diff --git a/cereal/car.capnp b/cereal/car.capnp
index 976a7ac91..4a5cfd0b8 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -87,6 +87,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     manualSteeringRequired @62;
     manualSteeringRequiredBlinkersOn @63;
     leadCarMoving @64;
+    leadCarDetected @65;
   }
 }
 
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 846a3c5f4..5bbfc9516 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -575,8 +575,11 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
 
       # when we detect lead car over a sec 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 >= 50 and abs(sm['plan'].vTargetFuture) >= 0.1:
-        events.append(create_event('leadCarMoving', [ET.WARNING]))
+      if dragon_stopped_has_lead_count >= 50:
+        if abs(sm['plan'].vTargetFuture) >= 0.1:
+          events.append(create_event('leadCarMoving', [ET.WARNING]))
+        else:
+          events.append(create_event('leadCarDetected', [ET.WARNING]))
 
       # we remove alert once our car is moving
       if CS.vEgo > 0.:
diff --git a/selfdrive/controls/lib/alerts.py b/selfdrive/controls/lib/alerts.py
index 8863cb572..446e4f587 100644
--- a/selfdrive/controls/lib/alerts.py
+++ b/selfdrive/controls/lib/alerts.py
@@ -740,8 +740,14 @@ ALERTS = [
     Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
   Alert(
     "leadCarMoving",
-    "LEAD CAR IS MOVING",
-    "Resume Driving Manually",
-    AlertStatus.userPrompt, AlertSize.mid,
+    "Lead Car Is Moving",
+    "",
+    AlertStatus.userPrompt, AlertSize.small,
     Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),
+  Alert(
+    "leadCarDetected",
+    "Lead Car Detected",
+    "",
+    AlertStatus.normal, AlertSize.small,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
 ]
diff --git a/selfdrive/dragonpilot/appd/appd.py b/selfdrive/dragonpilot/appd/appd.py
index df0140971..d1e04ba58 100644
--- a/selfdrive/dragonpilot/appd/appd.py
+++ b/selfdrive/dragonpilot/appd/appd.py
@@ -14,11 +14,11 @@ params = Params()
 tomtom = "com.tomtom.speedcams.android.map"
 tomtom_main = "com.tomtom.speedcams.android.activities.SpeedCamActivity"
 
-# v4.3.0.600100 Beta
+# v4.3.0.600310 R2098NSLAE
 autonavi = "com.autonavi.amapauto"
 autonavi_main = "com.autonavi.amapauto.MainMapActivity"
 
-# v6.39.2
+# v6.40.3
 mixplorer = "com.mixplorer"
 mixplorer_main = "com.mixplorer.activities.BrowseActivity"