diff --git a/.github/workflows/codeql.yml b/.github/workflows/codeql.yml
new file mode 100644
index 0000000000..f352a6a416
--- /dev/null
+++ b/.github/workflows/codeql.yml
@@ -0,0 +1,97 @@
+# For most projects, this workflow file will not need changing; you simply need
+# to commit it to your repository.
+#
+# You may wish to alter this file to override the set of languages analyzed,
+# or to provide custom queries or build logic.
+#
+# ******** NOTE ********
+# We have attempted to detect the languages in your repository. Please check
+# the `language` matrix defined below to confirm you have the correct set of
+# supported CodeQL languages.
+#
+name: "CodeQL"
+
+on:
+  push:
+    branches: [ "master", "*-c3", "master*" ]
+  pull_request:
+    branches: [ "master", "*-c3", "master*" ]
+  schedule:
+    - cron: '39 7 * * 2'
+
+jobs:
+  analyze:
+    name: Analyze (${{ matrix.language }})
+    # Runner size impacts CodeQL analysis time. To learn more, please see:
+    #   - https://gh.io/recommended-hardware-resources-for-running-codeql
+    #   - https://gh.io/supported-runners-and-hardware-resources
+    #   - https://gh.io/using-larger-runners (GitHub.com only)
+    # Consider using larger runners or machines with greater resources for possible analysis time improvements.
+    runs-on: ${{ (matrix.language == 'swift' && 'macos-latest') || 'ubuntu-latest' }}
+    timeout-minutes: ${{ (matrix.language == 'swift' && 120) || 360 }}
+    permissions:
+      # required for all workflows
+      security-events: write
+
+      # required to fetch internal or private CodeQL packs
+      packages: read
+
+      # only required for workflows in private repositories
+      actions: read
+      contents: read
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+        - language: c-cpp
+          build-mode: autobuild
+        - language: javascript-typescript
+          build-mode: none
+        - language: python
+          build-mode: none
+        # CodeQL supports the following values keywords for 'language': 'c-cpp', 'csharp', 'go', 'java-kotlin', 'javascript-typescript', 'python', 'ruby', 'swift'
+        # Use `c-cpp` to analyze code written in C, C++ or both
+        # Use 'java-kotlin' to analyze code written in Java, Kotlin or both
+        # Use 'javascript-typescript' to analyze code written in JavaScript, TypeScript or both
+        # To learn more about changing the languages that are analyzed or customizing the build mode for your analysis,
+        # see https://docs.github.com/en/code-security/code-scanning/creating-an-advanced-setup-for-code-scanning/customizing-your-advanced-setup-for-code-scanning.
+        # If you are analyzing a compiled language, you can modify the 'build-mode' for that language to customize how
+        # your codebase is analyzed, see https://docs.github.com/en/code-security/code-scanning/creating-an-advanced-setup-for-code-scanning/codeql-code-scanning-for-compiled-languages
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v4
+
+    # Initializes the CodeQL tools for scanning.
+    - name: Initialize CodeQL
+      uses: github/codeql-action/init@v3
+      with:
+        languages: ${{ matrix.language }}
+        build-mode: ${{ matrix.build-mode }}
+        # If you wish to specify custom queries, you can do so here or in a config file.
+        # By default, queries listed here will override any specified in a config file.
+        # Prefix the list here with "+" to use these queries and those in the config file.
+
+        # For more details on CodeQL's query packs, refer to: https://docs.github.com/en/code-security/code-scanning/automatically-scanning-your-code-for-vulnerabilities-and-errors/configuring-code-scanning#using-queries-in-ql-packs
