diff --git a/opendbc_repo/opendbc/car/gm/carcontroller.py b/opendbc_repo/opendbc/car/gm/carcontroller.py
index 7a12823a..627b339a 100644
--- a/opendbc_repo/opendbc/car/gm/carcontroller.py
+++ b/opendbc_repo/opendbc/car/gm/carcontroller.py
@@ -302,7 +302,7 @@ class CarController(CarControllerBase):
       if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
         if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
           self.last_button_frame = self.frame
-          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
+          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL))
 
     if self.CP.networkLocation == NetworkLocation.fwdCamera:
       # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
@@ -323,10 +323,10 @@ class CarController(CarControllerBase):
   # GM: AutoResume
   def brake_input(self, brake_force):
     MAX_BRAKE = 400
-    ZERO_GAS = 2048
+    ZERO_GAS = 0.0
 
     if brake_force > 0.0:
       raise ValueError("brake_force는 0.0이하라야 됨.")
 
     scaled_brake = max(0, min(MAX_BRAKE, int(brake_force * -100)))  # -를 +로 변환
-    return ZERO_GAS - scaled_brake
+    return -scaled_brake
diff --git a/opendbc_repo/opendbc/car/gm/carstate.py b/opendbc_repo/opendbc/car/gm/carstate.py
index d1430eae..a00f0b40 100644
--- a/opendbc_repo/opendbc/car/gm/carstate.py
+++ b/opendbc_repo/opendbc/car/gm/carstate.py
@@ -13,7 +13,7 @@ TransmissionType = structs.CarParams.TransmissionType
 NetworkLocation = structs.CarParams.NetworkLocation
 GearShifter = structs.CarState.GearShifter
 STANDSTILL_THRESHOLD = 10 * 0.0311 * CV.KPH_TO_MS
-LongCtrlState = car.CarControl.Actuators.LongControlState # kans
+
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                 CruiseButtons.MAIN: ButtonType.mainCruise, CruiseButtons.CANCEL: ButtonType.cancel,
                 CruiseButtons.GAP_DIST: ButtonType.gapAdjustCruise}
@@ -32,15 +32,12 @@ class CarState(CarStateBase):
     self.cam_lka_steering_cmd_counter = 0
     self.is_metric = False
 
-    # GAP_DIST
-    self.prev_distance_button = False
-    self.distance_button_pressed = False
-
-    self.cruise_buttons = 0
     self.buttons_counter = 0
     self.single_pedal_mode = False
     self.pedal_steady = 0.
-
+    self.cruise_buttons = 0
+    # GAP_DIST
+    self.distance_button = 0
 
     # cruiseMain default(test from nd0706-vision)
     self.cruiseMain_on = True if Params().get_int("AutoEngage") == 2 else False
@@ -62,14 +59,14 @@ class CarState(CarStateBase):
     ret = structs.CarState()
 
     prev_cruise_buttons = self.cruise_buttons
-    self.prev_distance_button = self.distance_button_pressed
+    prev_distance_button = self.distance_button
     self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
-    self.distance_button_pressed = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"] != 0
+    self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
     self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
 
     self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
     # GAP_DIST
-    if self.cruise_buttons in [CruiseButtons.UNPRESS, CruiseButtons.INIT] and self.distance_button_pressed:
+    if self.cruise_buttons in [CruiseButtons.UNPRESS, CruiseButtons.INIT] and self.distance_button:
       self.cruise_buttons = CruiseButtons.GAP_DIST
 
     if self.CP.enableBsm:
@@ -168,7 +165,7 @@ class CarState(CarStateBase):
     if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
       if self.CP.carFingerprint not in CC_ONLY_CAR:
         ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
-      ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
+      ret.stockAeb = False
       # openpilot controls nonAdaptive when not pcmCruise
       if self.CP.pcmCruise and self.CP.carFingerprint not in CC_ONLY_CAR: 
         ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
@@ -176,6 +173,8 @@ class CarState(CarStateBase):
       ret.accFaulted = False
       ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
       ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
+    prev_lkas_enabled = self.lkas_enabled
+    self.lkas_enabled = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
 
     self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]["CruiseState"]
     if self.CP.carFingerprint in (CAR.CHEVROLET_TRAX, CAR.CHEVROLET_TRAILBLAZER, CAR.CHEVROLET_TRAILBLAZER_CC): 
@@ -193,15 +192,15 @@ class CarState(CarStateBase):
         ret.vCluRatio = 0.96
 
     # Don't add event if transitioning from INIT, unless it's to an actual button
-    buttonEvents = [] # kans
     if self.cruise_buttons != CruiseButtons.UNPRESS or prev_cruise_buttons != CruiseButtons.INIT:
-      buttonEvents.extend(create_button_events(self.cruise_buttons, prev_cruise_buttons, BUTTONS_DICT,
-                                               unpressed_btn=CruiseButtons.UNPRESS)) # kans
-    # kans : long_button GAP for cruise Mode(safety, ecco, high-speed..)
-    if self.distance_button_pressed:
-      buttonEvents.append(car.CarState.ButtonEvent(pressed=True, type=ButtonType.gapAdjustCruise))
-    ret.buttonEvents = buttonEvents # kans
-
+      ret.buttonEvents = [
+        *create_button_events(self.cruise_buttons, prev_cruise_buttons, BUTTONS_DICT,
+                              unpressed_btn=CruiseButtons.UNPRESS),
+        *create_button_events(self.distance_button, prev_distance_button,
+                              {1: ButtonType.gapAdjustCruise}),
+        *create_button_events(self.lkas_enabled, prev_lkas_enabled,
+                              {1: ButtonType.lkas})
+      ]
 
