diff --git a/apk/ai.comma.plus.offroad.apk b/apk/ai.comma.plus.offroad.apk
index 6f8c10387..aa3c3e727 100644
Binary files a/apk/ai.comma.plus.offroad.apk and b/apk/ai.comma.plus.offroad.apk differ
diff --git a/common/params.py b/common/params.py
index 845905024..111810ef6 100755
--- a/common/params.py
+++ b/common/params.py
@@ -166,8 +166,7 @@ keys = {
   "DragonAutoLCDelay": [TxType.PERSISTENT],
   "DragonBTG": [TxType.PERSISTENT],
   "DragonBootHotspot": [TxType.PERSISTENT],
-  "DragonEnableAltAccelProfile": [TxType.PERSISTENT],
-  "DragonEnableFastAccel": [TxType.PERSISTENT],
+  "DragonAccelProfile": [TxType.PERSISTENT],
 }
 
 
diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index e8ca94e65..9b06a7cd0 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -13,7 +13,7 @@ const int TOYOTA_MAX_RT_DELTA = 375;      // max delta torque allowed for real t
 const uint32_t TOYOTA_RT_INTERVAL = 250000;    // 250ms between real time checks
 
 // longitudinal limits
-const int TOYOTA_MAX_ACCEL = 1500;        // 1.5 m/s2
+const int TOYOTA_MAX_ACCEL = 4000;        // 1.5 m/s2
 const int TOYOTA_MIN_ACCEL = -3000;       // 3.0 m/s2
 
 const int TOYOTA_GAS_INTERCEPTOR_THRESHOLD = 475;  // ratio between offset and gain from dbc file
diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/planner.py
index b8c7fe719..1fe641d21 100755
--- a/selfdrive/controls/lib/planner.py
+++ b/selfdrive/controls/lib/planner.py
@@ -24,7 +24,7 @@ AWARENESS_DECEL = -0.2     # car smoothly decel at .2m/s^2 when user is distract
 # make sure these accelerations are smaller than mpc limits
 _A_CRUISE_MIN_V_ECO = [-1.0, -0.7, -0.6, -0.5, -0.3]
 _A_CRUISE_MIN_V_SPORT = [-3.0, -2.6, -2.3, -2.0, -1.0]
-_A_CRUISE_MIN_V_FOLLOWING = [-4.0, -4.0, -3.5, -2.5, -2.0]
+
 _A_CRUISE_MIN_V = [-2.0, -1.5, -1.0, -0.7, -0.5]
 _A_CRUISE_MIN_BP = [0.0, 5.0, 10.0, 20.0, 55.0]
 
@@ -49,15 +49,12 @@ ACCEL_NORMAL_MODE = 0
 ACCEL_SPORT_MODE = 1
 
 def calc_cruise_accel_limits(v_ego, following, accel_profile):
-  if following:
-    a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V_FOLLOWING)
+  if accel_profile == ACCEL_ECO_MODE:
+    a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V_ECO)
+  elif accel_profile == ACCEL_SPORT_MODE:
+    a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V_SPORT)
   else:
-    if accel_profile == ACCEL_ECO_MODE:
-      a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V_ECO)
-    elif accel_profile == ACCEL_SPORT_MODE:
-      a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V_SPORT)
-    else:
-      a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
+    a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
 
   if following:
     a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V_FOLLOWING)
@@ -151,15 +148,9 @@ class Planner():
     # update variable status every 5 secs
     if cur_time - self.last_ts >= 5.:
       self.dragon_slow_on_curve = False if self.params.get("DragonEnableSlowOnCurve", encoding='utf8') == "0" else True
-      self.dragon_alt_accel_profile = True if self.params.get("DragonEnableAltAccelProfile", encoding='utf8') == "1" else False
-      self.dragon_fast_accel = True if self.params.get("DragonEnableFastAccel", encoding='utf8') == "1" else False
-      if self.dragon_accel_profile:
-        if self.dragon_fast_accel:
-            self.dragon_accel_profile = ACCEL_SPORT_MODE
-        else:
-            self.dragon_accel_profile = ACCEL_ECO_MODE
-      else:
-        self.dragon_accel_profile = ACCEL_NORMAL_MODE
+      self.dragon_accel_profile = int(self.params.get("DragonAccelProfile", encoding='utf8'))
+      if self.dragon_accel_profile >= 2 or self.dragon_accel_profile <= -2:
+        self.dragon_accel_profile = 0
       self.last_ts = cur_time
 
     long_control_state = sm['controlsState'].longControlState
diff --git a/selfdrive/dragonpilot/dragonconf/__init__.py b/selfdrive/dragonpilot/dragonconf/__init__.py
index 0f9b9d307..020864dd7 100644
--- a/selfdrive/dragonpilot/dragonconf/__init__.py
+++ b/selfdrive/dragonpilot/dragonconf/__init__.py
@@ -65,8 +65,7 @@ default_conf = {
   'DragonAutoLCDelay': 2,
   'DragonBTG': 0,
   'DragonBootHotspot': 0,
-  'DragonEnableAltAccelProfile': '0',
-  'DragonEnableFastAccel': '0',
+  'DragonAccelProfile': '0',
 }
 
 deprecated_conf = {