diff --git a/apk/ai.comma.plus.offroad.apk b/apk/ai.comma.plus.offroad.apk
index eca50d1f7..df66f0b1f 100644
Binary files a/apk/ai.comma.plus.offroad.apk and b/apk/ai.comma.plus.offroad.apk differ
diff --git a/common/params.py b/common/params.py
index 754efff3a..3777a2756 100755
--- a/common/params.py
+++ b/common/params.py
@@ -125,6 +125,7 @@ keys = {
   "DragonChargingCtrl": [TxType.PERSISTENT],
   "DragonCharging": [TxType.PERSISTENT],
   "DragonDisCharging": [TxType.PERSISTENT],
+  "DragonToyotaLaneDepartureWarning": [TxType.PERSISTENT],
 }
 
 
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index b03dc42a1..3c57c0b43 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -122,6 +122,7 @@ class CarController(object):
     self.dragon_enable_steering_on_signal = False
     self.dragon_allow_gas = False
     self.dragon_lat_ctrl = True
+    self.dragon_lane_departure_warning = True
 
   def update(self, enabled, CS, frame, actuators,
              pcm_cancel_cmd, hud_alert, forwarding_camera, left_line,
@@ -131,6 +132,7 @@ class CarController(object):
       self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
       self.dragon_allow_gas = False if params.get("DragonAllowGas") == "0" else True
       self.dragon_lat_ctrl = False if params.get("DragonLatCtrl") == "0" else True
+      self.dragon_lane_departure_warning = False if params.get("DragonToyotaLaneDepartureWarning") == "0" else True
 
     # *** compute control surfaces ***
 
@@ -293,8 +295,16 @@ class CarController(object):
     if pcm_cancel_cmd:
       send_ui = True
 
+    # dragonpilot, lane depart warning mod
+    if self.dragon_lane_departure_warning:
+      dragon_left_lane_depart = left_lane_depart
+      dragon_right_lane_depart = right_lane_depart
+    else:
+      dragon_left_lane_depart = False
+      dragon_right_lane_depart = False
+
     if (frame % 100 == 0 or send_ui) and ECU.CAM in self.fake_ecus:
-      can_sends.append(create_ui_command(self.packer, steer, pcm_cancel_cmd, left_line, right_line, left_lane_depart, right_lane_depart))
+      can_sends.append(create_ui_command(self.packer, steer, pcm_cancel_cmd, left_line, right_line, dragon_left_lane_depart, dragon_right_lane_depart))
 
     if frame % 100 == 0 and ECU.DSU in self.fake_ecus and self.car_fingerprint not in TSS2_CAR:
       can_sends.append(create_fcw_command(self.packer, fcw))
diff --git a/selfdrive/dragonpilot/dragonconf/__init__.py b/selfdrive/dragonpilot/dragonconf/__init__.py
index e09f7ea5a..cf7d9886c 100644
--- a/selfdrive/dragonpilot/dragonconf/__init__.py
+++ b/selfdrive/dragonpilot/dragonconf/__init__.py
@@ -45,6 +45,7 @@ default_conf = {
   'DragonChargingCtrl': '0',
   'DragonCharging': 70,
   'DragonDisCharging': 60,
+  'DragonToyotaLaneDepartureWarning': '1',
 }
 
 deprecated_conf = {
diff --git a/selfdrive/thermald.py b/selfdrive/thermald.py
index 1e795b93a..94e64c70c 100755
--- a/selfdrive/thermald.py
+++ b/selfdrive/thermald.py
@@ -287,7 +287,7 @@ def thermald_thread():
       dragon_charging_ctrl = True if params.get('DragonChargingCtrl') == "1" else False
       dragon_charging_max = int(params.get('DragonCharging'))
       dragon_discharging_min = int(params.get('DragonDisCharging'))
-      ts_last_charging_ctrl = ts
+      ts_last_update_vars = ts
 
     # update ip every 10 seconds
     if ts - ts_last_ip > 10.:
@@ -306,12 +306,19 @@ def thermald_thread():
       ts_last_ip = ts
     msg.thermal.ipAddr = "IP: %s" % ip_addr
 
-    # we only update charging status once per min
-    if dragon_charging_ctrl and ts - ts_last_charging_ctrl > 60.:
-      if msg.thermal.batteryPercent >= dragon_charging_max:
-        os.system('echo "0" > /sys/class/power_supply/battery/charging_enabled')
-      if msg.thermal.batteryPercent <= dragon_discharging_min:
-        os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')
+    # we only update charging status once every min
+    if ts - ts_last_charging_ctrl > 60.:
+      if dragon_charging_ctrl:
+        if msg.thermal.batteryPercent >= dragon_charging_max and not charging_disabled:
+          os.system('echo "0" > /sys/class/power_supply/battery/charging_enabled')
+          charging_disabled = True
+        if msg.thermal.batteryPercent <= dragon_discharging_min and charging_disabled:
+          os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')
+          charging_disabled = False
+      else:
+        if charging_disabled:
+          os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')
+          charging_disabled = False
       ts_last_charging_ctrl = ts
 
     # report to server once per minute