     return ret
 
@@ -212,7 +211,11 @@ class CarState(CarStateBase):
       pt_messages += [
         ("ASCMLKASteeringCmd", float('nan')),
       ]
-
+    if CP.transmissionType == TransmissionType.direct:
+      pt_messages += [
+        ("EBCMRegenPaddle", 50),
+        ("EVDriveMode", 0),
+      ]
     loopback_messages = [
       ("ASCMLKASteeringCmd", float('nan')),
     ]
diff --git a/opendbc_repo/opendbc/car/gm/gmcan.py b/opendbc_repo/opendbc/car/gm/gmcan.py
index c44af1a7..53f67fb4 100644
--- a/opendbc_repo/opendbc/car/gm/gmcan.py
+++ b/opendbc_repo/opendbc/car/gm/gmcan.py
@@ -72,17 +72,14 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
   values = {
     "GasRegenCmdActive": enabled,
     "RollingCounter": idx,
-    "GasRegenCmdActiveInv": 1 - enabled,
     "GasRegenCmd": throttle,
     "GasRegenFullStopActive": at_full_stop,
-    "GasRegenAlwaysOne": 1,
-    "GasRegenAlwaysOne2": 1,
-    "GasRegenAlwaysOne3": 1,
-    #"NEW_SIGNAL_1" : 0 if at_full_stop else 3,
+    "GasRegenAccType": 1,
   }
 
   dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[1]
-  values["GasRegenChecksum"] = (((0xff - dat[1]) & 0xff) << 16) | \
+  values["GasRegenChecksum"] = ((1 - enabled) << 24) | \
+                               (((0xff - dat[1]) & 0xff) << 16) | \
                                (((0xff - dat[2]) & 0xff) << 8) | \
                                ((0x100 - dat[3] - idx) & 0xff)
 
@@ -106,6 +103,7 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_s
     #elif near_stop:
     #  mode = 0xb
 
+  apply_brake = max(0, min(0xFFF, apply_brake))
   brake = (0x1000 - apply_brake) & 0xfff
   checksum = (0x10000 - (mode << 12) - brake - idx) & 0xffff
 
@@ -113,7 +111,7 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_s
     "RollingCounter": idx,
     "FrictionBrakeMode": mode,
     "FrictionBrakeChecksum": checksum,
-    "FrictionBrakeCmd": -apply_brake
+    "FrictionBrakeCmd": (0x1000 - apply_brake) & 0xfff,
   }
 
   return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
diff --git a/opendbc_repo/opendbc/car/gm/interface.py b/opendbc_repo/opendbc/car/gm/interface.py
index 1ea5680d..367a0436 100644
--- a/opendbc_repo/opendbc/car/gm/interface.py
+++ b/opendbc_repo/opendbc/car/gm/interface.py
@@ -104,6 +104,8 @@ class CarInterface(CarInterfaceBase):
     ret.autoResumeSng = False
     ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN] or 0x142 in fingerprint[CanBus.CAMERA]
     ret.startAccel = 1.0
+    ret.radarTimeStep = 0.067
+    ret.alternativeExperience = 0
 
     useEVTables = Params().get_bool("EVTable")
 
@@ -120,7 +122,7 @@ class CarInterface(CarInterfaceBase):
     ret.longitudinalTuning.kiBP = [0.]
 
     if candidate in (CAMERA_ACC_CAR | SDGM_CAR):
-      ret.alphaLongitudinalAvailable = candidate not in (CC_ONLY_CAR | SDGM_CAR)
+      ret.alphaLongitudinalAvailable = candidate not in SDGM_CAR
       ret.networkLocation = NetworkLocation.fwdCamera
       ret.radarUnavailable = True  # no radar
       ret.pcmCruise = True
@@ -129,14 +131,13 @@ class CarInterface(CarInterfaceBase):
       ret.minSteerSpeed = 10 * CV.KPH_TO_MS
 
       # Tuning for experimental long
-      ret.longitudinalTuning.kpV = [1.0]
-      ret.longitudinalTuning.kiV = [1.0]
+      ret.longitudinalTuning.kiV = [1.7]
       ret.stoppingDecelRate = 2.0  # reach brake quickly after enabling
-      ret.vEgoStopping = 0.25
-      ret.vEgoStarting = 0.25
+      ret.vEgoStopping = 0.5
+      ret.vEgoStarting = 0.4
       ret.stopAccel = -0.4
       ret.startingState = True
-      ret.startAccel = 1.5
+      ret.startAccel = 1.0
 
       if alpha_long:
         ret.pcmCruise = False
@@ -161,7 +162,6 @@ class CarInterface(CarInterfaceBase):
       ret.longitudinalTuning.kpV = [1.0]
       ret.longitudinalTuning.kiV = [0.3]
 
