diff --git a/cereal/log.capnp b/cereal/log.capnp
index a37a58923..522a9da5c 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -296,7 +296,7 @@ struct ThermalData {
   memUsedPercent @19 :Int8;
   cpuPerc @20 :Int8;
 
-  ipAddr @24 :Text; # dragonpilot
+  ipAddr @25 :Text; # dragonpilot
 
   enum ThermalStatus {
     green @0;   # all processes run
diff --git a/panda/board/safety/safety_honda.h b/panda/board/safety/safety_honda.h
index aa097f491..75ecae214 100644
--- a/panda/board/safety/safety_honda.h
+++ b/panda/board/safety/safety_honda.h
@@ -194,7 +194,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   // and the the latching controls_allowed flag is True
   //int pedal_pressed = gas_pressed_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
   //                    (brake_pressed_prev && honda_moving);
-  int pedal_pressed = brake_pressed_prev && honda_moving;;
+  int pedal_pressed = brake_pressed_prev && honda_moving;
   bool current_controls_allowed = controls_allowed && !(pedal_pressed);
 
   // BRAKE: safety check
diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index 4fe1fe9fd..5aedb3764 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -112,7 +112,7 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
       int byte = (addr == 0x224) ? 0 : 4;
       bool brake_pressed = ((GET_BYTE(to_push, byte) >> 5) & 1) != 0;
       if (brake_pressed && (!brake_pressed_prev || toyota_moving)) {
-        controls_allowed = 0;
+        controls_allowed = 1;
       }
       brake_pressed_prev = brake_pressed;
     }
diff --git a/reset_update.sh b/reset_update.sh
index 6bfe86d88..18d77f9d3 100755
--- a/reset_update.sh
+++ b/reset_update.sh
@@ -3,4 +3,4 @@
 export LD_LIBRARY_PATH=/data/data/com.termux/files/usr/lib
 export HOME=/data/data/com.termux/files/home
 export PATH=/usr/local/bin:/data/data/com.termux/files/usr/bin:/data/data/com.termux/files/usr/sbin:/data/data/com.termux/files/usr/bin/applets:/bin:/sbin:/vendor/bin:/system/sbin:/system/bin:/system/xbin:/data/data/com.termux/files/usr/bin/git
-cd /data/openpilot && git reset --hard @{u} && git clean -xdf && git pull && reboot
\ No newline at end of file
+cd /data/openpilot && git reset --hard @{u} && git clean -xdf && git pull && scons --clean && reboot
\ No newline at end of file
diff --git a/selfdrive/assets/images/button_home.png b/selfdrive/assets/images/button_home.png
index 9f52faf9e..07f47ab5d 100644
Binary files a/selfdrive/assets/images/button_home.png and b/selfdrive/assets/images/button_home.png differ
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index f0815dd98..8ef75a4ce 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -181,16 +181,15 @@ def fingerprint(logcan, sendcan, has_relay):
 
     frame += 1
 
+  source = car.CarParams.FingerprintSource.can
+
   if dragon_has_cache:
     car_fingerprint = dragon_car_fingerprint
     finger = dragon_finger
     vin = dragon_vin
     car_fw = dragon_car_fw
     source = dragon_source
-
   else:
-    source = car.CarParams.FingerprintSource.can
-
     # If FW query returns exactly 1 candidate, use it
     if len(fw_candidates) == 1:
       car_fingerprint = list(fw_candidates)[0]
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 6db935c6a..956f73cdd 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -104,6 +104,7 @@ class CarController():
     self.dragon_enable_steering_on_signal = False
     self.dragon_lat_ctrl = True
     self.dp_last_modified = None
+    self.lane_change_enabled = True
 
   def update(self, enabled, CS, frame, actuators, \
              pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \
@@ -112,8 +113,15 @@ class CarController():
     if frame % 500 == 0:
       modified = dp_get_last_modified()
       if self.dp_last_modified != modified:
-        self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
         self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+        if self.dragon_lat_ctrl:
+          self.lane_change_enabled = False if params.get("LaneChangeEnabled", encoding='utf8') == "1" else False
+          if not self.lane_change_enabled:
+            self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
+          else:
+            self.dragon_enable_steering_on_signal = False
+        else:
+          self.dragon_enable_steering_on_signal = False
         self.dp_last_modified = modified
 