+        # queries: security-extended,security-and-quality
+
+    # If the analyze step fails for one of the languages you are analyzing with
+    # "We were unable to automatically build your code", modify the matrix above
+    # to set the build mode to "manual" for that language. Then modify this step
+    # to build your code.
+    # ℹ️ Command-line programs to run using the OS shell.
+    # 📚 See https://docs.github.com/en/actions/using-workflows/workflow-syntax-for-github-actions#jobsjob_idstepsrun
+    - if: matrix.build-mode == 'manual'
+      shell: bash
+      run: |
+        echo 'If you are using a "manual" build mode for one or more of the' \
+          'languages you are analyzing, replace this with the commands to build' \
+          'your code, for example:'
+        echo '  make bootstrap'
+        echo '  make release'
+        exit 1
+
+    - name: Perform CodeQL Analysis
+      uses: github/codeql-action/analyze@v3
+      with:
+        category: "/language:${{matrix.language}}"
diff --git a/.github/workflows/mirror_to_gitlab.yaml b/.github/workflows/mirror_to_gitlab.yaml
new file mode 100644
index 0000000000..e605458ad9
--- /dev/null
+++ b/.github/workflows/mirror_to_gitlab.yaml
@@ -0,0 +1,55 @@
+name: Mirror to GitLab
+
+on:
+  push:
+  delete:
+  workflow_dispatch:  # This enables manual triggering
+
+jobs:
+  sync:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Wait for other instances of this workflow to conclude
+        uses: softprops/turnstyle@8db075d65b19bf94e6e8687b504db69938dc3c65
+        with:
+          same-branch-only: 'true'
+          abort-after-seconds: 300
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Checkout Repository
+        uses: actions/checkout@v3
+        with:
+          ref: ${{ github.ref }}
+          fetch-depth: 0  # Fetch full history
+
+      - name: Set up Git
+        run: |
+          git config --global user.name 'GitHub Action'
+          git config --global user.email 'action@github.com'
+
+      - name: Set up SSH
+        uses: webfactory/ssh-agent@v0.5.3
+        with:
+          ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
+
+      - name: Add GitLab public keys
+        run: |
+          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+
+      - name: Sync and commit changes
+        id: sync-and-commit
+        run: |
+          git lfs pull
+
+          # Add GitLab remote
+          git remote add gitlab git@gitlab.com:sunnypilot/sunnyhaibin/sunnypilot-github-mirror.git
+
+          # Fetch from GitLab and check if the branch exists
+          if git fetch gitlab ${{ github.ref }}; then
+              # Merge changes from GitLab if the branch exists
+              git merge gitlab/${{ github.ref_name }} --allow-unrelated-histories --strategy-option=theirs
+          else
+              echo "Branch does not exist on GitLab, skipping merge."
+          fi
+          git push -u gitlab ${{ github.ref }} # If you have issues with "push rejected missing LFS" or something. Make sure you disabled LFS on the GITLAB repo if you intend to use a different LFS repo other than the target repo
\ No newline at end of file
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 2704a7bb28..23881001fe 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -9,6 +9,10 @@ variables:
   GIT_CONFIG_USER_EMAIL: "gitlab@pipeline.com"
   GIT_CONFIG_USER_NAME: "Gitlab Pipeline"
   PUBLIC_REPO_URL: "https://github.com/sunnyhaibin/sunnypilot"
+  BASE_BUILD_NUMER: 3000
+
+  EXTRA_VERSION_IDENTIFIER: "${CI_PIPELINE_IID}"
+  NEW_BRANCH: ${CI_COMMIT_REF_NAME}-prebuilt
 
