diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index ea3ac6012..de37618a4 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -39,10 +39,12 @@ def get_can_parser(CP):
     ("CRUISE_STATE", "PCM_CRUISE", 0),
     ("MAIN_ON", "PCM_CRUISE_2", 0),
     ("SET_SPEED", "PCM_CRUISE_2", 0),
+    ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
     ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
     ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
     ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
     ("LKA_STATE", "EPS_STATUS", 0),
+    ("IPAS_STATE", "EPS_STATUS", 1),
     ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
     ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
   ]
@@ -58,22 +60,22 @@ def get_can_parser(CP):
     ("EPS_STATUS", 25),
   ]
 
-  if CP.carFingerprint == CAR.LEXUS_ISH:
-    checks = [
-      ("BRAKE_MODULE", 50),
-      ("GAS_PEDAL", 50),
-      ("WHEEL_SPEEDS", 80),
-      ("STEER_ANGLE_SENSOR", 80),
-      ("PCM_CRUISE", 33),
-      ("PCM_CRUISE_2", 1),
-      ("STEER_TORQUE_SENSOR", 50),
-      ("EPS_STATUS", 25),
-    ]
-  else:
-    signals += [
-      ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
-      ("IPAS_STATE", "EPS_STATUS", 1),
-    ]
+  # if not CP.carFingerprint == CAR.LEXUS_ISH:
+  #   checks = [
+  #     ("BRAKE_MODULE", 50),
+  #     ("GAS_PEDAL", 50),
+  #     ("WHEEL_SPEEDS", 80),
+  #     ("STEER_ANGLE_SENSOR", 80),
+  #     ("PCM_CRUISE", 33),
+  #     ("PCM_CRUISE_2", 1),
+  #     ("STEER_TORQUE_SENSOR", 50),
+  #     ("EPS_STATUS", 25),
+  #   ]
+  # else:
+  #   signals += [
+  #     ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
+  #     ("IPAS_STATE", "EPS_STATUS", 1),
+  #   ]
 
   if CP.carFingerprint == CAR.PRIUS:
     signals += [("STATE", "AUTOPARK_STATUS", 0)]
@@ -159,10 +161,10 @@ class CarState(object):
     # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
     self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
     self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
-    if self.CP.carFingerprint == CAR.LEXUS_ISH:
-      self.ipas_active = False
-    else:
-      self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
+    # if self.CP.carFingerprint == CAR.LEXUS_ISH:
+    #   self.ipas_active = False
+    # else:
+    self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
     self.brake_error = 0
     self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
     self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
@@ -174,10 +176,10 @@ class CarState(object):
     self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
     self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
     self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
-    if self.CP.carFingerprint == CAR.LEXUS_ISH:
-      self.low_speed_lockout = False
-    else:
-      self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
+    # if self.CP.carFingerprint == CAR.LEXUS_ISH:
+    #   self.low_speed_lockout = False
+    # else:
+    self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
     self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
     if self.CP.carFingerprint == CAR.PRIUS:
       self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0