     P = self.params
@@ -163,7 +171,7 @@ class CarController():
     # dragonpilot
     if enabled:
       if self.dragon_enable_steering_on_signal:
-        if CS.left_blinker_on == 0 and CS.right_blinker_on == 0:
+        if not CS.out.leftBlinker and not CS.out.rightBlinker:
           self.turning_signal_timer = 0
         else:
           self.turning_signal_timer = 100
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
old mode 100644
new mode 100755
index 5d7851219..ef7da044e
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -404,6 +404,7 @@ class CarInterface(CarInterfaceBase):
 
   # returns a car.CarState
   def update(self, c, can_strings):
+    self.dp_load_params('honda')
     # ******************* do can recv *******************
     self.cp.update_strings(can_strings)
     self.cp_cam.update_strings(can_strings)
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 519ea9ace..285e835ae 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -21,6 +21,7 @@ class CarController():
     self.dragon_enable_steering_on_signal = False
     self.dragon_lat_ctrl = True
     self.dp_last_modified = None
+    self.lane_change_enabled = True
 
   def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert):
 
@@ -28,8 +29,15 @@ class CarController():
     if frame % 500 == 0:
       modified = dp_get_last_modified()
       if self.dp_last_modified != modified:
-        self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
         self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+        if self.dragon_lat_ctrl:
+          self.lane_change_enabled = False if params.get("LaneChangeEnabled", encoding='utf8') == "1" else False
+          if not self.lane_change_enabled:
+            self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
+          else:
+            self.dragon_enable_steering_on_signal = False
+        else:
+          self.dragon_enable_steering_on_signal = False
         self.dp_last_modified = modified
 
     ### Steering Torque
@@ -49,7 +57,7 @@ class CarController():
     # dragonpilot
     if enabled:
       if self.dragon_enable_steering_on_signal:
-        if CS.left_blinker_on == 0 and CS.right_blinker_on == 0:
+        if not CS.out.leftBlinker and not CS.out.rightBlinker:
           self.turning_signal_timer = 0
         else:
           self.turning_signal_timer = 100
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index a25df91f9..ac78d1207 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -6,6 +6,10 @@ from common.realtime import DT_CTRL
 from selfdrive.car import gen_empty_fingerprint
 from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
 from selfdrive.controls.lib.vehicle_model import VehicleModel
+from common.realtime import sec_since_boot
+from common.params import Params
+params = Params()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 GearShifter = car.CarState.GearShifter
 
@@ -30,6 +34,14 @@ class CarInterfaceBase():
     if CarController is not None:
       self.CC = CarController(self.cp.dbc_name, CP, self.VM)
 
+    # dragonpilot
+    self.dragon_toyota_stock_dsu = False
+    self.dragon_enable_steering_on_signal = False
+    self.dragon_allow_gas = False
+    self.ts_last_check = 0.
+    self.dragon_lat_ctrl = True
+    self.dp_last_modified = None
+
   @staticmethod
   def calc_accel_override(a_ego, a_target, v_ego, v_target):
     return 1.
@@ -81,6 +93,23 @@ class CarInterfaceBase():
   def apply(self, c):
     raise NotImplementedError
 
+  def dp_load_params(self, car_name):
+    # 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.:
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+        if self.dragon_lat_ctrl:
+          self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
+        else:
+          self.dragon_enable_steering_on_signal = True
+        self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
+        if car_name == 'toyota':
+          self.dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU", encoding='utf8') == "1" else False
+        self.dp_last_modified = modified
+      self.ts_last_check = ts
+
   def create_common_events(self, cs_out, extra_gears=[], gas_resume_speed=-1):
     events = []
 
@@ -100,7 +129,11 @@ class CarInterfaceBase():
       events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
 