 stages:
   - build
@@ -23,7 +27,8 @@ default:
     - x86
 
 .default_before_script: &default_before_script
-  - 'export VERSION=$(eval $VERSION)${EXTRA_VERSION_IDENTIFIER}'
+  - 'if [ "$EXTRA_VERSION_IDENTIFIER" = "$CI_PIPELINE_IID" ]; then export EXTRA_VERSION_IDENTIFIER=$((CI_PIPELINE_IID + BASE_BUILD_NUMER)); fi'
+  - 'export VERSION=$(eval $VERSION)-${EXTRA_VERSION_IDENTIFIER}'
   - 'mkdir -p "${BUILD_DIR}/"'
   - 'git config --global user.email "${GIT_CONFIG_USER_EMAIL}"'
   - 'git config --global user.name "${GIT_CONFIG_USER_NAME}"'
@@ -34,33 +39,31 @@ workflow: # If running on any branch other than main.
     # We are an MR, but it's a draft, we won't proceed with anything.
     - if: '$CI_MERGE_REQUEST_TITLE =~ /^wip:/i || $CI_MERGE_REQUEST_TITLE =~ /^draft:/i'
       when: never
-    # We are a merge request
-    - if: $CI_MERGE_REQUEST_IID
-      variables:
-        EXTRA_VERSION_IDENTIFIER: "-${CI_PIPELINE_IID}"
-        NEW_BRANCH: ${CI_COMMIT_REF_NAME}-prebuilt
-      when: always
 
     # Below are the rules when a commit is done (code has been added to the branch)
     # Commit to master-dev-c3
     - if: $CI_COMMIT_REF_NAME == $DEV_C3_SOURCE_BRANCH
       variables:
-        EXTRA_VERSION_IDENTIFIER: "-${CI_PIPELINE_IID}"
+        EXTRA_VERSION_IDENTIFIER: "${CI_PIPELINE_IID}"
         NEW_BRANCH: "dev-c3"
+        AUTO_BUILD: true
       when: always
     #commit made to main (master)
     - if: $CI_COMMIT_REF_NAME == $CI_DEFAULT_BRANCH
       variables:
         NEW_BRANCH: "staging-c3"
         VERSION: 'cat common/version.h | grep COMMA_VERSION | sed -e "s/[^0-9|.]//g"'
-        EXTRA_VERSION_IDENTIFIER: "-staging"
+        EXTRA_VERSION_IDENTIFIER: "staging"
+        AUTO_PUBLISH: true
+        AUTO_BUILD: true
       when: always
     # if tag
     - if: $CI_COMMIT_TAG
       variables:
         NEW_BRANCH: "release-c3"
         VERSION: 'cat common/version.h | grep COMMA_VERSION | sed -e "s/[^0-9|.]//g"'
-        EXTRA_VERSION_IDENTIFIER: "-release"
+        EXTRA_VERSION_IDENTIFIER: "release"
+        AUTO_BUILD: true
     - when: always
 
 
@@ -92,7 +95,7 @@ build:
     - sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py # comment panda jungle when prebuilt
     - scons -j$(nproc) cache_dir=${CI_DIR}/scons_cache --minimal
     - touch ${BUILD_DIR}/prebuilt
-    - sudo rm -rf ${OUTPUT_DIR} 
+    - sudo rm -rf ${OUTPUT_DIR}
     - mkdir -p ${OUTPUT_DIR}
     # We first include the paths we want to keep, even if we later will be excluding the other things on those paths
     - rsync -avm
@@ -135,39 +138,16 @@ build:
       --chown=comma:comma
       ${BUILD_DIR}/ ${OUTPUT_DIR}/
   after_script:
-    # cleanup build dir after doing work 
+    # cleanup build dir after doing work
     - find $BUILD_DIR/ -mindepth 1 -delete
   artifacts:
     paths:
       - ${OUTPUT_DIR}/
   tags: [ 'sunnypilot', 'tici' ]
   rules:
-    - if: $CI_MERGE_REQUEST_IID
-      when: manual
-    - if: $NEW_BRANCH
+    - if: $AUTO_BUILD
       when: always
-      
-check no source code sent:
-  image: alpine
-  stage: sanity
-  variables:
-    FORBIDDEN_FILE_EXTENSIONS: "*.a,*.o,*.os,*.pyc,moc_*,*.cc,Jenkinsfile,supercombo.onnx,.sconsign.dblite"
-    FORBIDDEN_DIR_PATTERNS: "*panda/certs,*panda/crypto,*release,*.github,*selfdrive/ui/replay,*__pycache__"
-    REQUIRED_FILE_EXTENSIONS: "*.py,*.json"
-    REQUIRED_DIR_PATTERNS: "*selfdrive/ui,*openpilot"
-  before_script:
-    - apk update && apk upgrade
-    - apk add bash findutils
-  script:
-    - cd ${OUTPUT_DIR}
-    - echo "Checking that we have properly cleaned up"
-    - ${CI_DIR}/sanity_check.sh "$FORBIDDEN_FILE_EXTENSIONS" "$FORBIDDEN_DIR_PATTERNS" true
-    - echo "Checking that our sanity check works and also checking that some required files are indeed found"
-    - ${CI_DIR}/sanity_check.sh "$REQUIRED_FILE_EXTENSIONS" "$REQUIRED_DIR_PATTERNS" false
-  rules:
-    - if: $NEW_BRANCH
-      when: on_success
-    - when: never
+    - when: manual
 
