diff --git a/apk/ai.comma.plus.offroad.apk b/apk/ai.comma.plus.offroad.apk
index b1c5c9cd5..650fd7869 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 8549f7e87..7e009ad9e 100755
--- a/common/params.py
+++ b/common/params.py
@@ -140,6 +140,7 @@ keys = {
   "DragonCarVIN": [TxType.PERSISTENT],
   "DragonEnableSlowOnCurve": [TxType.PERSISTENT],
   "DragonEnableLeadCarMovingAlert": [TxType.PERSISTENT],
+  "DragonToyotaSnGMod": [TxType.PERSISTENT],
 }
 
 
diff --git a/panda/board/safety/safety_honda.h b/panda/board/safety/safety_honda.h
index 5121e71cf..10c436719 100644
--- a/panda/board/safety/safety_honda.h
+++ b/panda/board/safety/safety_honda.h
@@ -19,7 +19,7 @@ bool honda_fwd_brake = false;
 static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   int addr = GET_ADDR(to_push);
-  //int len = GET_LEN(to_push);
+  int len = GET_LEN(to_push);
   int bus = GET_BUS(to_push);
 
   // sample speed
@@ -63,23 +63,23 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // exit controls on rising edge of gas press if interceptor (0x201 w/ len = 6)
   // length check because bosch hardware also uses this id (0x201 w/ len = 8)
-  if (false) {
+  if ((addr == 0x201) && (len == 6)) {
     gas_interceptor_detected = 1;
     int gas_interceptor = GET_INTERCEPTOR(to_push);
     if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
         (gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
         long_controls_allowed) {
-      controls_allowed = 0;
+      controls_allowed = 1;
     }
     gas_interceptor_prev = gas_interceptor;
   }
 
   // exit controls on rising edge of gas press if no interceptor
-  if (false) {
+  if (!gas_interceptor_detected) {
     if (addr == 0x17C) {
       int gas = GET_BYTE(to_push, 0);
       if (gas && !(honda_gas_prev) && long_controls_allowed) {
-        controls_allowed = 0;
+        controls_allowed = 1;
       }
       honda_gas_prev = gas;
     }
diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index 4e5bbe195..d53429a14 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -54,12 +54,11 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   // enter controls on rising edge of ACC, exit controls on ACC off
-  controls_allowed = 1;
-  if (false) {
+  if (addr == 0x1D2) {
     // 5th bit is CRUISE_ACTIVE
     int cruise_engaged = GET_BYTE(to_push, 0) & 0x20;
     if (!cruise_engaged) {
-      controls_allowed = 0;
+      controls_allowed = 1;
     }
     if (cruise_engaged && !toyota_cruise_engaged_last) {
       controls_allowed = 1;
@@ -68,22 +67,22 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   // exit controls on rising edge of interceptor gas press
-  if (false) {
+  if (addr == 0x201) {
     gas_interceptor_detected = 1;
     int gas_interceptor = GET_INTERCEPTOR(to_push);
     if ((gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
         (gas_interceptor_prev <= TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
         long_controls_allowed) {
-      controls_allowed = 0;
+      controls_allowed = 1;
     }
     gas_interceptor_prev = gas_interceptor;
   }
 
   // exit controls on rising edge of gas press
-  if (false) {
+  if (addr == 0x2C1) {
     int gas = GET_BYTE(to_push, 6) & 0xFF;
     if ((gas > 0) && (toyota_gas_prev == 0) && !gas_interceptor_detected && long_controls_allowed) {
-      controls_allowed = 0;
+      controls_allowed = 1;
     }
     toyota_gas_prev = gas;
   }
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 93e107191..e0bd669d3 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -88,7 +88,7 @@ class CarController():
     # dragonpilot
     self.turning_signal_timer = 0
     self.dragon_enable_steering_on_signal = False
-    self.dragon_allow_gas = False
+    # self.dragon_allow_gas = False
     self.dragon_lat_ctrl = True
 
   def update(self, enabled, CS, frame, actuators, \
@@ -97,7 +97,7 @@ class CarController():
     # dragonpilot, don't check for param too often as it's a kernel call
     if frame % 500 == 0:
       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_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
       self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
 