     # TODO: move this stuff to the capnp strut
-    if getattr(self.CS, "steer_error", False):
+    if not self.dragon_lat_ctrl:
+      events.append(create_event('manualSteeringRequired', [ET.WARNING]))
+    elif self.dragon_enable_steering_on_signal and (cs_out.leftBlinker or cs_out.rightBlinker):
+      events.append(create_event('manualSteeringRequiredBlinkersOn', [ET.WARNING]))
+    elif getattr(self.CS, "steer_error", False):
       events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
     elif getattr(self.CS, "steer_warning", False):
       events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
@@ -108,9 +141,15 @@ class CarInterfaceBase():
     # Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
     # Optionally allow to press gas at zero speed to resume.
     # e.g. Chrysler does not spam the resume button yet, so resuming with gas is handy. FIXME!
-    if (cs_out.gasPressed and (not self.gas_pressed_prev) and cs_out.vEgo > gas_resume_speed) or \
-       (cs_out.brakePressed and (not self.brake_pressed_prev or not cs_out.standstill)):
-      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
+    if not self.dragon_toyota_stock_dsu:
+      # DragonAllowGas
+      if not self.dragon_allow_gas:
+        if (cs_out.gasPressed and (not self.gas_pressed_prev) and cs_out.vEgo > gas_resume_speed) or \
+                (cs_out.brakePressed and (not self.brake_pressed_prev or not cs_out.standstill)):
+          events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
+      else:
+        if cs_out.brakePressed and (not self.brake_pressed_prev or not cs_out.standstill):
+          events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
 
     return events
 
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index bbafcae41..23cca1df5 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -37,6 +37,7 @@ class CarController():
     self.dragon_enable_steering_on_signal = False
     self.dragon_lat_ctrl = True
     self.dp_last_modified = None
+    self.lane_change_enabled = True
 
   def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line):
     """ Controls thread """
@@ -45,8 +46,15 @@ class CarController():
     if frame % 500 == 0:
       modified = dp_get_last_modified()
       if self.dp_last_modified != modified:
-        self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
         self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+        if self.dragon_lat_ctrl:
+          self.lane_change_enabled = False if params.get("LaneChangeEnabled", encoding='utf8') == "1" else False
+          if not self.lane_change_enabled:
+            self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
+          else:
+            self.dragon_enable_steering_on_signal = False
+        else:
+          self.dragon_enable_steering_on_signal = False
         self.dp_last_modified = modified
 
     P = self.params
@@ -75,7 +83,7 @@ class CarController():
       # dragonpilot
       if enabled:
         if self.dragon_enable_steering_on_signal:
-          if CS.left_blinker_on == 0 and CS.right_blinker_on == 0:
+          if not CS.out.leftBlinker and not CS.out.rightBlinker:
             self.turning_signal_timer = 0
           else:
             self.turning_signal_timer = 100
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 0f2f4176c..0c71cb13e 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -49,6 +49,7 @@ class CarInterface(CarInterfaceBase):
 
   # returns a car.CarState
   def update(self, c, can_strings):
+    self.dp_load_params('subaru')
     self.cp.update_strings(can_strings)
     self.cp_cam.update_strings(can_strings)
 
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 6062457ee..29fbcb339 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -71,6 +71,7 @@ class CarController():
     self.dragon_lane_departure_warning = True
     self.dragon_toyota_sng_mod = False
     self.dp_last_modified = None
+    self.lane_change_enabled = True
 
   def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
              left_line, right_line, lead, left_lane_depart, right_lane_depart):
@@ -79,10 +80,17 @@ class CarController():
     if frame % 500 == 0:
       modified = dp_get_last_modified()
       if self.dp_last_modified != modified:
-        self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", 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
+        self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+        if self.dragon_lat_ctrl:
+          self.lane_change_enabled = False if params.get("LaneChangeEnabled", encoding='utf8') == "1" else False
+          if not self.lane_change_enabled:
+            self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
+          else:
+            self.dragon_enable_steering_on_signal = False
+        else:
+          self.dragon_enable_steering_on_signal = False
         self.dp_last_modified = modified
 
     # *** compute control surfaces ***
@@ -137,7 +145,7 @@ class CarController():
     # dragonpilot
     if enabled:
       if self.dragon_enable_steering_on_signal:
-        if CS.left_blinker_on == 0 and CS.right_blinker_on == 0:
+        if not CS.out.leftBlinker and not CS.out.rightBlinker:
           self.turning_signal_timer = 0
         else:
           self.turning_signal_timer = 100
@@ -150,17 +158,6 @@ class CarController():
 
       if not self.dragon_lat_ctrl:
         apply_steer_req = 0
-    else:
-      if CS.v_ego > 12.5:
-        if right_lane_depart and not CS.right_blinker_on:
-          apply_steer = self.last_steer + 3
-          apply_steer = min(apply_steer , 800)
-          apply_steer_req = 1
-
-        if left_lane_depart and not CS.left_blinker_on:
-          apply_steer = self.last_steer - 3
-          apply_steer = max(apply_steer , -800)
-          apply_steer_req = 1
 
