diff --git a/opendbc_repo/opendbc/car/chrysler/carcontroller.py b/opendbc_repo/opendbc/car/chrysler/carcontroller.py
index 8a2e9582c..bed77c827 100644
--- a/opendbc_repo/opendbc/car/chrysler/carcontroller.py
+++ b/opendbc_repo/opendbc/car/chrysler/carcontroller.py
@@ -2,7 +2,7 @@ from opendbc.can import CANPacker
 from opendbc.car import Bus, DT_CTRL
 from opendbc.car.lateral import apply_meas_steer_torque_limits
 from opendbc.car.chrysler import chryslercan
-from opendbc.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
+from opendbc.car.chrysler.values import RAM_CARS, RAM_DT, CarControllerParams, ChryslerFlags
 from opendbc.car.interfaces import CarControllerBase
 
 
@@ -31,12 +31,12 @@ class CarController(CarControllerBase):
       # ACC cancellation
       if CC.cruiseControl.cancel:
         self.last_button_frame = self.frame
-        can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
+        can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, CS.button_message, cancel=True))
 
       # ACC resume from standstill
       elif CC.cruiseControl.resume:
         self.last_button_frame = self.frame
-        can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True))
+        can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, CS.button_message, resume=True))
 
     # HUD alerts
     if self.frame % 25 == 0:
@@ -50,7 +50,12 @@ class CarController(CarControllerBase):
 
       # TODO: can we make this more sane? why is it different for all the cars?
       lkas_control_bit = self.lkas_control_bit_prev
-      if CS.out.vEgo > self.CP.minSteerSpeed:
+      if self.CP.carFingerprint in RAM_DT:
+        if self.CP.minEnableSpeed <= CS.out.vEgo <= self.CP.minEnableSpeed + 0.5:
+          lkas_control_bit = True
+        if (self.CP.minEnableSpeed >= 14.5) and (CS.out.gearShifter != 2):
+          lkas_control_bit = False
+      elif CS.out.vEgo > self.CP.minSteerSpeed:
         lkas_control_bit = True
       elif self.CP.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
         if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
diff --git a/opendbc_repo/opendbc/car/chrysler/carstate.py b/opendbc_repo/opendbc/car/chrysler/carstate.py
index 2eed3db9e..7c8fd5054 100644
--- a/opendbc_repo/opendbc/car/chrysler/carstate.py
+++ b/opendbc_repo/opendbc/car/chrysler/carstate.py
@@ -1,6 +1,6 @@
 from opendbc.can import CANDefine, CANParser
 from opendbc.car import Bus, create_button_events, structs
-from opendbc.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
+from opendbc.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS, ChryslerFrogPilotFlags
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
 
@@ -24,6 +24,9 @@ class CarState(CarStateBase):
 
     self.distance_button = 0
 
+    # RealFast variables
+    self.button_message = "CRUISE_BUTTONS_ALT" if FPCP.flags & ChryslerFrogPilotFlags.RAM_HD_ALT_BUTTONS else "CRUISE_BUTTONS"
+
   def update(self, can_parsers) -> structs.CarState:
     cp = can_parsers[Bus.pt]
     cp_cam = can_parsers[Bus.cam]
@@ -31,7 +34,7 @@ class CarState(CarStateBase):
     ret = structs.CarState()
 
     prev_distance_button = self.distance_button
-    self.distance_button = cp.vl["CRUISE_BUTTONS"]["ACC_Distance_Dec"]
+    self.distance_button = cp.vl[self.button_message]["ACC_Distance_Dec"]
 
     # lock info
     ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
@@ -93,7 +96,7 @@ class CarState(CarStateBase):
       ret.rightBlindspot = cp.vl["BSM_1"]["RIGHT_STATUS"] == 1
 
     self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
-    self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
+    self.button_counter = cp.vl[self.button_message]["COUNTER"]
 
     ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
diff --git a/opendbc_repo/opendbc/car/chrysler/chryslercan.py b/opendbc_repo/opendbc/car/chrysler/chryslercan.py
index 677582ef4..1fbd84c83 100644
--- a/opendbc_repo/opendbc/car/chrysler/chryslercan.py
+++ b/opendbc_repo/opendbc/car/chrysler/chryslercan.py
@@ -64,13 +64,13 @@ def create_lkas_command(packer, CP, apply_torque, lkas_control_bit):
   return packer.make_can_msg("LKAS_COMMAND", 0, values)
 