 .publish_base: &publish_base
   image: alpine
@@ -177,9 +157,6 @@ check no source code sent:
   needs:
     - job: build
       artifacts: true
-    - job: "check no source code sent"
-      artifacts: false
-      optional: false
   before_script:
     - 'apk update && apk upgrade'
     - 'apk add git bash openssh'
@@ -196,17 +173,19 @@ check no source code sent:
     - echo "${GIT_ORIGIN}"
     - echo "Calling to publish [${CI_DIR}/publish.sh ${CI_PROJECT_DIR} ${OUTPUT_DIR} ${NEW_BRANCH} ${VERSION} ${GIT_ORIGIN}]"
     - git config --global --add safe.directory ${OUTPUT_DIR}
-    - $CI_DIR/publish.sh "${CI_PROJECT_DIR}" "${OUTPUT_DIR}" "${NEW_BRANCH}" "${VERSION}" "${GIT_ORIGIN}" "${EXTRA_VERSION_IDENTIFIER}"
+    - $CI_DIR/publish.sh "${CI_PROJECT_DIR}" "${OUTPUT_DIR}" "${NEW_BRANCH}" "${VERSION}" "${GIT_ORIGIN}" "-${EXTRA_VERSION_IDENTIFIER}"
   allow_failure: false
 
 publish to private gitlab prebuilt:
   extends: ".publish_base"
   variables:
-    GIT_ORIGIN: git@gitlab.com:sunnypilot/public/sunnypilot.git
+    GIT_ORIGIN: git@gitlab.com:sunnypilot/public/sunnypilot-prebuilts.git
   rules:
-    - if: $NEW_BRANCH
+    - if: $AUTO_BUILD
       when: on_success
-    - when: never
+    - if: $CI_MERGE_REQUEST_IID
+      when: on_success
+    - when: manual
 
 publish to public github prebuilt:
   extends: ".publish_base"
@@ -215,9 +194,9 @@ publish to public github prebuilt:
     GIT_CONFIG_USER_EMAIL: "jason.wen@sunnypilot.ai"
     GIT_CONFIG_USER_NAME: "Jason Wen"
   rules:
-    - if: $NEW_BRANCH
-      when: manual
-    - when: never
+    - if: $AUTO_PUBLISH
+      when: on_success
+    - when: manual
 