     #*** control msgs ***
     #print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor)
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 2ec77405c..f22101640 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -5,7 +5,10 @@ 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_STOP_TIMER_CAR
-
+from common.realtime import sec_since_boot
+from common.params import Params
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
+params = Params()
 
 class CarState(CarStateBase):
   def __init__(self, CP):
@@ -19,10 +22,23 @@ class CarState(CarStateBase):
     # On NO_DSU cars but not TSS2 cars the cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE']
     # is zeroed to where the steering angle is at start.
     # Need to apply an offset as soon as the steering angle measurements are both received
-    self.needs_angle_offset = CP.carFingerprint not in TSS2_CAR
+    self.needs_angle_offset = CP.carFingerprint not in TSS2_CAR or CP.carFingerprint == CAR.LEXUS_ISH
     self.angle_offset = 0.
+    # dragonpilot
+    self.dragon_toyota_stock_dsu = False
+    self.ts_last_check = 0.
+    self.last_modifed = None
 
   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.:
+      modified = dp_get_last_modified()
+      if self.last_modifed != modified:
+        self.dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU", encoding='utf8') == "1" else False
+        self.last_modifed = modified
+      self.ts_last_check = ts
+
     ret = car.CarState.new_message()
 
     ret.doorOpen = any([cp.vl["SEATS_DOORS"]['DOOR_OPEN_FL'], cp.vl["SEATS_DOORS"]['DOOR_OPEN_FR'],
@@ -34,8 +50,11 @@ class CarState(CarStateBase):
     if self.CP.enableGasInterceptor:
       ret.gas = (cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS'] + cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS2']) / 2.
       ret.gasPressed = ret.gas > 15
+    elif self.CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
+      self.pedal_gas = cp.vl["GAS_PEDAL_ALT"]['GAS_PEDAL']
+      ret.gasPressed = ret.gas > 1e-5
     else:
-      ret.gas = cp.vl["GAS_PEDAL"]['GAS_PEDAL']
+      self.pedal_gas = cp.vl["GAS_PEDAL"]['GAS_PEDAL']
       ret.gasPressed = ret.gas > 1e-5
 
     ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FL'] * CV.KPH_TO_MS
@@ -77,11 +96,19 @@ class CarState(CarStateBase):
       ret.cruiseState.available = cp.vl["DSU_CRUISE"]['MAIN_ON'] != 0
       ret.cruiseState.speed = cp.vl["DSU_CRUISE"]['SET_SPEED'] * CV.KPH_TO_MS
       self.low_speed_lockout = False
+    elif self.CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
+      ret.cruiseState.available = cp.vl["PCM_CRUISE_ALT"]['MAIN_ON'] != 0
+      ret.cruiseState.speed = cp.vl["PCM_CRUISE_ALT"]['SET_SPEED'] * CV.KPH_TO_MS
+      self.low_speed_lockout = False
     else:
       ret.cruiseState.available = cp.vl["PCM_CRUISE_2"]['MAIN_ON'] != 0
       ret.cruiseState.speed = cp.vl["PCM_CRUISE_2"]['SET_SPEED'] * CV.KPH_TO_MS
       self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
-    self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
+    if self.CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
+      # Lexus ISH does not have CRUISE_STATUS value (always 0), so we use CRUISE_ACTIVE value instead
+      self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE']
+    else:
+      self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
     if self.CP.carFingerprint in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor:
       # ignore standstill in hybrid vehicles, since pcm allows to restart without
       # receiving any special command. Also if interceptor is detected
@@ -92,6 +119,8 @@ class CarState(CarStateBase):
 
     if self.CP.carFingerprint == CAR.PRIUS:
       ret.genericToggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0
+    elif self.CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
+      ret.genericToggle = bool(cp.vl["LIGHT_STALK_ISH"]['AUTO_HIGH_BEAM'])
     else:
       ret.genericToggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
     ret.stockAeb = bool(cp_cam.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cam.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
@@ -101,6 +130,12 @@ class CarState(CarStateBase):
     self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
     self.steer_warning = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
 
