diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 1dcf9dff5..ea3ac6012 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -39,12 +39,10 @@ def get_can_parser(CP):
     ("CRUISE_STATE", "PCM_CRUISE", 0),
     ("MAIN_ON", "PCM_CRUISE_2", 0),
     ("SET_SPEED", "PCM_CRUISE_2", 0),
-    # ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
     ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
     ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
     ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
     ("LKA_STATE", "EPS_STATUS", 0),
-    # ("IPAS_STATE", "EPS_STATUS", 1),
     ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
     ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
   ]
@@ -60,18 +58,18 @@ def get_can_parser(CP):
     ("EPS_STATUS", 25),
   ]
 
-  if not CP.carFingerprint == CAR.LEXUS_ISH:
-  #   checks = [
-  #     ("BRAKE_MODULE", 50),
-  #     ("GAS_PEDAL", 50),
-  #     ("WHEEL_SPEEDS", 80),
-  #     ("STEER_ANGLE_SENSOR", 80),
-  #     ("PCM_CRUISE", 33),
-  #     ("PCM_CRUISE_2", 1),
-  #     ("STEER_TORQUE_SENSOR", 50),
-  #     ("EPS_STATUS", 25),
-  #   ]
-  # else:
+  if CP.carFingerprint == CAR.LEXUS_ISH:
+    checks = [
+      ("BRAKE_MODULE", 50),
+      ("GAS_PEDAL", 50),
+      ("WHEEL_SPEEDS", 80),
+      ("STEER_ANGLE_SENSOR", 80),
+      ("PCM_CRUISE", 33),
+      ("PCM_CRUISE_2", 1),
+      ("STEER_TORQUE_SENSOR", 50),
+      ("EPS_STATUS", 25),
+    ]
+  else:
     signals += [
       ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
       ("IPAS_STATE", "EPS_STATUS", 1),
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index ffe3eac9c..b932a0d7f 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -147,7 +147,7 @@ class CarInterface(object):
       ret.steerRatio = 13.3 # in spec
       tire_stiffness_factor = 0.444 # from camry
       ret.mass = 3736.8 * CV.LB_TO_KG + std_cargo # in spec, mean of is300 (1680 kg) / is300h (1720 kg) / is350 (1685 kg)
-      ret.steerKpV, ret.steerKiV = [[0.19], [0.04]]
+      ret.steerKpV, ret.steerKiV = [[0.3], [0.1]]
       ret.steerKf = 0.00006 # from camry
 
     ret.steerRateCost = 1.