 .notify_discord: &notify_discord
   image: alpine
@@ -251,6 +230,9 @@ notify new dev build:
   needs: ["publish to public github prebuilt"] # This notify shall only happen after a publish to github public
   variables:
     TEMPLATE: "discord_template_notify_dev_public.json"
+  before_script:
+    - !reference [".notify_discord", "before_script"]
+    - export EXTRA_VERSION_IDENTIFIER=$((CI_PIPELINE_IID + BASE_BUILD_NUMER))
   rules:
     - if: $NEW_BRANCH == "dev-c3"
       variables:
diff --git a/README.md b/README.md
index c78052ad6b..72319c2dc2 100644
--- a/README.md
+++ b/README.md
@@ -170,16 +170,16 @@ After running the command to install the desired branch, your comma device shoul
     * Speed Limit Control (SLC) - Set speed limit based on map data or car interface (if applicable)
     * HKG only: Highway Driving Assist (HDA) status integration - Use cars native speed sign detection to set desired speed (on applicable HKG cars only)
 - [**Gap Adjust Cruise (GAC)**](#gap-adjust-cruise) - Allow `GAP`/`INTERVAL`/`DISTANCE` button on the steering wheel or on-screen button to adjust the follow distance from the lead car. See table below for options
-    - [**Quiet Drive 🤫**](#-quiet-drive) - Toggle to mute all notification sounds (excluding driver safety warnings)
-    - [**Auto Lane Change Timer**](#Auto-Lane-Change-Timer) - Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set
-    - [**Force Car Recognition (FCR)**](#Force-Car-Recognition-) - Use a selector to force your car to be recognized by sunnypilot
-    - [**Fix sunnypilot No Offroad**](#Fix-sunnypilot-No-Offroad) - Enforce sunnypilot to go offroad and turns off after shutting down the car. This feature fixes non-official devices running sunnypilot without comma power
-    - [**Enable ACC+MADS with RES+/SET-**](#Enable-ACC+MADS-with-RES+/SET-) - Engage both ACC and MADS with a single press of RES+ or SET- button
-    - [**Offline OSM Maps**](#Offline-OSM-Maps) - OSM database can now be downloaded locally for offline use[^2]. This enables offline SLC, V-TSC and M-TSC. Currently available for US South, US West, US Northeast, Florida, Taiwan, South Africa and New Zealand
-    - [**Various Live Tuning**](#Various-Live-Tuning) - Ability to tailor your driving experience on the fly:
-        * Enforce Torque Lateral Control - Use the newest [torque controller](https://blog.comma.ai/0815release/#torque-controller) for all vehicles.
-        * Torque Lateral Control Live Tune - Ability to adjust the torque controller’s `FRICTION` and `LAT_ACCEL_FACTOR` values to suit your vehicle.
-        * Torque Lateral Controller Self-Tune - Enable automatic turning for the Torque controller.
+- [**Quiet Drive 🤫**](#-quiet-drive) - Toggle to mute all notification sounds (excluding driver safety warnings)
+- [**Auto Lane Change Timer**](#Auto-Lane-Change-Timer) - Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set
+- [**Force Car Recognition (FCR)**](#Force-Car-Recognition-) - Use a selector to force your car to be recognized by sunnypilot
+- [**Fix sunnypilot No Offroad**](#Fix-sunnypilot-No-Offroad) - Enforce sunnypilot to go offroad and turns off after shutting down the car. This feature fixes non-official devices running sunnypilot without comma power
+- [**Enable ACC+MADS with RES+/SET-**](#Enable-ACC+MADS-with-RES+/SET-) - Engage both ACC and MADS with a single press of RES+ or SET- button
+- [**Offline OSM Maps**](#Offline-OSM-Maps) - OSM database can now be downloaded locally for offline use[^2]. This enables offline SLC, V-TSC and M-TSC. Currently available for US South, US West, US Northeast, Florida, Taiwan, South Africa and New Zealand
+- [**Various Live Tuning**](#Various-Live-Tuning) - Ability to tailor your driving experience on the fly:
+    * Enforce Torque Lateral Control - Use the newest [torque controller](https://blog.comma.ai/0815release/#torque-controller) for all vehicles.
+    * Torque Lateral Control Live Tune - Ability to adjust the torque controller’s `FRICTION` and `LAT_ACCEL_FACTOR` values to suit your vehicle.
+    * Torque Lateral Controller Self-Tune - Enable automatic turning for the Torque controller.
 