+    if self.dragon_toyota_stock_dsu and ret.genericToggle and ret.cruiseState.available:
+      enable_acc = True
+      if ret.seatbeltUnlatched or ret.doorOpen:
+        enable_acc = False
+      ret.cruiseState.enabled = enable_acc
+
     return ret
 
   @staticmethod
@@ -127,6 +162,7 @@ class CarState(CarStateBase):
       ("CRUISE_STATE", "PCM_CRUISE", 0),
       ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
       ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
+      ("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0),
       ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
       ("LKA_STATE", "EPS_STATUS", 0),
       ("IPAS_STATE", "EPS_STATUS", 1),
@@ -171,9 +207,6 @@ class CarState(CarStateBase):
       signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0))
       checks.append(("PCM_CRUISE_2", 33))
 
-    if CP.carFingerprint in NO_DSU_CAR or CP.carFingerprint == CAR.LEXUS_ISH:
-      signals += [("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0)]
-
     if CP.carFingerprint == CAR.PRIUS:
       signals += [("STATE", "AUTOPARK_STATUS", 0)]
 
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index afe91c46b..152cae2bb 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -303,6 +303,7 @@ class CarInterface(CarInterfaceBase):
 
   # returns a car.CarState
   def update(self, c, can_strings):
+    self.dp_load_params('toyota')
     # ******************* do can recv *******************
     self.cp.update_strings(can_strings)
     self.cp_cam.update_strings(can_strings)
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 8c95b64a5..4c521ae35 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -554,7 +554,10 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
       if dp_last_modified != modified:
         dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU", encoding='utf8') == "1" else False
         dragon_lat_control = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
-        dragon_display_steering_limit_alert = False if params.get("DragonDisplaySteeringLimitAlert", encoding='utf8') == "0" else True
+        if dragon_lat_control:
+          dragon_display_steering_limit_alert = False if params.get("DragonDisplaySteeringLimitAlert", encoding='utf8') == "0" else True
+        else:
+          dragon_display_steering_limit_alert = False
         dragon_lead_car_moving_alert = True if params.get("DragonEnableLeadCarMovingAlert", encoding='utf8') == "1" else False
         dp_last_modified = modified
       ts_last_check = ts
@@ -609,9 +612,9 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
       else:
         dragon_stopped_has_lead_count = 0
 
-      # when we detect lead car over a sec and the lead car is started moving, we are ready to send alerts
+      # when we detect lead car over 3 secs and the lead car is started moving, we are ready to send alerts
       # once the condition is triggered, we want to keep the trigger
-      if dragon_stopped_has_lead_count >= 100:
+      if dragon_stopped_has_lead_count >= 300:
         if abs(sm['plan'].vTargetFuture) >= 0.1:
           events.append(create_event('leadCarMoving', [ET.WARNING]))
         else:
diff --git a/selfdrive/controls/dmonitoringd.py b/selfdrive/controls/dmonitoringd.py
index 762ee8011..0a6a3a792 100755
--- a/selfdrive/controls/dmonitoringd.py
+++ b/selfdrive/controls/dmonitoringd.py
@@ -59,20 +59,17 @@ def dmonitoringd_thread(sm=None, pm=None):
         # load driver monitor val only when safety is on
         if dp_enable_driver_safety_check:
           dp_enable_driver_monitoring = False if params.get("DragonEnableDriverMonitoring", encoding='utf8') == "0" else True
-        # load steering monitor timer val only when driver monitor is on
-        if dp_enable_driver_safety_check:
           try:
             dp_awareness_time = int(params.get("DragonSteeringMonitorTimer", encoding='utf8'))
           except TypeError:
             dp_awareness_time = 0.
           driver_status.awareness_time = 86400 if dp_awareness_time <= 0. else dp_awareness_time * 60.
+        else:
+          dp_enable_driver_monitoring = False
+          driver_status.awareness_time = 86400
         dp_last_modified = modified
       last_ts = cur_time
 
-    if not dp_enable_driver_safety_check:
-      dp_enable_driver_monitoring = False
-      driver_status.awareness_time = 86400
-
     # reset all awareness val and set to rhd region, this will enforce steering monitor.
     if not dp_enable_driver_monitoring:
       driver_status.is_rhd_region = True
diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py
index a42a5c8d4..03bb2b8a0 100644
--- a/selfdrive/controls/lib/pathplanner.py
+++ b/selfdrive/controls/lib/pathplanner.py
@@ -62,7 +62,6 @@ class PathPlanner():
 