 
-def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False):
+def create_cruise_buttons(packer, frame, bus, button_message, cancel=False, resume=False):
   values = {
     "ACC_Cancel": cancel,
     "ACC_Resume": resume,
     "COUNTER": frame % 0x10,
   }
-  return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
+  return packer.make_can_msg(button_message, bus, values)
 
 
 def chrysler_checksum(address: int, sig, d: bytearray) -> int:
diff --git a/opendbc_repo/opendbc/car/chrysler/fingerprints.py b/opendbc_repo/opendbc/car/chrysler/fingerprints.py
index 97557a141..79f990859 100644
--- a/opendbc_repo/opendbc/car/chrysler/fingerprints.py
+++ b/opendbc_repo/opendbc/car/chrysler/fingerprints.py
@@ -441,6 +441,7 @@ FW_VERSIONS = {
       b'68453483AC',
       b'68453483AD',
       b'68453487AD',
+      b'68453485AC',
       b'68453491AC',
       b'68453491AD',
       b'68453499AD',
@@ -461,6 +462,7 @@ FW_VERSIONS = {
       b'68510282AG',
       b'68510282AH',
       b'68510283AG',
+      b'68510283AH',
       b'68527346AE',
       b'68527361AD',
       b'68527375AD',
@@ -555,6 +557,7 @@ FW_VERSIONS = {
       b'68552788AA',
       b'68552789AA',
       b'68552790AA',
+      b'68552791AA',
       b'68552791AB',
       b'68552794AA',
       b'68552794AD',
@@ -575,6 +578,7 @@ FW_VERSIONS = {
       b'05036067AE ',
       b'05036193AA ',
       b'05149368AA ',
+      b'05149390AA ',
       b'05149374AA ',
       b'05149591AD ',
       b'05149591AE ',
@@ -590,6 +594,7 @@ FW_VERSIONS = {
       b'05190346AD',
       b'68378695AI ',
       b'68378695AJ ',
+      b'68378696AI ',
       b'68378695AK ',
       b'68378696AJ ',
       b'68378696AK ',
@@ -626,6 +631,7 @@ FW_VERSIONS = {
       b'68500630AE',
       b'68500630AF',
       b'68500631AE',
+      b'68500631AF',
       b'68502719AC ',
       b'68502722AC ',
       b'68502733AC ',
@@ -667,6 +673,7 @@ FW_VERSIONS = {
       b'68360085AL',
       b'68360085AO',
       b'68360086AH',
+      b'68360086AL',
       b'68360086AK',
       b'68360086AN',
       b'68384328AD',
@@ -685,6 +692,7 @@ FW_VERSIONS = {
       b'68502994AC',
       b'68502994AD',
       b'68502996AD',
+      b'68502996AC',
       b'68520867AE',
       b'68520867AF',
       b'68520870AC',
@@ -701,14 +709,22 @@ FW_VERSIONS = {
     (Ecu.combinationMeter, 0x742, None): [
       b'68361606AH',
       b'68437735AC',
+      b'68437746AD',
+      b'68492682AD',
+      b'68525438AB',
       b'68492693AD',
       b'68525485AB',
       b'68525487AB',
       b'68525498AB',
       b'68528791AF',
+      b'68620919AB',
+      b'68620921AC',
+      b'68620923AB',
+      b'68620923AC',
       b'68628474AB',
     ],
     (Ecu.srs, 0x744, None): [
+      b'68346749AB',
       b'68399794AC',
       b'68428503AA',
       b'68428505AA',
@@ -722,6 +738,7 @@ FW_VERSIONS = {
       b'68504022AC',
       b'68530686AB',
       b'68530686AC',
+      b'68530686AD',
       b'68544596AC',
       b'68641704AA',
     ],
@@ -744,14 +761,19 @@ FW_VERSIONS = {
       b'52370131AF',
       b'52370231AF',
       b'52370231AG',
+      b'52370231AK',
       b'52370491AA',
       b'52370931CT',
       b'52401032AE',
       b'52421132AF',
       b'52421332AF',
+      b'52421332AG',
       b'68527616AD ',
+      b'68528545AF',
       b'M2370131MB',
       b'M2421132MB',
+      b'52421232AF',
+      b'52421492AA',
     ],
   },
   CAR.DODGE_DURANGO: {
diff --git a/opendbc_repo/opendbc/car/chrysler/interface.py b/opendbc_repo/opendbc/car/chrysler/interface.py
index 0be2ccacb..b131e1b6e 100755
--- a/opendbc_repo/opendbc/car/chrysler/interface.py
+++ b/opendbc_repo/opendbc/car/chrysler/interface.py
@@ -62,9 +62,19 @@ class CarInterface(CarInterfaceBase):
       if any(fw.ecu == 'eps' and b"68" < fw.fwVersion[:4] <= b"6831" for fw in car_fw):
         ret.minSteerSpeed = 0.
 