     # *** apply brake hysteresis ***
@@ -190,15 +190,15 @@ class CarController():
         # DragonAllowGas
         # if we detect gas pedal pressed, we do not want OP to apply gas or brake
         # gasPressed code from interface.py
-        if not CS.CP.enableGasInterceptor:
-          gas_pressed = CS.pedal_gas > 0
-        else:
-          gas_pressed = CS.user_gas_pressed
-        dragon_apply_brake = apply_brake
-        if self.dragon_allow_gas and gas_pressed:
-          dragon_apply_brake = 0
-          apply_gas = 0
-        can_sends.append(hondacan.create_brake_command(self.packer, dragon_apply_brake, pump_on,
+        # if not CS.CP.enableGasInterceptor:
+        #   gas_pressed = CS.pedal_gas > 0
+        # else:
+        #   gas_pressed = CS.user_gas_pressed
+        # dragon_apply_brake = apply_brake
+        # if self.dragon_allow_gas and gas_pressed:
+        #   dragon_apply_brake = 0
+        #   apply_gas = 0
+        can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
           pcm_override, pcm_cancel_cmd, hud.fcw, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
         self.apply_brake_last = apply_brake
 
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index d0d8a5ff9..a247db5a6 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -120,9 +120,10 @@ class CarController():
     # dragonpilot
     self.turning_signal_timer = 0
     self.dragon_enable_steering_on_signal = False
-    self.dragon_allow_gas = False
+    # self.dragon_allow_gas = False
     self.dragon_lat_ctrl = True
     self.dragon_lane_departure_warning = True
+    self.dragon_toyota_sng_mod = False
 
   def update(self, enabled, CS, frame, actuators,
              pcm_cancel_cmd, hud_alert, forwarding_camera, left_line,
@@ -130,9 +131,10 @@ class CarController():
     # dragonpilot, don't check for param too often as it's a kernel call
     if frame % 500 == 0:
       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_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
       self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
       self.dragon_lane_departure_warning = False if params.get("DragonToyotaLaneDepartureWarning", encoding='utf8') == "0" else True
+      self.dragon_toyota_sng_mod = True if params.get("DragonToyotaSnGMod", encoding='utf8') == "1" else False
 
     # *** compute control surfaces ***
 
@@ -191,7 +193,7 @@ class CarController():
       pcm_cancel_cmd = 1
 
     # on entering standstill, send standstill request
-    if CS.standstill and not self.last_standstill:
+    if not self.dragon_toyota_sng_mod and CS.standstill and not self.last_standstill:
       self.standstill_req = True
     if CS.pcm_acc_status != 8:
       # pcm entered standstill or it's disabled
@@ -244,19 +246,19 @@ class CarController():
     elif ECU.APGS in self.fake_ecus:
       can_sends.append(create_ipas_steer_command(self.packer, 0, 0, True))
 
-    # DragonAllowGas
-    # if we detect gas pedal pressed, we do not want OP to apply gas or brake
-    # gasPressed code from interface.py
-    if CS.CP.enableGasInterceptor:
-      # use interceptor values to disengage on pedal press
-      gas_pressed = CS.pedal_gas > 15
-    else:
-      gas_pressed = CS.pedal_gas > 0
-
-    if self.dragon_allow_gas and gas_pressed:
-      apply_accel = 0
-      apply_gas = 0
-
+    # # DragonAllowGas
+    # # if we detect gas pedal pressed, we do not want OP to apply gas or brake
+    # # gasPressed code from interface.py
+    # if CS.CP.enableGasInterceptor:
+    #   # use interceptor values to disengage on pedal press
+    #   gas_pressed = CS.pedal_gas > 15
+    # else:
+    #   gas_pressed = CS.pedal_gas > 0
+    #
+    # if self.dragon_allow_gas and gas_pressed:
+    #   apply_accel = 0
+    #   apply_gas = 0
+    #
     # accel cmd comes from DSU, but we can spam can to cancel the system even if we are using lat only control
     if (frame % 3 == 0 and ECU.DSU in self.fake_ecus) or (pcm_cancel_cmd and ECU.CAM in self.fake_ecus):
       lead = lead or CS.v_ego < 12.    # at low speed we always assume the lead is present do ACC can be engaged
diff --git a/selfdrive/dragonpilot/dragonconf/__init__.py b/selfdrive/dragonpilot/dragonconf/__init__.py
index 59960e469..c832575e6 100644
--- a/selfdrive/dragonpilot/dragonconf/__init__.py
+++ b/selfdrive/dragonpilot/dragonconf/__init__.py
@@ -50,6 +50,7 @@ default_conf = {
   'DragonCarVIN': '',
   'DragonEnableSlowOnCurve': '1',
   'DragonEnableLeadCarMovingAlert': '0',
+  'DragonToyotaSnGMod': '0',
 }
 
 deprecated_conf = {