     # dragonpilot
     self.params = Params()
-    self.dragon_assisted_lc_enabled = False
     self.dragon_auto_lc_enabled = False
     self.dragon_auto_lc_allowed = False
     self.dragon_auto_lc_timer = None
@@ -94,8 +93,8 @@ class PathPlanner():
     if cur_time - self.last_ts >= 5.:
       modified = dp_get_last_modified()
       if self.dp_last_modified != modified:
-        self.dragon_assisted_lc_enabled = self.lane_change_enabled
-        if self.dragon_assisted_lc_enabled:
+        self.lane_change_enabled = True if self.params.get("LaneChangeEnabled", encoding='utf8') == "1" else False
+        if self.lane_change_enabled:
           self.dragon_auto_lc_enabled = True if self.params.get("DragonEnableAutoLC", encoding='utf8') == "1" else False
           # adjustable assisted lc min speed
           self.dragon_assisted_lc_min_mph = int(self.params.get("DragonAssistedLCMinMPH", encoding='utf8')) * CV.MPH_TO_MS
@@ -113,6 +112,8 @@ class PathPlanner():
             self.dragon_auto_lc_delay = int(self.params.get("DragonAutoLCDelay", encoding='utf8'))
             if self.dragon_auto_lc_delay < 0:
               self.dragon_auto_lc_delay = 0
+        else:
+          self.dragon_auto_lc_enabled = False
         self.dp_last_modified = modified
       self.last_ts = cur_time
 
diff --git a/selfdrive/dragonpilot/appd/appd.py b/selfdrive/dragonpilot/appd/appd.py
index 86c97e282..8da5ff928 100644
--- a/selfdrive/dragonpilot/appd/appd.py
+++ b/selfdrive/dragonpilot/appd/appd.py
@@ -20,10 +20,6 @@ class App():
   TYPE_FULLSCREEN = 3
   TYPE_UTIL = 4
 
-  # frame app
-  FRAME = "ai.comma.plus.frame"
-  FRAME_MAIN = ".MainActivity"
-
   # offroad app
   OFFROAD = "ai.comma.plus.offroad"
   OFFROAD_MAIN = ".MainActivity"
@@ -58,7 +54,7 @@ class App():
     # read manual run param
     self.manual_ctrl_param = manual_ctrl_param
     # if it's a service app, we do not kill if device is too hot
-    # if it's a full screen app, we need to do extra process on frame/offroad
+    # if it's a full screen app, we need to do extra process on offroad
     self.app_type = app_type
     # app permissions
     self.permissions = permissions
@@ -119,7 +115,6 @@ class App():
       if force or not self.is_running:
         # if it's a full screen app, we need to stop frame and offroad to get keyboard access
         if self.app_type == self.TYPE_FULLSCREEN:
-          self.system("pm disable %s" % self.FRAME)
           self.system("am start -n %s/%s" % (self.OFFROAD, self.OFFROAD_MAIN))
 
         self.system("pm enable %s" % self.app)
@@ -143,12 +138,10 @@ class App():
 
       # only kill app if it's running
       if force or self.is_running:
-        # if it's a full screen app, we need to restart offroad and frame
+        # if it's a full screen app, we need to restart offroad
         if self.app_type == self.TYPE_FULLSCREEN:
           self.system("pm disable %s" % self.OFFROAD)
           self.system("pm enable %s" % self.OFFROAD)
-          self.system("pm enable %s" % self.FRAME)
-          self.system("am start -n %s/%s" % (self.FRAME, self.FRAME_MAIN))
 
         if self.app_type == self.TYPE_GPS_SERVICE:
           self.appops_set(self.app, "android:mock_location", "deny")
diff --git a/selfdrive/dragonpilot/dragonconf/__init__.py b/selfdrive/dragonpilot/dragonconf/__init__.py
index 9437308ba..c440cfb55 100644
--- a/selfdrive/dragonpilot/dragonconf/__init__.py
+++ b/selfdrive/dragonpilot/dragonconf/__init__.py
@@ -69,7 +69,7 @@ default_conf = {
   'DragonBTG': 0,
   'DragonBootHotspot': 0,
   'DragonAccelProfile': '0',
-  'DragonLastModified': str(floor(time.time()))
+  'DragonLastModified': str(floor(time.time())),
 }
 
