diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index f1f32bdca..4149dec39 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -58,6 +58,20 @@ class CarState(CarStateBase):
     self.active_mode = 0
     self.drive_mode_prev = 0
 
+  # Traffic signals for Speed Limit Controller - Credit goes to Multikyd!
+  def calculate_speed_limit(self, cp, cp_cam):
+    if self.CP.carFingerprint in CANFD_CAR:
+      speed_limit_bus = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
+      return speed_limit_bus.vl["CLUSTER_SPEED_LIMIT"]["SPEED_LIMIT_1"]
+    else:
+      if "SpeedLim_Nav_Clu" in cp.vl["Navi_HU"]:
+        speed_limit = cp.vl["Navi_HU"]["SpeedLim_Nav_Clu"]
+      elif "CF_Lkas_TsrSpeed_Display_Clu" in cp_cam.vl["LKAS12"]:
+        speed_limit = cp_cam.vl["LKAS12"]["CF_Lkas_TsrSpeed_Display_Clu"]
+      else:
+        return 0
+      return speed_limit if speed_limit not in (0, 255) else 0
+
   def update(self, cp, cp_cam, frogpilot_toggles):
     if self.CP.carFingerprint in CANFD_CAR:
       return self.update_canfd(cp, cp_cam, frogpilot_toggles)
@@ -176,6 +190,8 @@ class CarState(CarStateBase):
       self.main_enabled = not self.main_enabled
 
     # FrogPilot CarState functions
+    fp_ret.dashboardSpeedLimit = self.calculate_speed_limit(cp, cp_cam) * speed_conv
+
     self.prev_distance_button = self.distance_button
     self.distance_button = self.cruise_buttons[-1] == Buttons.GAP_DIST
 
@@ -270,6 +286,8 @@ class CarState(CarStateBase):
                                           else cp_cam.vl["CAM_0x2a4"])
 
     # FrogPilot CarState functions
+    fp_ret.dashboardSpeedLimit = self.calculate_speed_limit(cp, cp_cam) * speed_factor
+
     self.prev_distance_button = self.distance_button
     self.distance_button = self.cruise_buttons[-1] == Buttons.GAP_DIST
 
@@ -338,6 +356,10 @@ class CarState(CarStateBase):
     if CP.flags & HyundaiFlags.CAN_LFA_BTN:
       messages.append(("BCM_PO_11", 50))
 
+    messages += [
+      ("Navi_HU", 5),
+    ]
+
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
   @staticmethod
@@ -358,6 +380,8 @@ class CarState(CarStateBase):
       if CP.flags & HyundaiFlags.USE_FCA.value:
         messages.append(("FCA11", 50))
 
+    messages.append(("LKAS12", 10))
+
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
 
   def get_can_parser_canfd(self, CP):
@@ -394,6 +418,9 @@ class CarState(CarStateBase):
         ("SCC_CONTROL", 50),
       ]
 
+    if CP.flags & HyundaiFlags.CANFD_HDA2:
+      messages.append(("CLUSTER_SPEED_LIMIT", 10))
+
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).ECAN)
 
   @staticmethod
@@ -407,4 +434,7 @@ class CarState(CarStateBase):
         ("SCC_CONTROL", 50),
       ]
 
+    if not (CP.flags & HyundaiFlags.CANFD_HDA2):
+      messages.append(("CLUSTER_SPEED_LIMIT", 10))
+
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).CAM)
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index e6e05fd3d..102647d48 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -27,6 +27,22 @@ PERM_STEER_FAULTS = (3, 17)
 ZSS_THRESHOLD = 4.0
 ZSS_THRESHOLD_COUNT = 10
 
+# Traffic signals for Speed Limit Controller - Credit goes to the DragonPilot team!
+@staticmethod
+def calculate_speed_limit(cp_cam, frogpilot_toggles):
+  signals = ["TSGN1", "SPDVAL1", "SPLSGN1", "TSGN2", "SPLSGN2", "TSGN3", "SPLSGN3", "TSGN4", "SPLSGN4"]
+  traffic_signals = {signal: cp_cam.vl["RSA1"].get(signal, cp_cam.vl["RSA2"].get(signal)) for signal in signals}
+
+  tsgn1 = traffic_signals.get("TSGN1", None)
+  spdval1 = traffic_signals.get("SPDVAL1", None)
+
+  if tsgn1 == 1 and not frogpilot_toggles.force_mph_dashboard:
+    return spdval1 * CV.KPH_TO_MS
+  elif tsgn1 == 36 or frogpilot_toggles.force_mph_dashboard:
+    return spdval1 * CV.MPH_TO_MS
+  else:
+    return 0
+
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
@@ -196,6 +212,8 @@ class CarState(CarStateBase):
     self.cruise_increased_previously = self.cruise_increased
     self.cruise_increased = self.pcm_acc_status == 9
 
