diff --git a/opendbc/lexus_is_2018_pt_generated.dbc b/opendbc/lexus_is_2018_pt_generated.dbc
index 6942d5ad9..c0b653f54 100644
--- a/opendbc/lexus_is_2018_pt_generated.dbc
+++ b/opendbc/lexus_is_2018_pt_generated.dbc
@@ -361,7 +361,7 @@ BO_ 705 GAS_PEDAL: 8 XXX
  SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
 
 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (1.30,0) [-20000|20000] "" XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed
deleted file mode 100644
index a1e01931c..000000000
Binary files a/panda/board/obj/panda.bin.signed and /dev/null differ
diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index 2e6f275d4..4e5bbe195 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -54,7 +54,8 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   // enter controls on rising edge of ACC, exit controls on ACC off
-  if (addr == 0x1D2) {
+  controls_allowed = 1;
+  if (false) {
     // 5th bit is CRUISE_ACTIVE
     int cruise_engaged = GET_BYTE(to_push, 0) & 0x20;
     if (!cruise_engaged) {
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index b82ae8da5..69fda1053 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -240,10 +240,10 @@ class CarState(object):
 
     if self.dragon_toyota_stock_dsu and self.generic_toggle and self.main_on:
       enable_acc = True
-      if not self.gear_shifter == 'drive' or not self.seatbelt or not self.door_all_closed:
-        enable_acc = False
+      #if not self.gear_shifter == 'drive' or not self.seatbelt or not self.door_all_closed:
+      #  enable_acc = False
       self.pcm_acc_active = enable_acc
       if self.standstill:
         self.pcm_acc_status = 7
       else:
-        self.pcm_acc_status = 1
\ No newline at end of file
+        self.pcm_acc_status = 1
diff --git a/selfdrive/ui/ui.c b/selfdrive/ui/ui.c
index 260f337ff..ede6f75f8 100644
--- a/selfdrive/ui/ui.c
+++ b/selfdrive/ui/ui.c
@@ -1810,7 +1810,9 @@ static void ui_draw_vision(UIState *s) {
   glScissor(ui_viz_rx, s->fb_h-(box_y+box_h), ui_viz_rw, box_h);
   glEnable(GL_BLEND);
   glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
-  draw_frame(s);
+  if (s->dragon_driving_ui) {
+    draw_frame(s);
+  }
   glViewport(0, 0, s->fb_w, s->fb_h);
   glDisable(GL_SCISSOR_TEST);
 
@@ -1818,21 +1820,22 @@ static void ui_draw_vision(UIState *s) {
 
   nvgBeginFrame(s->vg, s->fb_w, s->fb_h, 1.0f);
   nvgSave(s->vg);
-
-  // Draw augmented elements
-  const int inner_height = viz_w*9/16;
-  nvgScissor(s->vg, ui_viz_rx, box_y, ui_viz_rw, box_h);
-  nvgTranslate(s->vg, ui_viz_rx+ui_viz_ro, box_y + (box_h-inner_height)/2.0);
-  nvgScale(s->vg, (float)viz_w / s->fb_w, (float)inner_height / s->fb_h);
-  if (!scene->frontview && !scene->fullview) {
-    ui_draw_world(s);
+  if (s->dragon_driving_ui) {
+    // Draw augmented elements
+    const int inner_height = viz_w*9/16;
+    nvgScissor(s->vg, ui_viz_rx, box_y, ui_viz_rw, box_h);
+    nvgTranslate(s->vg, ui_viz_rx+ui_viz_ro, box_y + (box_h-inner_height)/2.0);
+    nvgScale(s->vg, (float)viz_w / s->fb_w, (float)inner_height / s->fb_h);
+    if (!scene->frontview && !scene->fullview) {
+      ui_draw_world(s);
+    }
   }
 
   nvgRestore(s->vg);
-
-  // Set Speed, Current Speed, Status/Events
-  ui_draw_vision_header(s);
-
+  if (s->dragon_driving_ui) {
+    // Set Speed, Current Speed, Status/Events
+    ui_draw_vision_header(s);
+  }
   if (s->scene.alert_size != ALERTSIZE_NONE) {
     // Controls Alerts
     ui_draw_vision_alert(s, s->scene.alert_size, s->status,
@@ -1852,7 +1855,7 @@ static void ui_draw_blank(UIState *s) {
 }
 
 static void ui_draw(UIState *s) {
-  if (s->dragon_driving_ui && s->vision_connected && s->plus_state == 0) {
+  if (s->vision_connected && s->plus_state == 0) {
     ui_draw_vision(s);
   } else {
     ui_draw_blank(s);