 deprecated_conf = {
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
old mode 100644
new mode 100755
index e04f7a7c6..33d0af159
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -17,7 +17,7 @@ from selfdrive.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.loggerd.config import get_available_percent
 from selfdrive.pandad import get_expected_signature
-from selfdrive.thermald.power_monitoring import PowerMonitoring, get_battery_capacity, get_battery_status, get_battery_current, get_battery_voltage, get_usb_present
+from selfdrive.thermald.power_monitoring import PowerMonitoring, get_battery_capacity, get_battery_status, get_battery_current, get_battery_voltage, get_usb_present, set_battery_charging, get_battery_charging
 
 FW_SIGNATURE = get_expected_signature()
 
@@ -443,12 +443,13 @@ def thermald_thread():
     # we update charging status once every min
     if ts_last_charging_ctrl is None or ts - ts_last_charging_ctrl >= 60.:
       if dragon_charging_ctrl:
-        if msg.thermal.batteryPercent >= dragon_to_discharge:
-          os.system('echo "0" > /sys/class/power_supply/battery/charging_enabled')
-        if msg.thermal.batteryPercent <= dragon_to_charge:
-          os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')
+        if msg.thermal.batteryPercent >= dragon_to_discharge and get_battery_charging():
+          set_battery_charging(False)
+        if msg.thermal.batteryPercent <= dragon_to_charge and not get_battery_charging():
+          set_battery_charging(True)
       else:
-        os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')
+        if not get_battery_charging():
+          set_battery_charging(True)
       ts_last_charging_ctrl = ts
 
     # report to server once per minute
diff --git a/selfdrive/ui/sidebar.cc b/selfdrive/ui/sidebar.cc
index 717449dee..cd5ce49b6 100644
--- a/selfdrive/ui/sidebar.cc
+++ b/selfdrive/ui/sidebar.cc
@@ -52,6 +52,20 @@ static void ui_draw_sidebar_network_strength(UIState *s, bool hasSidebar) {
   nvgFill(s->vg);
 }
 
+static void ui_draw_sidebar_ip_addr(UIState *s, bool hasSidebar) {
+  const int network_ip_w = 176;
+  const int network_ip_x = hasSidebar ? 58 : -(sbr_w);
+  const int network_ip_y = 255;
+
+  char network_ip_str[20];
+  snprintf(network_ip_str, sizeof(network_ip_str), "%s", s->scene.ipAddr);
+  nvgFillColor(s->vg, COLOR_WHITE);
+  nvgFontSize(s->vg, 32);
+  nvgFontFace(s->vg, "sans-regular");
+  nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
+  nvgTextBox(s->vg, network_ip_x, network_ip_y, network_ip_w, network_ip_str, NULL);
+}
+
 static void ui_draw_sidebar_battery_icon(UIState *s, bool hasSidebar) {
   const int battery_img_h = 36;
   const int battery_img_w = 76;
@@ -75,9 +89,24 @@ static void ui_draw_sidebar_battery_icon(UIState *s, bool hasSidebar) {
   nvgFill(s->vg);
 }
 
