diff --git a/cereal/log.capnp b/cereal/log.capnp
index c4a2c30e0..311421550 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2208,4 +2208,5 @@ struct DragonConf {
   dpDischargingAt @71 :UInt8;
   dpIsUpdating @72 :Bool;
   dpTimebombAssist @73 :Bool;
-}
\ No newline at end of file
+  dpDynamicGas @74 :Bool;
+}
diff --git a/common/dp_conf.py b/common/dp_conf.py
index 7d3c15d34..dc3e6e211 100644
--- a/common/dp_conf.py
+++ b/common/dp_conf.py
@@ -58,6 +58,7 @@ confs = [
   {'name': 'dp_dynamic_follow', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 4, 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
   {'name': 'dp_dynamic_follow_multiplier', 'default': 1., 'type': 'Float32', 'min': 0.85, 'max': 1.2, 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param']},
   {'name': 'dp_dynamic_follow_min_tr', 'default': 0.9, 'type': 'Float32', 'min': 0.85, 'max': 1.6, 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param']},
+  {'name': 'dp_dynamic_gas', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
   {'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 3, 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
   # safety
   {'name': 'dp_driver_monitor', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 0e3e80080..32364ebb3 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -54,7 +54,7 @@ class Controls:
 
     self.sm = sm
     if self.sm is None:
-      socks = ['thermal', 'health', 'model', 'liveCalibration',
+      socks = ['thermal', 'health', 'model', 'liveCalibration', 'radarState',
                                      'dMonitoringState', 'plan', 'pathPlan', 'liveLocationKalman', 'dragonConf']
       ignore_alive = None if params.get('dp_driver_monitor') == b'1' else ['dMonitoringState']
       self.sm = messaging.SubMaster(socks, ignore_alive=ignore_alive)
@@ -401,7 +401,7 @@ class Controls:
     v_acc_sol = plan.vStart + dt * (a_acc_sol + plan.aStart) / 2.0
 
     # Gas/Brake PID loop
-    actuators.gas, actuators.brake = self.LoC.update(self.active, CS, v_acc_sol, plan.vTargetFuture, a_acc_sol, self.CP)
+    actuators.gas, actuators.brake = self.LoC.update(self.active, CS, v_acc_sol, plan.vTargetFuture, a_acc_sol, self.CP, self.sm)
     # Steering PID loop and lateral MPC
     actuators.steer, actuators.steerAngle, lac_log = self.LaC.update(self.active, CS, self.CP, path_plan)
 