+      # RealFast variables
+      ret.minEnableSpeed = 14.5
+      ret.minSteerSpeed = 0.5
+
     elif candidate == CAR.RAM_HD_5TH_GEN:
       ret.steerActuatorDelay = 0.2
 
+      # RealFast variables
+      ret.mass = 3405.
+      ret.minSteerSpeed = 16
+      ret.steerRatio = 15.61
+      ret.wheelbase = 3.785
+
     else:
       raise ValueError(f"Unsupported car: {candidate}")
 
diff --git a/opendbc_repo/opendbc/car/chrysler/values.py b/opendbc_repo/opendbc/car/chrysler/values.py
index 232e5712e..1d919631a 100644
--- a/opendbc_repo/opendbc/car/chrysler/values.py
+++ b/opendbc_repo/opendbc/car/chrysler/values.py
@@ -19,6 +19,11 @@ class ChryslerFlags(IntFlag):
   HIGHER_MIN_STEERING_SPEED = 1
 
 
+# FrogPilot variables 
+class ChryslerFrogPilotFlags(IntFlag):
+  RAM_HD_ALT_BUTTONS = 1
+
+
 @dataclass
 class ChryslerCarDocs(CarDocs):
   package: str = "Adaptive Cruise Control (ACC)"
@@ -104,7 +109,7 @@ class CarControllerParams:
     elif CP.carFingerprint in RAM_DT:
       self.STEER_DELTA_UP = 6
       self.STEER_DELTA_DOWN = 6
-      self.STEER_MAX = 261  # EPS allows more, up to 350?
+      self.STEER_MAX = 350  # EPS allows more, up to 350?
     else:
       self.STEER_DELTA_UP = 3
       self.STEER_DELTA_DOWN = 3
diff --git a/opendbc_repo/opendbc/safety/modes/chrysler.h b/opendbc_repo/opendbc/safety/modes/chrysler.h
index e8e2ac0eb..70e2a3de1 100644
--- a/opendbc_repo/opendbc/safety/modes/chrysler.h
+++ b/opendbc_repo/opendbc/safety/modes/chrysler.h
@@ -11,6 +11,9 @@ typedef struct {
   const unsigned int DAS_6;
   const unsigned int LKAS_COMMAND;
   const unsigned int CRUISE_BUTTONS;
+
+  // RealFast variables
+  const unsigned int CRUISE_BUTTONS_ALT;
 } ChryslerAddrs;
 
 typedef enum {
@@ -145,7 +148,7 @@ static bool chrysler_tx_hook(const CANPacket_t *msg) {
   }
 
   // FORCE CANCEL: only the cancel button press is allowed
-  if (msg->addr == chrysler_addrs->CRUISE_BUTTONS) {
+  if (msg->addr == chrysler_addrs->CRUISE_BUTTONS || msg->addr == chrysler_addrs->CRUISE_BUTTONS_ALT) {
     const bool is_cancel = msg->data[0] == 1U;
     const bool is_resume = msg->data[0] == 0x10U;
     const bool allowed = is_cancel || (is_resume && controls_allowed);
@@ -171,6 +174,9 @@ static safety_config chrysler_init(uint16_t param) {
     .DAS_6            = 0x2A6,  // LKAS HUD and auto headlight control from DASM
     .LKAS_COMMAND     = 0x292,  // LKAS controls from DASM
     .CRUISE_BUTTONS   = 0x23B,  // Cruise control buttons
+
+    // RealFast variables
+    .CRUISE_BUTTONS_ALT = 0x23B,  // Cruise control buttons
   };
 