+static void ui_draw_sidebar_battery_text(UIState *s, bool hasSidebar) {
+  const int battery_img_h = 36;
+  const int battery_img_w = 76;
+  const int battery_img_x = hasSidebar ? 150 : -(sbr_w);
+  const int battery_img_y = 305;
+
+  char battery_str[6];
+  snprintf(battery_str, sizeof(battery_str), "%d%%", s->scene.batteryPercent);
+  nvgFillColor(s->vg, strcmp(s->scene.batteryStatus, "Charging") == 0? COLOR_GREEN : s->scene.batteryPercent <= 50? COLOR_YELLOW : s->scene.batteryPercent <= 15? COLOR_RED : COLOR_WHITE);
+  nvgFontSize(s->vg, 40);
+  nvgFontFace(s->vg, "sans-regular");
+  nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
+  nvgTextBox(s->vg, battery_img_x, battery_img_y, battery_img_w, battery_str, NULL);
+}
+
 static void ui_draw_sidebar_network_type(UIState *s, bool hasSidebar) {
   const int network_x = hasSidebar ? 50 : -(sbr_w);
-  const int network_y = 273;
+  const int network_y = 303;
   const int network_w = 100;
   const int network_h = 100;
   const char *network_types[6] = {"--", "WiFi", "2G", "3G", "4G", "5G"};
@@ -200,20 +229,21 @@ static void ui_draw_sidebar_panda_metric(UIState *s, bool hasSidebar) {
     snprintf(panda_message_str, sizeof(panda_message_str), "%s", "NO PANDA");
   } else if (s->scene.hwType == cereal_HealthData_HwType_whitePanda) {
     panda_severity = 0;
-    snprintf(panda_message_str, sizeof(panda_message_str), "%s", "PANDA ACTIVE");
+    snprintf(panda_message_str, sizeof(panda_message_str), "%s", "PANDA\nACTIVE");
   } else if (
       (s->scene.hwType == cereal_HealthData_HwType_greyPanda) ||
       (s->scene.hwType == cereal_HealthData_HwType_blackPanda) ||
       (s->scene.hwType == cereal_HealthData_HwType_uno)) {
       if (s->scene.satelliteCount == -1) {
         panda_severity = 0;
-        snprintf(panda_message_str, sizeof(panda_message_str), "%s", "PANDA ACTIVE");
-      } else if (s->scene.satelliteCount < 6) {
-        panda_severity = 1;
-        snprintf(panda_message_str, sizeof(panda_message_str), "%s", "PANDA\nNO GPS");
-      } else if (s->scene.satelliteCount >= 6) {
-        panda_severity = 0;
-        snprintf(panda_message_str, sizeof(panda_message_str), "%s", "PANDA GOOD GPS");
+        snprintf(panda_message_str, sizeof(panda_message_str), "%s", "PANDA\nACTIVE");
+      } else {
+        if (s->scene.satelliteCount < 6) {
+          panda_severity = 1;
+        } else if (s->scene.satelliteCount >= 6) {
+          panda_severity = 0;
+        }
+        snprintf(panda_message_str, sizeof(panda_message_str), "%s %d", "PANDA\nGPS:", s->scene.satelliteCount);
       }
   }
 
@@ -226,7 +256,8 @@ void ui_draw_sidebar(UIState *s) {
   ui_draw_sidebar_settings_button(s, hasSidebar);
   ui_draw_sidebar_home_button(s, hasSidebar);
   ui_draw_sidebar_network_strength(s, hasSidebar);
-  ui_draw_sidebar_battery_icon(s, hasSidebar);
+  ui_draw_sidebar_ip_addr(s, hasSidebar);
+  ui_draw_sidebar_battery_text(s, hasSidebar);
   ui_draw_sidebar_network_type(s, hasSidebar);
   ui_draw_sidebar_storage_metric(s, hasSidebar);
   ui_draw_sidebar_temp_metric(s, hasSidebar);
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index d3acfed5f..3c0a7c50d 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -524,6 +524,7 @@ void handle_message(UIState *s, Message * msg) {
     s->scene.freeSpace = datad.freeSpace;
     s->scene.thermalStatus = datad.thermalStatus;
     s->scene.paTemp = datad.pa0;
+    snprintf(s->scene.ipAddr, sizeof(s->scene.ipAddr), "%s", datad.ipAddr.str);
   } else if (eventd.which == cereal_Event_ubloxGnss) {
     struct cereal_UbloxGnss datad;
     cereal_read_UbloxGnss(&datad, eventd.ubloxGnss);
diff --git a/selfdrive/ui/ui.hpp b/selfdrive/ui/ui.hpp
index fb400f9ad..384f469c2 100644
--- a/selfdrive/ui/ui.hpp
+++ b/selfdrive/ui/ui.hpp
@@ -43,6 +43,7 @@
 #define COLOR_WHITE_ALPHA nvgRGBA(255, 255, 255, 85)
 #define COLOR_YELLOW nvgRGBA(218, 202, 37, 255)
 #define COLOR_RED nvgRGBA(201, 34, 49, 255)
+#define COLOR_GREEN nvgRGBA(34, 201, 49, 255)
 
 #ifndef QCOM
   #define UI_60FPS
@@ -160,6 +161,7 @@ typedef struct UIScene {
   // for minimal UI
   float angleSteersDes;
   float angleSteers;
+  char ipAddr[20];
 
   // for blinker, from kegman
   bool leftBlinker;
diff --git a/selfdrive/updated.py b/selfdrive/updated.py
old mode 100644
new mode 100755