diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 91fbb078a2f202..6baa3e5aeff8c1 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -277,12 +277,12 @@ def get_params(candidate, fingerprint):
 
     elif candidate == CAR.ODYSSEY:
       stop_and_go = False
-      ret.mass = 4354 * CV.LB_TO_KG + std_cargo
+      ret.mass = 4471 * CV.LB_TO_KG + std_cargo
       ret.wheelbase = 3.00
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 14.35        # as spec
-      tire_stiffness_factor = 0.444 # not optimized yet
-      ret.steerKpV, ret.steerKiV = [[0.6], [0.18]]
+      tire_stiffness_factor = 0.82
+      ret.steerKpV, ret.steerKiV = [[0.45], [0.135]]
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
       ret.longitudinalKiBP = [0., 35.]