-      # TODO: Test for CADILLAC_CT6_ACC
       if ret.enableGasInterceptorDEPRECATED:
         # Need to set ASCM long limits when using pedal interceptor, instead of camera ACC long limits
         ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.HW_ASCM_LONG.value
@@ -186,8 +186,8 @@ class CarInterface(CarInterfaceBase):
       ret.longitudinalTuning.kiV = [.35]
       ret.longitudinalTuning.kf = 1.0
       ret.stoppingDecelRate = 0.2 # brake_travel/s while trying to stop
-      ret.vEgoStopping = 0.1
-      ret.vEgoStarting = 0.05
+      ret.vEgoStopping = 0.25
+      ret.vEgoStarting = 0.15
       ret.stopAccel = -0.5
       ret.startingState = True
       ret.startAccel = 1.9
diff --git a/opendbc_repo/opendbc/car/gm/values.py b/opendbc_repo/opendbc/car/gm/values.py
index 2738427e..dfdbf11a 100644
--- a/opendbc_repo/opendbc/car/gm/values.py
+++ b/opendbc_repo/opendbc/car/gm/values.py
@@ -19,7 +19,7 @@ class CarControllerParams:
   STEER_DRIVER_ALLOWANCE = 65
   STEER_DRIVER_MULTIPLIER = 4
   STEER_DRIVER_FACTOR = 100
-  NEAR_STOP_BRAKE_PHASE = 0.1 #0.5  # m/s
+  NEAR_STOP_BRAKE_PHASE = 0.4
   SNG_INTERCEPTOR_GAS = 18. / 255.
   SNG_TIME = 30  # frames until the above is reached
 
@@ -37,21 +37,21 @@ class CarControllerParams:
 
   def __init__(self, CP):
     # Gas/brake lookups
-    self.ZERO_GAS = 2048  # Coasting
+    self.ZERO_GAS = 0.0  # Coasting
     self.MAX_BRAKE = 400  # ~ -4.0 m/s^2 with regen
 
     if CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_CAR) and CP.carFingerprint not in CC_ONLY_CAR:
-      self.MAX_GAS = 3400
-      self.MAX_ACC_REGEN = 1514
-      self.INACTIVE_REGEN = 1554
+      self.MAX_GAS = 1346.0
+      self.MAX_ACC_REGEN = -540.0
+      self.INACTIVE_REGEN = -500.0
       # Camera ACC vehicles have no regen while enabled.
       # Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
       max_regen_acceleration = 0.
 
     else:
-      self.MAX_GAS = 3072  # Safety limit, not ACC max. Stock ACC >4096 from standstill.
-      self.MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
-      self.INACTIVE_REGEN = 1404
+      self.MAX_GAS = 1018.0  # Safety limit, not ACC max. Stock ACC >2042 from standstill.
+      self.MAX_ACC_REGEN = -650.0  # Max ACC regen is slightly less than max paddle regen
+      self.INACTIVE_REGEN = -650.0
       # ICE has much less engine braking force compared to regen in EVs,
       # lower threshold removes some braking deadzone
       max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
@@ -83,6 +83,7 @@ class GMSafetyFlags(IntFlag):
   NO_ACC = 32
   PEDAL_LONG = 64  # TODO: This can be inferred
   GAS_INTERCEPTOR = 128
+  EV = 256
 
 @dataclass
 class GMCarDocs(CarDocs):
@@ -268,6 +269,7 @@ class CruiseButtons:
 class AccState:
   OFF = 0
   ACTIVE = 1
+  STANDBY = 2
   FAULTED = 3
   STANDSTILL = 4
 
diff --git a/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py b/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
index dfff3f5e..45e5960e 100644
--- a/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
+++ b/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
@@ -323,7 +323,7 @@ def create_acc_control_scc2(packer, CAN, enabled, accel_last, accel, stopping, g
   values["NSCCOper"] = 1 if enabled else 0 # 0: off, 1: Ready, 2: Act, 3: Error Indicator
   values["NSCCOnOff"] = 2  # 0: Default, 1: Off, 2: On, 3: Invalid
   #values["SET_ME_3"] = 0x3  # objRelsped와 충돌
-  values["ACC_ObjLatPos"] = - hud_control.leadDPath
+  #values["ACC_ObjLatPos"] = - hud_control.leadDPath
   values["DriveMode"] = 0 # 0: Default, 1: Comfort Mode, 2:Normal mode, 3:Dynamic mode, reserved
 
   hud_lead_info = 0
diff --git a/opendbc_repo/opendbc/dbc/generator/gm/gm_global_a_powertrain.dbc b/opendbc_repo/opendbc/dbc/generator/gm/gm_global_a_powertrain.dbc
index 2dd72d36..4730a0f5 100644
--- a/opendbc_repo/opendbc/dbc/generator/gm/gm_global_a_powertrain.dbc
+++ b/opendbc_repo/opendbc/dbc/generator/gm/gm_global_a_powertrain.dbc
@@ -1,4 +1,5 @@
 
+CM_ "IMPORT _community.dbc";
 VERSION ""
 
 
@@ -194,15 +195,12 @@ BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM
  SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A"  NEO
 
 BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM
- SG_ GasRegenAlwaysOne2 : 9|1@0+ (1,0) [0|1] ""  NEO
- SG_ GasRegenAlwaysOne : 14|1@0+ (1,0) [0|1] ""  NEO
- SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenAccType : 15|2@0+ (1,0) [0|3] ""  NEO
+ SG_ GasRegenChecksum : 32|25@0+ (1,0) [0|0] ""  NEO
  SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] ""  NEO
  SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] ""  NEO
  SG_ RollingCounter : 7|2@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenAlwaysOne3 : 23|1@0+ (1,0) [0|1] ""  NEO
- SG_ GasRegenCmd : 22|12@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenCmd : 10|19@0+ (0.125,-22534) [-22534|43001.875] "Nm"  NEO
 
 BO_ 717 ASCM_2CD: 5 K124_ASCM
 
@@ -330,7 +328,7 @@ VAL_ 481 DistanceButton 1 "Active" 0 "Inactive" ;
 VAL_ 481 LKAButton 1 "Active" 0 "Inactive" ;
 VAL_ 481 ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
 VAL_ 481 DriveModeButton 1 "Active" 0 "Inactive" ;
-VAL_ 452 CruiseState 4 "Standstill" 3 "Faulted" 1 "Active" 0 "Off" ;
+VAL_ 452 CruiseState 4 "Standstill" 3 "Faulted" 2 "Standby" 1 "Active" 0 "Off" ;
 VAL_ 309 PRNDL 3 "R" 2 "D" 1 "N" 0 "P" ;
 VAL_ 309 ESPButton 1 "Active" 0 "Inactive" ;
 VAL_ 384 LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
diff --git a/opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_canfd.dbc b/opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_canfd.dbc
index 1b98b9f6..89ff48e1 100644
--- a/opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_canfd.dbc
+++ b/opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_canfd.dbc
@@ -862,6 +862,9 @@ BO_ 1264 LOCAL_TIME: 8 XXX
  SG_ HOURS : 12|5@0+ (1,0) [0|31] "" XXX
  SG_ MINUTES : 21|6@0+ (1,0) [0|63] "" XXX
  SG_ SECONDS : 31|8@0+ (1,0) [0|59] "" XXX
+ SG_ MONTH : 37|4@0+ (1,0) [0|15] "" XXX
+ SG_ YEAR : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ DATE : 48|5@1+ (1,0) [0|31] "" XXX
 
 CM_ 272 "Alternative LKAS message, used on cars such as 2023 Ioniq 6, 2nd gen Kona. Matches LKAS except size is 32 bytes";
 CM_ SG_ 272 LKAS_ANGLE_CMD "tracks MDPS->STEERING_ANGLE when not engaged, not STEERING_SENSORS->STEERING_ANGLE";
diff --git a/opendbc_repo/opendbc/dbc/gm_global_a_powertrain_volt.dbc b/opendbc_repo/opendbc/dbc/gm_global_a_powertrain_volt.dbc
index 5d03286d..75122aa2 100644
--- a/opendbc_repo/opendbc/dbc/gm_global_a_powertrain_volt.dbc
+++ b/opendbc_repo/opendbc/dbc/gm_global_a_powertrain_volt.dbc
@@ -1,25 +1,5 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT";
-
-
-CM_ "Imported file _comma.dbc starts here";
-BO_ 512 GAS_COMMAND: 6 NEO
- SG_ GAS_COMMAND : 7|16@0+ (0.125677,-75.909) [0|1] "" INTERCEPTOR
- SG_ GAS_COMMAND2 : 23|16@0+ (0.251976,-76.601) [0|1] "" INTERCEPTOR
- SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
-
-BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.125677,-75.909) [0|1] "" NEO
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.251976,-76.601) [0|1] "" NEO
- SG_ STATE : 39|4@0+ (1,0) [0|15] "" NEO
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" NEO
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" NEO
-
-VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-
-CM_ "gm_global_a_powertrain.dbc starts here";
 
+CM_ "IMPORT _community.dbc";
 VERSION ""
 
 
@@ -214,15 +194,12 @@ BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM
  SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A"  NEO
 
 BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM
- SG_ GasRegenAlwaysOne2 : 9|1@0+ (1,0) [0|1] ""  NEO
- SG_ GasRegenAlwaysOne : 14|1@0+ (1,0) [0|1] ""  NEO
- SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenAccType : 15|2@0+ (1,0) [0|3] ""  NEO
+ SG_ GasRegenChecksum : 32|25@0+ (1,0) [0|0] ""  NEO
  SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] ""  NEO
  SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] ""  NEO
  SG_ RollingCounter : 7|2@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenAlwaysOne3 : 23|1@0+ (1,0) [0|1] ""  NEO
- SG_ GasRegenCmd : 22|12@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenCmd : 10|19@0+ (0.125,-22534) [-22534|43001.875] "Nm"  NEO
 