+    fp_ret.dashboardSpeedLimit = calculate_speed_limit(cp_cam, frogpilot_toggles)
+
     fp_ret.ecoGear = cp.vl["GEAR_PACKET"]['ECON_ON'] == 1
     fp_ret.sportGear = cp.vl["GEAR_PACKET"]['SPORT_ON_2' if self.CP.flags & ToyotaFlags.NO_DSU else 'SPORT_ON'] == 1
 
@@ -291,6 +309,11 @@ class CarState(CarStateBase):
   def get_cam_can_parser(CP):
     messages = []
 
+    messages += [
+      ("RSA1", 0),
+      ("RSA2", 0),
+    ]
+
     if CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
       messages += [
         ("LKAS_HUD", 1),
diff --git a/selfdrive/frogpilot/controls/frogpilot_planner.py b/selfdrive/frogpilot/controls/frogpilot_planner.py
index ce200c589..800f25064 100644
--- a/selfdrive/frogpilot/controls/frogpilot_planner.py
+++ b/selfdrive/frogpilot/controls/frogpilot_planner.py
@@ -238,7 +238,7 @@ class FrogPilotPlanner:
 
     # Pfeiferj's Speed Limit Controller
     if frogpilot_toggles.speed_limit_controller:
-      SpeedLimitController.update(controlsState.enabled, frogpilotNavigation.navigationSpeedLimit, v_cruise, v_ego, frogpilot_toggles)
+      SpeedLimitController.update(frogpilotCarState.dashboardSpeedLimit, controlsState.enabled, frogpilotNavigation.navigationSpeedLimit, v_cruise, v_ego, frogpilot_toggles)
       unconfirmed_slc_target = SpeedLimitController.desired_speed_limit
 
       if frogpilot_toggles.speed_limit_confirmation and self.slc_target != 0:
diff --git a/selfdrive/frogpilot/controls/lib/speed_limit_controller.py b/selfdrive/frogpilot/controls/lib/speed_limit_controller.py
index 8d6b08040..bba906f87 100644
--- a/selfdrive/frogpilot/controls/lib/speed_limit_controller.py
+++ b/selfdrive/frogpilot/controls/lib/speed_limit_controller.py
@@ -24,6 +24,7 @@ class SpeedLimitController:
     self.params = Params()
     self.params_memory = Params("/dev/shm/params")
 
+    self.car_speed_limit = 0  # m/s
     self.map_speed_limit = 0  # m/s
     self.max_speed_limit = 0  # m/s
     self.nav_speed_limit = 0  # m/s
@@ -40,7 +41,8 @@ class SpeedLimitController:
       self.params.put_float_nonblocking("PreviousSpeedLimit", speed_limit)
       self.prv_speed_limit = speed_limit
 
-  def update(self, enabled, navigationSpeedLimit, v_cruise, v_ego, frogpilot_toggles):
+  def update(self, dashboardSpeedLimit, enabled, navigationSpeedLimit, v_cruise, v_ego, frogpilot_toggles):
+    self.car_speed_limit = dashboardSpeedLimit
     self.write_map_state(v_ego)
     self.nav_speed_limit = navigationSpeedLimit
 
@@ -94,7 +96,7 @@ class SpeedLimitController:
 
   @property
   def speed_limit(self):
-    limits = [self.map_speed_limit, self.nav_speed_limit]
+    limits = [self.car_speed_limit, self.map_speed_limit, self.nav_speed_limit]
     filtered_limits = [float(limit) for limit in limits if limit > 1]
 
     if self.frogpilot_toggles.speed_limit_priority_highest and filtered_limits:
@@ -103,6 +105,7 @@ class SpeedLimitController:
       return min(filtered_limits)
 
     speed_limits = {
+      "Dashboard": self.car_speed_limit,
       "Offline Maps": self.map_speed_limit,
       "Navigation": self.nav_speed_limit,
     }