diff --git a/CHANGELOGS-DEV.md b/CHANGELOGS-DEV.md
index 227f59528..aa310dc49 100644
--- a/CHANGELOGS-DEV.md
+++ b/CHANGELOGS-DEV.md
@@ -1,3 +1,8 @@
+dragonpilot 0.7.10.1
+========================
+* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
+* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
+
 dragonpilot 0.7.10.0
 ========================
 * 基於最新 openpilot 0.7.10 devel.
@@ -6,8 +11,6 @@ dragonpilot 0.7.10.0
 * Fixed unable to regain Prius steering control under certain condition.
 * 更新 VW MQB 的支援。(需執行 scripts/vw.sh 腳本)
 * Updated support of VW MQB. (scripts/vw.sh script required)
-* 加入 HKG mdps/sas 的支援。(需執行 scripts/hkg.sh 腳本)
-* Added support to HKG mdps/sas. (scripts/hkg.sh script required)
 * 新增 2018 China Toyota CHR 指紋v2。（感謝 @xiaohongcheung 提供)
 * Added 2018 China Toyota CHR FPv2. (Thanks to @xiaohongcheung)
 * 加入 Headunit Reloaded Android Auto App 支援。(感謝 @Ninjaa 提供)
@@ -19,6 +22,8 @@ dragonpilot 0.7.10.0
 * Based on latest openpilot 0.7.10 devel.
 * 修正 EON 接 PC/USB 充電器時仍會自動關機的錯誤。(感謝 @小愛 回報)
 * Fixed auto shutdown issue when EON connect to PC/USB Charger. (Thanks to @LOVEChen)
+* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
+* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
 
 dragonpilot 0.7.8.3
 ========================
diff --git a/CHANGELOGS-REL.md b/CHANGELOGS-REL.md
index 2fb12f4b9..00a255665 100644
--- a/CHANGELOGS-REL.md
+++ b/CHANGELOGS-REL.md
@@ -6,8 +6,6 @@ dragonpilot 0.7.10.0
 * Fixed unable to regain Prius steering control under certain condition.
 * 更新 VW MQB 的支援。(需執行 scripts/vw.sh 腳本)
 * Updated support of VW MQB. (scripts/vw.sh script required)
-* 加入 HKG mdps/sas 的支援。(需執行 scripts/hkg.sh 腳本)
-* Added support to HKG mdps/sas. (scripts/hkg.sh script required)
 * 新增 2018 China Toyota CHR 指紋v2。（感謝 @xiaohongcheung 提供)
 * Added 2018 China Toyota CHR FPv2. (Thanks to @xiaohongcheung)
 * 加入 Headunit Reloaded Android Auto App 支援。(感謝 @Ninjaa 提供)
@@ -19,6 +17,8 @@ dragonpilot 0.7.10.0
 * Based on latest openpilot 0.7.10 devel.
 * 修正 EON 接 PC/USB 充電器時仍會自動關機的錯誤。(感謝 @小愛 回報)
 * Fixed auto shutdown issue when EON connect to PC/USB Charger. (Thanks to @LOVEChen)
+* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
+* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
 
 dragonpilot 0.7.8
 ========================
diff --git a/CHANGELOGS.md b/CHANGELOGS.md
index 736fd5144..c3a37c2a6 100644
--- a/CHANGELOGS.md
+++ b/CHANGELOGS.md
@@ -1,3 +1,8 @@
+2020-11-04 (0.7.10.0)
+========================
+* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
+* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
+
 2020-10-30 (0.7.10.0)
 ========================
 * 基於最新 openpilot 0.7.10 devel.
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index cf3ccfda6..3d8422053 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -81,9 +81,16 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 2060. + STD_CARGO_KG
       ret.wheelbase = 3.01
       ret.steerRatio = 16.5
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
-      ret.minSteerSpeed = 60 * CV.KPH_TO_MS
+
+      # dp - indi value from donfyffe
+      ret.lateralTuning.init('indi')
+      ret.lateralTuning.indi.innerLoopGain = 3.1
+      ret.lateralTuning.indi.outerLoopGain = 2.1
+      ret.lateralTuning.indi.timeConstant = 1.4
+      ret.lateralTuning.indi.actuatorEffectiveness = 1.3
+      # ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      # ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
+      # ret.minSteerSpeed = 60 * CV.KPH_TO_MS
     elif candidate == CAR.GENESIS_G70: 
       ret.lateralTuning.pid.kf = 0.00005 
       ret.mass = 1640. + STD_CARGO_KG 
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 0e3e80080..351909748 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -108,12 +108,12 @@ class Controls:
 
     if params.get('dp_lqr') == b'1':
       self.LaC = LatControlLQR(self.CP)
-    elif self.CP.lateralTuning.which() == 'pid':
-      self.LaC = LatControlPID(self.CP)
     elif self.CP.lateralTuning.which() == 'indi':
       self.LaC = LatControlINDI(self.CP)
     elif self.CP.lateralTuning.which() == 'lqr':
       self.LaC = LatControlLQR(self.CP)
+    elif self.CP.lateralTuning.which() == 'pid':
+      self.LaC = LatControlPID(self.CP)
 
     self.state = State.disabled
     self.enabled = False