 BO_ 717 ASCM_2CD: 5 K124_ASCM
 
@@ -350,7 +327,7 @@ VAL_ 481 DistanceButton 1 "Active" 0 "Inactive" ;
 VAL_ 481 LKAButton 1 "Active" 0 "Inactive" ;
 VAL_ 481 ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
 VAL_ 481 DriveModeButton 1 "Active" 0 "Inactive" ;
-VAL_ 452 CruiseState 4 "Standstill" 3 "Faulted" 1 "Active" 0 "Off" ;
+VAL_ 452 CruiseState 4 "Standstill" 3 "Faulted" 2 "Standby" 1 "Active" 0 "Off" ;
 VAL_ 309 PRNDL 3 "R" 2 "D" 1 "N" 0 "P" ;
 VAL_ 309 ESPButton 1 "Active" 0 "Inactive" ;
 VAL_ 384 LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
diff --git a/opendbc_repo/opendbc/safety/safety/safety_gm.h b/opendbc_repo/opendbc/safety/safety/safety_gm.h
index f429fa5a..ebb7dfd8 100644
--- a/opendbc_repo/opendbc/safety/safety/safety_gm.h
+++ b/opendbc_repo/opendbc/safety/safety/safety_gm.h
@@ -2,6 +2,19 @@
 
 #include "safety_declarations.h"
 
+// TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
+#define GM_COMMON_RX_CHECKS \
+    {.msg = {{0x184, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}}, \
+    {.msg = {{0x34A, 0, 5, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}}, \
+    {.msg = {{0x1E1, 0, 7, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}}, \
+    {.msg = {{0x1C4, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}}, \
+    {.msg = {{0xC9, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}}, \
+
+#define GM_ACC_RX_CHECKS \
+    {.msg = {{0xBE, 0, 6, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U},    /* Volt, Silverado, Acadia Denali */ \
+             {0xBE, 0, 7, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U},    /* Bolt EUV */ \
+             {0xBE, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}}},  /* Escalade */ \
+
 static const LongitudinalLimits *gm_long_limits;
 
 enum {
@@ -76,9 +89,11 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
     if ((addr == 0xBE) && (gm_hw == GM_ASCM)) {
       brake_pressed = GET_BYTE(to_push, 1) >= 10U;
     }
-
-    if ((addr == 0xC9) && (gm_hw == GM_CAM)) {
-      brake_pressed = GET_BIT(to_push, 40U);
+    if (addr == 0xC9) {
+      if (gm_hw == GM_CAM) {
+        brake_pressed = (GET_BYTE(to_push, 5) & 0x01U) != 0U;
+      }
+      acc_main_on = (GET_BYTE(to_push, 3) & 0x20U) != 0U;
     }
 
     if (addr == 0x1C4) {
@@ -112,13 +127,13 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
       int gas_interceptor = GM_GET_INTERCEPTOR(to_push);
       gas_pressed = gas_interceptor > GM_GAS_INTERCEPTOR_THRESHOLD;
       gas_interceptor_prev = gas_interceptor;
-//      gm_pcm_cruise = false;
+      // gm_pcm_cruise = false;
     }
 
     bool stock_ecu_detected = (addr == 0x180);  // ASCMLKASteeringCmd
 
     // Check ASCMGasRegenCmd only if we're blocking it
-    if (!gm_pcm_cruise && !gm_pedal_long && (addr == 0x2CB)) {
+    if (!gm_pcm_cruise && (addr == 0x2CB)) {
       stock_ecu_detected = true;
     }
     generic_rx_checks(stock_ecu_detected);
@@ -128,8 +143,8 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
 static bool gm_tx_hook(const CANPacket_t *to_send) {
   const TorqueSteeringLimits GM_STEERING_LIMITS = {
     .max_steer = 300,
-    .max_rate_up = 10,
-    .max_rate_down = 15,
+    .max_rate_up = 20,
+    .max_rate_down = 25,
     .driver_torque_allowance = 65,
     .driver_torque_multiplier = 4,
     .max_rt_delta = 128,
@@ -171,11 +186,11 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
   // GAS/REGEN: safety check
   if (addr == 0x2CB) {
     bool apply = GET_BIT(to_send, 0U);
-    if (apply) {
-        if(!controls_allowed) print("@@auto cruise control enabled....\n");
-        controls_allowed = true;        
+    if (apply && !controls_allowed) {
+      controls_allowed = true;        
     }
-    int gas_regen = ((GET_BYTE(to_send, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
+    // convert float CAN signal to an int for gas checks: 22534 / 0.125 = 180272
+    int gas_regen = (((GET_BYTE(to_send, 1) & 0x7U) << 16) | (GET_BYTE(to_send, 2) << 8) | GET_BYTE(to_send, 3)) - 180272U;
 
     bool violation = false;
     // Allow apply bit in pre-enabled and overriding states
@@ -188,13 +203,15 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
   }
 
   // BUTTONS: used for resume spamming and cruise cancellation with stock longitudinal
-  if ((addr == 0x1E1) && (gm_pcm_cruise || gm_pedal_long || gm_cc_long)) {
+  if (addr == 0x1E1) {
     int button = (GET_BYTE(to_send, 5) >> 4) & 0x7U;
-
     bool allowed_btn = (button == GM_BTN_CANCEL) && cruise_engaged_prev;
-    // For standard CC, allow spamming of SET / RESUME
+
+    if (!gm_pcm_cruise) {
+      allowed_btn |= (button == GM_BTN_SET || button == GM_BTN_RESUME || button == GM_BTN_UNPRESS);
+    }
     if (gm_cc_long) {
-      allowed_btn |= cruise_engaged_prev && ((button == GM_BTN_SET) || (button == GM_BTN_RESUME) || (button == GM_BTN_UNPRESS));
+      allowed_btn |= cruise_engaged_prev && (button == GM_BTN_SET || button == GM_BTN_RESUME || button == GM_BTN_UNPRESS);
     }
 
