diff --git a/RELEASES.md b/RELEASES.md
index 3799ad3c6..0ae93ba2b 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -9,8 +9,8 @@ Version 0.5.12 (2019-05-16)
  * Add default speed limits for Estonia thanks to martinl!
  * Subaru Crosstrek support thanks to martinl!
  * Toyota Avalon support thanks to njbrown09!
- * Toyota Rav4 with TSS 2.0 support thansk to wocsor!
- * Toyota Corolla with TSS 2.0 support thansk to wocsor!
+ * Toyota Rav4 with TSS 2.0 support thanks to wocsor!
+ * Toyota Corolla with TSS 2.0 support thanks to wocsor!
 
 Version 0.5.11 (2019-04-17)
 ========================
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index 98deb5646..9a098ea53 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -36,7 +36,7 @@ class CarController(object):
     print(DBC)
     self.packer = CANPacker(DBC[car_fingerprint]['pt'])
 
-  def update(self, sendcan, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert):
+  def update(self, sendcan, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line):
     """ Controls thread """
 
     P = self.params
@@ -70,7 +70,7 @@ class CarController(object):
       self.es_distance_cnt = CS.es_distance_msg["Counter"]
 
     if self.es_lkas_cnt != CS.es_lkas_msg["Counter"]:
-      can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, visual_alert))
+      can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, visual_alert, left_line, right_line))
       self.es_lkas_cnt = CS.es_lkas_msg["Counter"]
 
     sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan'))
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 8de0760b4..077f591a1 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -217,5 +217,6 @@ class CarInterface(object):
 
   def apply(self, c):
     self.CC.update(self.sendcan, c.enabled, self.CS, self.frame, c.actuators,
-                   c.cruiseControl.cancel, c.hudControl.visualAlert)
+                   c.cruiseControl.cancel, c.hudControl.visualAlert,
+                   c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible)
     self.frame += 1
diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py
index 5e17cd72c..922012f31 100644
--- a/selfdrive/car/subaru/subarucan.py
+++ b/selfdrive/car/subaru/subarucan.py
@@ -43,12 +43,15 @@ def create_es_distance(packer, es_distance_msg, pcm_cancel_cmd):
 
   return packer.make_can_msg("ES_Distance", 0, values)
 
-def create_es_lkas(packer, es_lkas_msg, visual_alert):
+def create_es_lkas(packer, es_lkas_msg, visual_alert, left_line, right_line):
 
   values = copy.copy(es_lkas_msg)
   if visual_alert == VisualAlert.steerRequired:
     values["Keep_Hands_On_Wheel"] = 1
 
+  values["LKAS_Left_Line_Visible"] = int(left_line)
+  values["LKAS_Right_Line_Visible"] = int(right_line)
+
   values["Checksum"] = subaru_checksum(packer, values, 802)
 
   return packer.make_can_msg("ES_LKAS_State", 0, values)
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 52e3d1510..d1da58792 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -147,8 +147,14 @@ FINGERPRINTS = {
   CAR.AVALON: [{
     36: 8, 37: 8, 170: 8, 180: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 550: 8, 552: 4, 562: 6, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 905: 8, 911: 1, 916: 2, 921: 8, 933: 6, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 1005: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1200: 8, 1201: 8, 1202: 8, 1203: 8, 1206: 8, 1227: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1558: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   }],
-  CAR.RAV4_2019: [{
+  CAR.RAV4_2019: [
+  # LE
+  {
     36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 355: 5, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8,1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553:8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+  },
+  # XLE
+  {
+    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   }],
   CAR.COROLLA_HATCH: [{
     36: 8, 37: 8, 114: 5, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8 , 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7 , 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 998: 5, 999: 7, 1000:8, 1001: 8, 1002: 8, 1017:8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059:1, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
diff --git a/selfdrive/debug/get_fingerprint.py b/selfdrive/debug/get_fingerprint.py
index c46e84970..ed877ff50 100755
--- a/selfdrive/debug/get_fingerprint.py
+++ b/selfdrive/debug/get_fingerprint.py
@@ -6,8 +6,10 @@
 # - connect to a Panda
 # - run selfdrive/boardd/boardd
 # - launching this script
-# - since some messages are published at low frequency, keep this script running for few
-#   seconds, until all messages are received at least once
+# - turn on the car in STOCK MODE (set giraffe switches properly).
+#   Note: it's very important that the car is in stock mode, in order to collect a complete fingerprint
+# - since some messages are published at low frequency, keep this script running for at least 30s,
+#   until all messages are received at least once
 
 import zmq
 import selfdrive.messaging as messaging
diff --git a/selfdrive/mapd/mapd.py b/selfdrive/mapd/mapd.py
index d3c82bf40..b123fc68b 100755
--- a/selfdrive/mapd/mapd.py
+++ b/selfdrive/mapd/mapd.py
@@ -240,7 +240,7 @@ def mapsd_thread():
     if cur_way is not None:
       dat.liveMapData.wayId = cur_way.id
 
-      # Seed limit
+      # Speed limit
       max_speed = cur_way.max_speed()
       if max_speed is not None:
         dat.liveMapData.speedLimitValid = True