diff --git a/selfdrive/controls/lib/dynamic_gas.py b/selfdrive/controls/lib/dynamic_gas.py
new file mode 100644
index 000000000..60808d90c
--- /dev/null
+++ b/selfdrive/controls/lib/dynamic_gas.py
@@ -0,0 +1,81 @@
+import numpy as np
+from common.numpy_fast import clip, interp
+
+# dp
+DP_OFF = 0
+DP_ECO = 1
+DP_NORMAL = 2
+DP_SPORT = 3
+
+class DynamicGas:
+  def __init__(self, CP):
+    self.CP = CP
+    self.candidate = self.CP.carFingerprint
+    self.lead_data = {'v_rel': None, 'a_lead': None, 'x_lead': None, 'status': False}
+    self.mpc_TR = 1.8
+    self.blinker_status = False
+    self.gas_pressed = False
+    self.dp_profile = DP_OFF
+
+  def update(self, CS, sm):
+    v_ego = CS.vEgo
+    self.handle_passable(CS, sm)
+
+    current_dp_profile = sm['dragonConf'].dpAccelProfile
+    if self.dp_profile != current_dp_profile:
+      self.set_profile()
+      self.dp_profile = current_dp_profile
+
+    if self.dp_profile == DP_OFF:
+      return float(interp(v_ego, self.CP.gasMaxBP, self.CP.gasMaxV))
+
+
+    gas = interp(v_ego, self.gasMaxBP, self.gasMaxV)
+    if self.lead_data['status']:  # if lead
+      x = [0.0, 0.24588812499999999, 0.432818589, 0.593044697, 0.730381365, 1.050833588, 1.3965, 1.714627481]  # relative velocity mod
+      y = [0.9901, 0.905, 0.8045, 0.625, 0.431, 0.2083, .0667, 0]
+      gas_mod = -(gas * interp(self.lead_data['v_rel'], x, y))
+
+      x = [0.44704, 1.1176, 1.34112]  # lead accel mod
+      y = [1.0, 0.75, 0.625]  # maximum we can reduce gas_mod is 40 percent (never increases mod)
+      gas_mod *= interp(self.lead_data['a_lead'], x, y)
+
+      # as lead gets further from car, lessen gas mod/reduction
+      x = [(i+v_ego) for i in self.x_lead_mod_x ]
+      gas_mod *= interp(self.lead_data['x_lead'],x , self.x_lead_mod_y)
+      gas = gas + gas_mod
+
+    if (self.blinker_status and self.lead_data['v_rel'] >= 0 ):
+      x = [8.9408, 22.352, 31.2928]  # 20, 50, 70 mph
+      y = [1.0, 1.115, 1.225]
+      gas *= interp(v_ego, x, y)
+      
+    return float(clip(gas, 0.0, 1.0))
+
+  def set_profile(self):
+    self.x_lead_mod_y = [1.0, 0.75, 0.5, 0.25, 0.0] # as lead gets further from car, lessen gas mod/reduction
+    x = [0.0, 1.4082, 2.80311, 4.22661, 5.38271, 6.16561, 7.24781, 8.28308, 10.24465, 12.96402, 15.42303, 18.11903, 20.11703, 24.46614, 29.05805, 32.71015, 35.76326, 40]
+    if self.dp_profile == DP_ECO:
+      #km/h[0,   5,    10,    15,    19,    22,    25,     29,      36,      43,   54,    64,    72,    87,    104,   117,    128   144]
+      y = [0.45, 0.42, 0.38, 0.33, 0.3, 0.32, 0.31, 0.30, 0.30, 0.28, 0.24, 0.21, 0.20, 0.20, 0.19, 0.19, 0.17, 0.15]
+      self.x_lead_mod_x = [8.1, 12.15, 25.24, 35 , 50 ]
+    elif self.dp_profile == DP_SPORT:
+      #km/h[0,   5,    10,    15,    19,    22,    25,     29,      36,      43,   54,    64,    72,    87,    104,   117,    128   144]
+      y = [0.65, 0.67, 0.63, 0.50, 0.53, 0.53, 0.5229, 0.51784, 0.50765, 0.48, 0.496, 0.509, 0.525, 0.538, 0.45, 0.421, 0.42,0.35]
+      self.x_lead_mod_x = [4.1, 6.15, 8.24, 10 , 15 ]
+    else:
+      #km/h[0,   5,    10,    15,    19,    22,    25,     29,      36,      43,   54,    64,    72,    87,    104,   117,    128   144]
+      y = [0.55, 0.57, 0.43, 0.35, 0.33, 0.33, 0.3529, 0.36784, 0.37765, 0.38, 0.396, 0.309, 0.325, 0.358, 0.32, 0.301, 0.29,0.25]
+      self.x_lead_mod_x = [7.1, 10.15, 12.24, 15 , 20 ]
+
+    y = [interp(i, [0.2, (0.2 + 0.45) / 2, 0.45], [1.075 * i, i * 1.05, i]) for i in y]
+    self.gasMaxBP, self.gasMaxV = x, y
+
+  def handle_passable(self, CS, sm):
+    self.blinker_status = CS.leftBlinker or CS.rightBlinker
+    self.gas_pressed = CS.gasPressed
+    lead_one = sm['radarState'].leadOne
+    self.lead_data['v_rel'] = lead_one.vRel
+    self.lead_data['a_lead'] = lead_one.aLeadK
+    self.lead_data['x_lead'] = lead_one.dRel
+    self.lead_data['status'] = sm['plan'].hasLead  # this fixes radarstate always reporting a lead, thanks to arne
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 98c8c188d..e1edbb8c6 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -1,6 +1,8 @@
 from cereal import log
 from common.numpy_fast import clip, interp
 from selfdrive.controls.lib.pid import PIController
+from common.params import Params
+from selfdrive.controls.lib.dynamic_gas import DynamicGas
 
 LongCtrlState = log.ControlsState.LongControlState
 
@@ -62,18 +64,27 @@ class LongControl():
                             convert=compute_gb)
     self.v_pid = 0.0
     self.last_output_gb = 0.0
+    #dynamic_gas
+    params = Params()
+    self.dp_dynamic_gas = (params.get('dp_dynamic_gas') == b'1')
+    if self.dp_dynamic_gas:
+      self.dynamic_gas = DynamicGas(CP)
 
   def reset(self, v_pid):
     """Reset PID controller and change setpoint"""
     self.pid.reset()
     self.v_pid = v_pid
 
-  def update(self, active, CS, v_target, v_target_future, a_target, CP):
+  def update(self, active, CS, v_target, v_target_future, a_target, CP, sm):
     """Update longitudinal control. This updates the state machine and runs a PID loop"""
     # Actuation limits
     gas_max = interp(CS.vEgo, CP.gasMaxBP, CP.gasMaxV)
     brake_max = interp(CS.vEgo, CP.brakeMaxBP, CP.brakeMaxV)
 
+    #dynamic_gas
+    if self.dp_dynamic_gas:
+      gas_max = self.dynamic_gas.update(CS, sm)
+
     # Update state machine
     output_gb = self.last_output_gb
     self.long_control_state = long_control_state_trans(active, self.long_control_state, CS.vEgo,