     if (!allowed_btn) {
@@ -238,11 +255,15 @@ static safety_config gm_init(uint16_t param) {
   const uint16_t GM_PARAM_HW_ASCM_LONG = 16;
   const uint16_t GM_PARAM_NO_ACC = 32;
   const uint16_t GM_PARAM_PEDAL_LONG = 64;  // TODO: this can be inferred
+  const uint16_t GM_PARAM_EV = 256;
+
+  // common safety checks assume unscaled integer values
+  static const int GM_GAS_TO_CAN = 8;  // 1 / 0.125
 
   static const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
-    .max_gas = 3072,
-    .min_gas = 1404,
-    .inactive_gas = 1404,
+    .max_gas = 1018 * GM_GAS_TO_CAN,
+    .min_gas = -650 * GM_GAS_TO_CAN,
+    .inactive_gas = -650 * GM_GAS_TO_CAN,
     .max_brake = 400,
   };
 
@@ -251,38 +272,52 @@ static safety_config gm_init(uint16_t param) {
                                            {0x315, 2, 5}};  // ch bus
 
 
-  static const CanMsg GM_CC_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7},  // pt bus
-                                              {0x184, 2, 8}, {0x1E1, 2, 7}};  // camera bus
-
-
   static const LongitudinalLimits GM_CAM_LONG_LIMITS = {
-    .max_gas = 3400,
-    .min_gas = 1514,
-    .inactive_gas = 1554,
+    .max_gas = 1346 * GM_GAS_TO_CAN,
+    .min_gas = -540 * GM_GAS_TO_CAN,
+    .inactive_gas = -500 * GM_GAS_TO_CAN,
     .max_brake = 400,
   };
 
   static const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8}, {0x370, 0, 6}, {0x200, 0, 6}, {0x1E1, 0, 7},  // pt bus
                                                {0x184, 2, 8}};  // camera bus
 
-
   // TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
   static RxCheck gm_rx_checks[] = {
-    {.msg = {{0x184, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}},
-    {.msg = {{0x34A, 0, 5, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}},
-    {.msg = {{0x1E1, 0, 7, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}},
-    {.msg = {{0xBE, 0, 6, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U},    // Volt, Silverado, Acadia Denali
-             {0xBE, 0, 7, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U},    // Bolt EUV
-             {0xBE, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}}},  // Escalade
-    {.msg = {{0xF1, 0, 6, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}},
-    {.msg = {{0x1C4, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}},
-    {.msg = {{0xC9, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}},
+    GM_COMMON_RX_CHECKS
+    GM_ACC_RX_CHECKS
+  };
+
+  static RxCheck gm_ev_rx_checks[] = {
+    GM_COMMON_RX_CHECKS
+    GM_ACC_RX_CHECKS
+    {.msg = {{0xBD, 0, 7, .ignore_checksum = true, .ignore_counter = true, .frequency = 40U}, { 0 }, { 0 }}},
+  };
+
+  static RxCheck gm_no_acc_rx_checks[] = {
+    GM_COMMON_RX_CHECKS
+    {.msg = {{0x3D1, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}},  // Non-ACC PCM
+  };
+
+  static RxCheck gm_no_acc_ev_rx_checks[] = {
+    GM_COMMON_RX_CHECKS
+    {.msg = {{0xBD, 0, 7, .ignore_checksum = true, .ignore_counter = true, .frequency = 40U}, { 0 }, { 0 }}},
+    {.msg = {{0x3D1, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}},  // Non-ACC PCM
+  };
+
+  static RxCheck gm_pedal_rx_checks[] = {
+    GM_COMMON_RX_CHECKS
+    {.msg = {{0xBD, 0, 7, .ignore_checksum = true, .ignore_counter = true, .frequency = 40U}, { 0 }, { 0 }}},
+    {.msg = {{0x3D1, 0, 8, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}},  // Non-ACC PCM
+    {.msg = {{0x201, 0, 6, .ignore_checksum = true, .ignore_counter = true, .frequency = 10U}, { 0 }, { 0 }}},  // pedal
   };
 
   static const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, {0x200, 0, 6}, {0x1E1, 0, 7},  // pt bus
                                           {0x1E1, 2, 7}, {0x184, 2, 8}};  // camera bus
 
 
+  static const CanMsg GM_CC_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7},  // pt bus
+                                              {0x184, 2, 8}, {0x1E1, 2, 7}};  // camera bus
   gm_hw = GET_FLAG(param, GM_PARAM_HW_CAM) ? GM_CAM : GM_ASCM;
   gm_force_ascm = GET_FLAG(param, GM_PARAM_HW_ASCM_LONG);
 
@@ -299,7 +334,7 @@ static safety_config gm_init(uint16_t param) {
 #endif
   gm_pedal_long = GET_FLAG(param, GM_PARAM_PEDAL_LONG);
   gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG);
-  gm_pcm_cruise = (gm_hw == GM_CAM) && !gm_cam_long && !gm_force_ascm && !gm_pedal_long;
+  gm_pcm_cruise = (gm_hw == GM_CAM) && (!gm_cam_long || gm_cc_long) && !gm_force_ascm && !gm_pedal_long;
   gm_skip_relay_check = GET_FLAG(param, GM_PARAM_NO_CAMERA);
   gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);
 
