diff --git a/RELEASES.md b/RELEASES.md
index 300f5ab2..d548dc18 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,5 +1,6 @@
 Version 0.9.6 (2024-02-27)
 ========================
+* 巡航速度按键对调 (2024-04-23)
 * 踏板状态导出日志 (2024-04-15)
 * 方向油门刹车状态 (2024-04-11)
 * D档数字+导出日志 (2024-04-07)
diff --git a/common/params_pyx.so b/common/params_pyx.so
index 88d6222b..b30ad061 100755
Binary files a/common/params_pyx.so and b/common/params_pyx.so differ
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 27a366e5..c6cf5a75 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -215,7 +215,7 @@ def crash_log(candidate):
     "ConditionalExperimental", "CESpeed", "CESpeedLead", "CECurves", "CECurvesLead", "CENavigation", "CENavigationIntersections",
     "CENavigationLead", "CENavigationTurns", "CESlowerLead", "CEStopLights", "CEStopLightsLead", "CESignal", "CustomPersonalities",
     "AggressiveFollow", "AggressiveJerk", "StandardFollow", "StandardJerk", "RelaxedFollow", "RelaxedJerk", "DeviceShutdown",
-    "ExperimentalModeActivation", "ExperimentalModeViaLKAS", "ExperimentalModeViaScreen", "FireTheBabysitter", "NoLogging", "MuteOverheated",
+    "ExperimentalModeActivation", "ExperimentalModeViaLKAS", "ExperimentalModeViaScreen", "FireTheBabysitter", "NoLogging", "NoDashCam", "MuteOverheated",
     "OfflineMode", "LateralTune", "ForceAutoTune", "NNFF", "SteerRatio", "UseLateralJerk", "LongitudinalTune", "AccelerationProfile",
     "DecelerationProfile", "AggressiveAcceleration", "StoppingDistance", "SmoothBraking", "Model", "MTSCEnabled", "DisableMTSCSmoothing",
     "MTSCAggressiveness", "MTSCCurvatureCheck", "MTSCLimit", "NudgelessLaneChange", "LaneChangeTime", "LaneDetection", "LaneDetectionWidth",
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index ff1bccf1..23c1a574 100644
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -178,6 +178,11 @@ class Controls:
     self.params = Params()
     self.params_memory = Params("/dev/shm/params")
 
+    #self.frogpilot_variables.reverse_cruise_increase
+    self.params_memory.put_bool("ReverseCruiseRunTime", self.params.get_bool("ReverseCruise"))
+
+    self.ignore_controls_mismatch = False
+
     self.frogpilot_variables = SimpleNamespace()
 
     self.driving_gear = False
@@ -479,8 +484,9 @@ class Controls:
       if (safety_mismatch and self.sm.frame*DT_CTRL > 10.) or pandaState.safetyRxChecksInvalid or self.mismatch_counter >= 200:
         if self.random_events: #Show Controls Mismatch Error
           self.events.add(EventName.controlsMismatch)
-        else: #Shown as GPS alert
+        elif not self.ignore_controls_mismatch: #Shown as GPS alert
           self.events.add(EventName.noGps)
+          self.ignore_controls_mismatch = True
 
       if log.PandaState.FaultType.relayMalfunction in pandaState.faults:
         self.events.add(EventName.relayMalfunction)
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 5b64647d..fffee0cc 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -94,7 +94,7 @@ class VCruiseHelper:
           break
 
     # Reverse the long press value for reverse cruise increase
-    if frogpilot_variables.reverse_cruise_increase:
+    if frogpilot_variables.reverse_cruise_increase and self.params_memory.get_bool("ReverseCruiseRunTime"):
       long_press = not long_press
 
     if button_type is None:
diff --git a/selfdrive/frogpilot/fleetmanager/helpers.py b/selfdrive/frogpilot/fleetmanager/helpers.py
index 17f20af9..9560f9bb 100644
--- a/selfdrive/frogpilot/fleetmanager/helpers.py
+++ b/selfdrive/frogpilot/fleetmanager/helpers.py
@@ -446,7 +446,7 @@ def get_all_toggle_values():
     "CENavigationLead", "CENavigationTurns", "CESlowerLead", "CEStopLights", "CEStopLightsLead", "CESignal", "HideCEMStatusBar",
     "CustomPersonalities", "AggressiveFollow", "AggressiveJerk", "StandardFollow", "StandardJerk", "RelaxedFollow", "RelaxedJerk", "DeviceShutdown",
     "ExperimentalModeActivation", "ExperimentalModeViaDistance", "ExperimentalModeViaLKAS", "ExperimentalModeViaScreen", "FireTheBabysitter",
-    "NoLogging", "NoUploads", "MuteOverheated", "OfflineMode", "LateralTune", "ForceAutoTune", "NNFF", "SteerRatio", "UseLateralJerk", "LongitudinalTune",
+    "NoLogging", "NoDashCam", "NoUploads", "MuteOverheated", "OfflineMode", "LateralTune", "ForceAutoTune", "NNFF", "SteerRatio", "UseLateralJerk", "LongitudinalTune",
     "AccelerationProfile", "DecelerationProfile", "AggressiveAcceleration", "StoppingDistance", "SmoothBraking", "Model", "MTSCEnabled",
     "DisableMTSCSmoothing", "MTSCAggressiveness", "MTSCCurvatureCheck", "MTSCLimit", "NudgelessLaneChange", "LaneChangeTime", "LaneDetection",
     "LaneDetectionWidth", "OneLaneChange", "QOLControls", "DisableOnroadUploads", "HigherBitrate", "NavChill", "PauseLateralOnSignal",
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index e09f935a..aaa535ff 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -196,6 +196,7 @@ def manager_init() -> None:
     ("NavChill", "0"),
     ("NNFF", "1"),
     ("NoLogging", "0"),
+    ("NoDashCam", "0"),
     ("NoUploads", "0"),
     ("NudgelessLaneChange", "1"),
     ("NumericalTemp", "0"),
diff --git a/selfdrive/ui/translations/main_zh-CHS.qm b/selfdrive/ui/translations/main_zh-CHS.qm
index c394e5bf..b757fb98 100644
Binary files a/selfdrive/ui/translations/main_zh-CHS.qm and b/selfdrive/ui/translations/main_zh-CHS.qm differ
diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui
index edaafc16..6418b3f6 100755
Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ
diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog
index 49ef25d5..b0288da6 100755
Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ
diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd
index ebc75dd6..e58d0979 100755
Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ
diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd
index 4e11a836..facf7ed8 100755
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