
diff --git a/board/safety/safety_volkswagen_mqb.h b/board/safety/safety_volkswagen_mqb.h
index d880a69a6e5..a0eb55d6f76 100644
--- a/board/safety/safety_volkswagen_mqb.h
+++ b/board/safety/safety_volkswagen_mqb.h
@@ -1,25 +1,5 @@
 #include "safety_volkswagen_common.h"
 
-// lateral limits
-const SteeringLimits VOLKSWAGEN_MQB_STEERING_LIMITS = {
-  .max_steer = 300,              // 3.0 Nm (EPS side max of 3.0Nm with fault if violated)
-  .max_rt_delta = 75,            // 4 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 50 ; 50 * 1.5 for safety pad = 75
-  .max_rt_interval = 250000,     // 250ms between real time checks
-  .max_rate_up = 4,              // 2.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
-  .max_rate_down = 10,           // 5.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
-  .driver_torque_allowance = 80,
-  .driver_torque_factor = 3,
-  .type = TorqueDriverLimited,
-};
-
-// longitudinal limits
-// acceleration in m/s2 * 1000 to avoid floating point math
-const LongitudinalLimits VOLKSWAGEN_MQB_LONG_LIMITS = {
-  .max_accel = 2000,
-  .min_accel = -3500,
-  .inactive_accel = 3010,  // VW sends one increment above the max range when inactive
-};
-
 #define MSG_ESP_19      0x0B2   // RX from ABS, for wheel speeds
 #define MSG_LH_EPS_03   0x09F   // RX from EPS, for driver steering torque
 #define MSG_ESP_05      0x106   // RX from ABS, for brake switch state
@@ -197,6 +177,26 @@ static void volkswagen_mqb_rx_hook(const CANPacket_t *to_push) {
 }
 
 static bool volkswagen_mqb_tx_hook(const CANPacket_t *to_send) {
+  // lateral limits
+  const SteeringLimits VOLKSWAGEN_MQB_STEERING_LIMITS = {
+    .max_steer = 300,              // 3.0 Nm (EPS side max of 3.0Nm with fault if violated)
+    .max_rt_delta = 75,            // 4 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 50 ; 50 * 1.5 for safety pad = 75
+    .max_rt_interval = 250000,     // 250ms between real time checks
+    .max_rate_up = 4,              // 2.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
+    .max_rate_down = 10,           // 5.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
+    .driver_torque_allowance = 80,
+    .driver_torque_factor = 3,
+    .type = TorqueDriverLimited,
+  };
+
+  // longitudinal limits
+  // acceleration in m/s2 * 1000 to avoid floating point math
+  const LongitudinalLimits VOLKSWAGEN_MQB_LONG_LIMITS = {
+    .max_accel = 2000,
+    .min_accel = -3500,
+    .inactive_accel = 3010,  // VW sends one increment above the max range when inactive
+  };
+
   int addr = GET_ADDR(to_send);
   bool tx = true;
 
diff --git a/board/safety/safety_volkswagen_pq.h b/board/safety/safety_volkswagen_pq.h
index de147cb58ad..d95207023cd 100644
--- a/board/safety/safety_volkswagen_pq.h
+++ b/board/safety/safety_volkswagen_pq.h
@@ -1,25 +1,5 @@
 #include "safety_volkswagen_common.h"
 
-// lateral limits
-const SteeringLimits VOLKSWAGEN_PQ_STEERING_LIMITS = {
-  .max_steer = 300,                // 3.0 Nm (EPS side max of 3.0Nm with fault if violated)
-  .max_rt_delta = 113,             // 6 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 75 ; 125 * 1.5 for safety pad = 113
-  .max_rt_interval = 250000,       // 250ms between real time checks
-  .max_rate_up = 6,                // 3.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
-  .max_rate_down = 10,             // 5.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
-  .driver_torque_factor = 3,
-  .driver_torque_allowance = 80,
-  .type = TorqueDriverLimited,
-};
-
-// longitudinal limits
-// acceleration in m/s2 * 1000 to avoid floating point math
-const LongitudinalLimits VOLKSWAGEN_PQ_LONG_LIMITS = {
-  .max_accel = 2000,
-  .min_accel = -3500,
-  .inactive_accel = 3010,  // VW sends one increment above the max range when inactive
-};
-
 #define MSG_LENKHILFE_3         0x0D0   // RX from EPS, for steering angle and driver steering torque
 #define MSG_HCA_1               0x0D2   // TX by OP, Heading Control Assist steering torque
 #define MSG_BREMSE_1            0x1A0   // RX from ABS, for ego speed
@@ -170,6 +150,26 @@ static void volkswagen_pq_rx_hook(const CANPacket_t *to_push) {
 }
 
 static bool volkswagen_pq_tx_hook(const CANPacket_t *to_send) {
+  // lateral limits
+  const SteeringLimits VOLKSWAGEN_PQ_STEERING_LIMITS = {
+    .max_steer = 300,                // 3.0 Nm (EPS side max of 3.0Nm with fault if violated)
+    .max_rt_delta = 113,             // 6 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 75 ; 125 * 1.5 for safety pad = 113
+    .max_rt_interval = 250000,       // 250ms between real time checks
+    .max_rate_up = 6,                // 3.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
+    .max_rate_down = 10,             // 5.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
+    .driver_torque_factor = 3,
+    .driver_torque_allowance = 80,
+    .type = TorqueDriverLimited,
+  };
+
+  // longitudinal limits
+  // acceleration in m/s2 * 1000 to avoid floating point math
+  const LongitudinalLimits VOLKSWAGEN_PQ_LONG_LIMITS = {
+    .max_accel = 2000,
+    .min_accel = -3500,
+    .inactive_accel = 3010,  // VW sends one increment above the max range when inactive
+  };
+
   int addr = GET_ADDR(to_send);
   bool tx = true;