diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 61b776955..1e811f6ce 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -199,6 +199,11 @@ def fingerprint(logcan, sendcan, has_relay):
     car_fingerprint = fixed_fingerprint
     source = car.CarParams.FingerprintSource.fixed
 
+  fixed_fingerprint = os.environ.get('FINGERPRINT', "")
+  if len(fixed_fingerprint):
+    car_fingerprint = fixed_fingerprint
+    source = car.CarParams.FingerprintSource.fixed
+
   cloudlog.warning("fingerprinted %s", car_fingerprint)
   return car_fingerprint, finger, vin, car_fw, source
 
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index bb98f1972..c137a3427 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -4,6 +4,7 @@ from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from selfdrive.config import Conversions as CV
 from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, TSS2_CAR, NO_DSU_CAR
+
 from common.realtime import sec_since_boot
 from common.params import Params
 params = Params()
@@ -118,7 +119,7 @@ class CarState(CarStateBase):
   def update(self, cp, cp_cam):
     # dragonpilot, don't check for param too often as it's a kernel call
     ts = sec_since_boot()
-    if ts - self.ts_last_check > 5.:
+    if ts - self.ts_last_check >= 5.:
       self.dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU", encoding='utf8') == "1" else False
       self.ts_last_check = ts
 
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 1c42d5389..2b2d65d60 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -381,7 +381,7 @@ class CarInterface(CarInterfaceBase):
   def update(self, c, can_strings):
     # dragonpilot, don't check for param too often as it's a kernel call
     ts = sec_since_boot()
-    if ts - self.ts_last_check > 5.:
+    if ts - self.ts_last_check >= 5.:
       self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
       self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
       self.dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU", encoding='utf8') == "1" else False
diff --git a/selfdrive/thermald.py b/selfdrive/thermald.py
index ddda0e9a4..93d7b4d38 100755
--- a/selfdrive/thermald.py
+++ b/selfdrive/thermald.py
@@ -412,14 +412,14 @@ def thermald_thread():
     # dragonpilot
     ts = sec_since_boot()
     # update variable status every 10 secs
-    if ts_last_update_vars is None or ts - ts_last_update_vars > 10.:
+    if ts_last_update_vars is None or ts - ts_last_update_vars >= 10.:
       dragon_charging_ctrl = True if params.get('DragonChargingCtrl', encoding='utf8') == "1" else False
       dragon_charging_max = int(params.get('DragonCharging', encoding='utf8'))
       dragon_discharging_min = int(params.get('DragonDisCharging', encoding='utf8'))
       ts_last_update_vars = ts
 
     # we update charging status once every min
-    if ts_last_charging_ctrl is None or ts - ts_last_charging_ctrl > 60.:
+    if ts_last_charging_ctrl is None or ts - ts_last_charging_ctrl >= 60.:
       if dragon_charging_ctrl:
         if msg.thermal.batteryPercent >= dragon_charging_max:
           os.system('echo "0" > /sys/class/power_supply/battery/charging_enabled')