@@ -310,7 +345,7 @@ static safety_config gm_init(uint16_t param) {
   }
   else print("GM Pedal Interceptor Disabled\n");
 
-  safety_config ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
+  safety_config ret;
   if (gm_hw == GM_CAM) {
     if (gm_cc_long) {
       ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CC_LONG_TX_MSGS);
@@ -322,7 +357,21 @@ static safety_config gm_init(uint16_t param) {
       ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
       print("GM CAM\n");
     }
+  } else {
+    ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
   }
+
+  const bool gm_ev = GET_FLAG(param, GM_PARAM_EV);
+  if (enable_gas_interceptor) {
+    SET_RX_CHECKS(gm_pedal_rx_checks, ret);
+  } else if (!gm_has_acc && gm_ev) {
+    SET_RX_CHECKS(gm_no_acc_ev_rx_checks, ret);
+  } else if (!gm_has_acc && !gm_ev) {
+    SET_RX_CHECKS(gm_no_acc_rx_checks, ret);
+  } else if (gm_ev) {
+    SET_RX_CHECKS(gm_ev_rx_checks, ret);
+  } else {}
+
   return ret;
 }
 
diff --git a/selfdrive/carrot/carrot_man.py b/selfdrive/carrot/carrot_man.py
index 37bbb161..af5aeeaa 100644
--- a/selfdrive/carrot/carrot_man.py
+++ b/selfdrive/carrot/carrot_man.py
@@ -1516,7 +1516,8 @@ class CarrotServ:
 
       self.nGoPosDist = int(msg_nav.distanceRemaining)
       self.nGoPosTime = int(msg_nav.timeRemaining)
-      self.nRoadLimitSpeed = max(30, round(msg_nav.speedLimit * 3.6))
+      if self.active_kisa_count <= 0 and msg_nav.speedLimit > 0:
+        self.nRoadLimitSpeed = max(30, round(msg_nav.speedLimit * CV.MS_TO_KPH))
       self.xDistToTurn = int(msg_nav.maneuverDistance)
       self.szTBTMainText = msg_nav.maneuverPrimaryText
       self.xTurnInfo = -1
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index d5bb59cb..9eac00c1 100644
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -54,8 +54,10 @@ class Track:
 
     if self.cnt == 0:
       self.yRel_filtered = self.yRel
+      self.yvLead_filtered = self.yvLead
     else:
-      self.yRel_filtered = self.yRel_filtered * 0.98 + self.yRel * 0.02
+      self.yRel_filtered = self.yRel_filtered * 0.95 + self.yRel * 0.05
+      self.yvLead_filtered = self.yvLead_filtered * 0.95 + self.yvLead * 0.05
 
     a_lead_threshold = 0.5 * radar_reaction_factor
     if abs(self.aLead) < a_lead_threshold and abs(self.jLead) < 0.5:
@@ -109,17 +111,8 @@ def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks
   max_offset_vision_vel = max(lead.v[0] * np.interp(lead.prob, [0.8, 0.98], [0.3, 0.5]), 5.0) # 확률이 낮으면 속도오차를 줄임.
 
   def prob(c):
-    #if abs(offset_vision_dist - c.dRel) > max_offset_vision_dist: 
-    #  return -1e6
-
-    #if abs(lead.v[0] - c.vLead) > max_offset_vision_vel:
-    #    return -1e6
-
-    #if abs(c.yRel + c.yvLead * radar_lat_factor + lead.y[0]) > 3.0: # lead.y[0]는 반대..
-    #  return -1e6
-      
     prob_d = laplacian_pdf(c.dRel, offset_vision_dist, lead.xStd[0])
-    prob_y = laplacian_pdf(c.yRel + c.yvLead * radar_lat_factor, -lead.y[0], lead.yStd[0])
+    prob_y = laplacian_pdf(c.yRel + c.yvLead_filtered * radar_lat_factor, -lead.y[0], lead.yStd[0])
     prob_v = laplacian_pdf(c.vLead, lead.v[0], lead.vStd[0])
 
     weight_v = np.interp(c.vLead, [0, 10], [0.3, 1])
@@ -142,7 +135,7 @@ def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks
   #if best_track is not None and lead.v[0] - best_track.vLead > max_offset_vision_vel:
   #  best_track = None
 
-  if best_track is not None and abs(best_track.yRel + best_track.yvLead * radar_lat_factor + lead.y[0]) > 3.0: # lead.y[0]는 반대..
+  if best_track is not None and abs(best_track.yRel + best_track.yvLead_filtered * radar_lat_factor + lead.y[0]) > 3.0: # lead.y[0]는 반대..
     best_track = None
 
   if best_track is not None:
@@ -213,7 +206,7 @@ def get_lead_side(v_ego, tracks, md, lane_width, model_v_ego, radar_lat_factor =
   for c in tracks.values():
     # d_y :  path_y - traks_y 의 diff값
     # yRel값은 왼쪽이 +값, lead.y[0]값은 왼쪽이 -값
-    d_y = c.yRel_filtered + np.interp(c.dRel, md_x, md_y) + c.yvLead * radar_lat_factor
+    d_y = c.yRel_filtered + np.interp(c.dRel, md_x, md_y) + c.yvLead_filtered * radar_lat_factor
     if abs(d_y) < lane_width / 2 * 0.8:
       if c.cnt > 6:
         ld = c.get_RadarState(lead_msg.prob, float(-lead_msg.y[0]))
@@ -225,7 +218,8 @@ def get_lead_side(v_ego, tracks, md, lane_width, model_v_ego, radar_lat_factor =
       ld = c.get_RadarState(0, 0)
       leads_left[c.dRel] = ld
 