   // CAN messages for the 5th gen RAM DT platform
@@ -183,6 +189,9 @@ static safety_config chrysler_init(uint16_t param) {
     .DAS_6            = 0xFA,   // LKAS HUD and auto headlight control from DASM
     .LKAS_COMMAND     = 0xA6,   // LKAS controls from DASM
     .CRUISE_BUTTONS   = 0xB1,   // Cruise control buttons
+
+    // RealFast variables
+    .CRUISE_BUTTONS_ALT = 0xB1,   // Cruise control buttons
   };
 
   static RxCheck chrysler_ram_dt_rx_checks[] = {
@@ -206,12 +215,18 @@ static safety_config chrysler_init(uint16_t param) {
     {CHRYSLER_ADDRS.CRUISE_BUTTONS, 0, 3, .check_relay = false},
     {CHRYSLER_ADDRS.LKAS_COMMAND, 0, 6, .check_relay = true},
     {CHRYSLER_ADDRS.DAS_6, 0, 8, .check_relay = true},
+
+    // RealFast variables
+    {CHRYSLER_ADDRS.CRUISE_BUTTONS_ALT, 2, 3, .check_relay = false},
   };
 
   static const CanMsg CHRYSLER_RAM_DT_TX_MSGS[] = {
     {CHRYSLER_RAM_DT_ADDRS.CRUISE_BUTTONS, 2, 3, .check_relay = false},
     {CHRYSLER_RAM_DT_ADDRS.LKAS_COMMAND, 0, 8, .check_relay = true},
     {CHRYSLER_RAM_DT_ADDRS.DAS_6, 0, 8, .check_relay = true},
+
+    // RealFast variables
+    {CHRYSLER_RAM_DT_ADDRS.CRUISE_BUTTONS_ALT, 2, 3, .check_relay = false},
   };
 
 #ifdef ALLOW_DEBUG
@@ -225,6 +240,9 @@ static safety_config chrysler_init(uint16_t param) {
     .DAS_6            = 0x275,  // LKAS HUD and auto headlight control from DASM
     .LKAS_COMMAND     = 0x276,  // LKAS controls from DASM
     .CRUISE_BUTTONS   = 0x23A,  // Cruise control buttons
+
+    // RealFast variables
+    .CRUISE_BUTTONS_ALT = 0x23B,  // Cruise control buttons
   };
 
   static RxCheck chrysler_ram_hd_rx_checks[] = {
@@ -239,6 +257,9 @@ static safety_config chrysler_init(uint16_t param) {
     {CHRYSLER_RAM_HD_ADDRS.CRUISE_BUTTONS, 2, 3, .check_relay = false},
     {CHRYSLER_RAM_HD_ADDRS.LKAS_COMMAND, 0, 8, .check_relay = true},
     {CHRYSLER_RAM_HD_ADDRS.DAS_6, 0, 8, .check_relay = true},
+
+    // RealFast variables
+    {CHRYSLER_RAM_HD_ADDRS.CRUISE_BUTTONS_ALT, 2, 3, .check_relay = false},
   };
 
   const uint32_t CHRYSLER_PARAM_RAM_HD = 2U;  // set for Ram HD platform
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 1e5107f8a..81f9778b8 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -1,6 +1,7 @@
 from cereal import car, log
 import cereal.messaging as messaging
 from opendbc.car import DT_CTRL, structs
+from opendbc.car.chrysler.values import RAM_DT
 from opendbc.car.gm.values import GMFlags
 from opendbc.car.interfaces import MAX_CTRL_SPEED
 
@@ -58,10 +59,16 @@ class CarSpecificEvents:
       events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
 
       # Low speed steer alert hysteresis logic
-      if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5):
-        self.low_speed_alert = True
-      elif CS.vEgo > (self.CP.minSteerSpeed + 1.):
-        self.low_speed_alert = False
+      if self.CP.carFingerprint in RAM_DT:
+        if CS.vEgo >= self.CP.minEnableSpeed:
+          self.low_speed_alert = False
+        if (self.CP.minEnableSpeed >= 14.5) and (CS.gearShifter != GearShifter.drive):
+          self.low_speed_alert = True
+      else:
+        if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5):
+          self.low_speed_alert = True
+        elif CS.vEgo > (self.CP.minSteerSpeed + 1.):
+          self.low_speed_alert = False
       if self.low_speed_alert:
         events.add(EventName.belowSteerSpeed)
 
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index b4084fe5b..a5a7228e1 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -57,6 +57,9 @@ class VehicleParamsLearner:
 
     self.reset(None)
 
+    # FrogPilot variables
+    self.CP = CP
+
   def reset(self, t: float | None):
     self.kf.init_state(self.x_initial, covs=self.P_initial, filter_time=t)
 
@@ -187,6 +190,10 @@ class VehicleParamsLearner:
       liveParameters.debugFilterState.value = x.tolist()
       liveParameters.debugFilterState.std = P.tolist()
 
+    # FrogPilot variables
+    if self.CP.carFingerprint == "RAM_HD":
+      liveParameters.valid = True
+
     return msg