diff --git a/opendbc/hyundai_kia_generic.dbc b/opendbc/hyundai_kia_generic.dbc
index e3e6a1eb6..bb1c06e09 100644
--- a/opendbc/hyundai_kia_generic.dbc
+++ b/opendbc/hyundai_kia_generic.dbc
@@ -961,7 +961,7 @@ BO_ 64 DATC14: 8 DATC
  SG_ DATC_ADSDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
 
 BO_ 832 LKAS11: 8 LDWS_LKAS
- SG_ CF_Lkas_Icon : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,IBOX,PSB
+ SG_ CF_Lkas_Bca_R : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,IBOX,PSB
  SG_ CF_Lkas_LdwsSysState : 2|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,IBOX,PSB
  SG_ CF_Lkas_SysWarning : 6|4@1+ (1.0,0.0) [0.0|15.0] ""  BCM,CLU
  SG_ CF_Lkas_LdwsLHWarning : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU,PSB
diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py
index 5a895497a..d9e7cf3a9 100644
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@@ -8,7 +8,7 @@ def make_can_msg(addr, dat, alt):
 
 def create_lkas11(packer, car_fingerprint, apply_steer, steer_req, cnt, enabled, lkas11, hud_alert, keep_stock=False):
   values = {
-    "CF_Lkas_Icon": 3 if enabled else 0,
+    "CF_Lkas_Bca_R": 3 if enabled else 0,
     "CF_Lkas_LdwsSysState": 3 if steer_req else 1,
     "CF_Lkas_SysWarning": hud_alert,
     "CF_Lkas_LdwsLHWarning": lkas11["CF_Lkas_LdwsLHWarning"] if keep_stock else 0,
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index a160108f8..27d4cb69a 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python
+import os
 import gc
 import capnp
 from cereal import car, log
@@ -440,7 +441,8 @@ def controlsd_thread(gctx=None):
   logcan.close()
 
   # TODO: Use the logcan socket from above, but that will currenly break the tests
-  can_sock = messaging.sub_sock(service_list['can'].port, timeout=100)
+  can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 100
+  can_sock = messaging.sub_sock(service_list['can'].port, timeout=can_timeout)
 
   car_recognized = CP.carName != 'mock'
   # If stock camera is disconnected, we loaded car controls and it's not chffrplus
diff --git a/selfdrive/test/tests/plant/test_longitudinal.py b/selfdrive/test/tests/plant/test_longitudinal.py
index 1f30938ac..09e81b2a1 100755
--- a/selfdrive/test/tests/plant/test_longitudinal.py
+++ b/selfdrive/test/tests/plant/test_longitudinal.py
@@ -325,6 +325,7 @@ def setup_output():
 class LongitudinalControl(unittest.TestCase):
   @classmethod
   def setUpClass(cls):
+    os.environ['NO_CAN_TIMEOUT'] = "1"
 
     setup_output()