-    if abs(d_y) < 2.3 and 4 < c.dRel < 20.0 and c.vLead > 4.0:
+    # 레이더가 3.4m 차폭보다 적으면, 
+    if abs(d_y) < 3.4/2 and 4 < c.dRel < 20.0 and c.vLead > 4.0 and c.cnt > int(2.0/DT_MDL) and d_y * c.yvLead_filtered < 0:
       if leadCutIn['status'] is False or c.dRel < leadCutIn['dRel']:
         leadCutIn = c.get_RadarState(lead_msg.prob)
 
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 6802b45e..0da3c24e 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -50,9 +50,9 @@ def tg_compile(flags, model_name):
 # Compile small models
 for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
   flags = {
-    'larch64': 'DEV=QCOM',
-    'Darwin': 'DEV=CPU IMAGE=0',
-  }.get(arch, 'DEV=LLVM IMAGE=0')
+    'larch64': 'QCOM=1',
+    'Darwin': 'CPU=1 IMAGE=0 JIT=2',
+  }.get(arch, 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0 JIT=2')
   tg_compile(flags, model_name)
 
 # Compile BIG model if USB GPU is available
@@ -62,7 +62,7 @@ if "USBGPU" in os.environ:
   devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True, cwd=env.Dir('#').abspath)
   if b"AMD" in devs:
     print("USB GPU detected... building")
-    flags = "DEV=AMD AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=0"
+    flags = "AMD=1 AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=0"
     bp = tg_compile(flags, "big_driving_policy")
     bv = tg_compile(flags, "big_driving_vision")
     lenv.SideEffect('lock', [bp, bv])  # tg doesn't support multi-process so build serially
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 76a8615c..9a4dca48 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -1,11 +1,16 @@
 #!/usr/bin/env python3
 import os
 from openpilot.system.hardware import TICI
-os.environ['DEV'] = 'QCOM' if TICI else 'LLVM'
 USBGPU = "USBGPU" in os.environ
 if USBGPU:
-  os.environ['DEV'] = 'AMD'
+  os.environ['AMD'] = '1'
   os.environ['AMD_IFACE'] = 'USB'
+elif TICI:
+  from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
+  os.environ['QCOM'] = '1'
+else:
+  os.environ['LLVM'] = '1'
+  os.environ['JIT'] = '2'
 from tinygrad.tensor import Tensor
 from tinygrad.dtype import dtypes
 import time
diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx
index 9317fa26..4b5f1e11 100644
Binary files a/selfdrive/modeld/models/driving_policy.onnx and b/selfdrive/modeld/models/driving_policy.onnx differ
diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx
index ae08dbba..974a01d5 100644
Binary files a/selfdrive/modeld/models/driving_vision.onnx and b/selfdrive/modeld/models/driving_vision.onnx differ
diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py
index d5a5dc1b..783572d4 100644
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -90,22 +90,22 @@ class Parser:
     self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
     self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_binary_crossentropy('lane_lines_prob', outs)
+    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
+                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+    for k in ['lead_prob', 'lane_lines_prob']:
+      self.parse_binary_crossentropy(k, outs)
     self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
     self.parse_binary_crossentropy('meta', outs)
     return outs
 
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
     self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
-      out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
+                   out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
     if 'lat_planner_solution' in outs:
       self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
     if 'desired_curvature' in outs:
       self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
-    self.parse_binary_crossentropy('lead_prob', outs)
-    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
-      out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
     return outs
 
   def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
diff --git a/selfdrive/ui/carrot.cc b/selfdrive/ui/carrot.cc
index bc82bf6c..911e334e 100644
--- a/selfdrive/ui/carrot.cc
+++ b/selfdrive/ui/carrot.cc
@@ -1145,7 +1145,8 @@ protected:
             int remaining_minutes = (int)nGoPosTime / 60;
             local->tm_min += remaining_minutes;
             mktime(local);
-            sprintf(str, "%s: %.1f%s(%02d:%02d)", tr("ETA").toStdString().c_str(), (float)nGoPosTime / 60., tr("MIN").toStdString().c_str(), local->tm_hour, local->tm_min);
+            bool is_kor = s->language == "main_ko";
+            sprintf(str, "%s: %.1f%s(%02d:%02d)", (is_kor)?"도착":"ETA", (float)nGoPosTime / 60., (is_kor)?"분":"MIN", local->tm_hour, local->tm_min);
             ui_draw_text(s, tbt_x + 190, tbt_y + 80, str, 50, COLOR_WHITE, BOLD);
             sprintf(str, "%.1f%s", nGoPosDist / 1000. * ((s->scene.is_metric)?1:KM_TO_MILE), (s->scene.is_metric) ? "km" : "mile");
             ui_draw_text(s, tbt_x + 190 + 120, tbt_y + 130, str, 50, COLOR_WHITE, BOLD);