 ### Visual Enhancements
 * **M.A.D.S Status Icon** - Dedicated icon to display M.A.D.S. engagement status
diff --git a/release/ci/discord_template_notify_dev_public.json b/release/ci/discord_template_notify_dev_public.json
index d1a7b37f96..c933ea10b4 100644
--- a/release/ci/discord_template_notify_dev_public.json
+++ b/release/ci/discord_template_notify_dev_public.json
@@ -2,7 +2,7 @@
   "embeds": [
     {
       "title": "🎉 sunnypilot `${NEW_BRANCH}` New Update 🎉",
-      "description": "[sunnypilot](${PUBLIC_REPO_URL}): Build #${CI_PIPELINE_IID} of branch [${NEW_BRANCH}](${PUBLIC_REPO_URL}/tree/${NEW_BRANCH}) has been published.\n\nDrive safe! 🚗💨",
+      "description": "[sunnypilot](${PUBLIC_REPO_URL}): Build #${EXTRA_VERSION_IDENTIFIER} of branch [${NEW_BRANCH}](${PUBLIC_REPO_URL}/tree/${NEW_BRANCH}) has been published.\n\nDrive safe! 🚗💨",
       "color": 4321431
     }
   ]
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 98be4bf82f..fe6f67296c 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -1,6 +1,8 @@
 #!/usr/bin/env python3
 import os
+import threading
 import time
+from types import SimpleNamespace
 
 import cereal.messaging as messaging
 
@@ -14,6 +16,7 @@ from openpilot.common.realtime import config_realtime_process, Priority, Ratekee
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.car.param_manager import ParamManager
 from openpilot.selfdrive.controls.lib.events import Events
 
 REPLAY = "REPLAY" in os.environ
@@ -90,6 +93,10 @@ class Car:
 
     self.events = Events()
 
+    self.param_manager: ParamManager = ParamManager()
+    self.param_manager.update(self.params)
+    self._params_list: SimpleNamespace = self.param_manager.get_params()
+
     # card is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
@@ -98,7 +105,7 @@ class Car:
 
     # Update carState from CAN
     can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
-    CS = self.CI.update(self.CC_prev, can_strs)
+    CS = self.CI.update(self.CC_prev, can_strs, self._params_list)
 
     self.sm.update(0)
 
@@ -186,10 +193,23 @@ class Car:
     self.initialized_prev = initialized
     self.CS_prev = CS.as_reader()
 
+  def sp_params_thread(self, event: threading.Event) -> None:
+    while not event.is_set():
+      self.param_manager.update(self.params)
+      self._params_list = self.param_manager.get_params()
+      time.sleep(0.1)
+
   def card_thread(self):
-    while True:
-      self.step()
-      self.rk.monitor_time()
+    event = threading.Event()
+    thread = threading.Thread(target=self.sp_params_thread, args=(event, ))
+    try:
+      thread.start()
+      while True:
+        self.step()
+        self.rk.monitor_time()
+    finally:
+      event.set()
+      thread.join()
 
 
 def main():
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index 54bed40b51..9de0d4a547 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -30,9 +30,6 @@ class CarController(CarControllerBase):
 
     self.sm = messaging.SubMaster(['longitudinalPlanSP'])
     self.param_s = Params()
-    self.is_metric = self.param_s.get_bool("IsMetric")
-    self.speed_limit_control_enabled = False
-    self.last_speed_limit_sign_tap = False
     self.last_speed_limit_sign_tap_prev = False
     self.speed_limit = 0.
     self.speed_limit_offset = 0
@@ -72,23 +69,19 @@ class CarController(CarControllerBase):
         self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed
         self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed
 
-      if self.frame % 200 == 0:
-        self.speed_limit_control_enabled = self.param_s.get_bool("EnableSlc")
-        self.is_metric = self.param_s.get_bool("IsMetric")
-      self.last_speed_limit_sign_tap = self.param_s.get_bool("LastSpeedLimitSignTap")
-      self.v_cruise_min = FCA_V_CRUISE_MIN[self.is_metric] * (CV.KPH_TO_MPH if not self.is_metric else 1)
+      self.v_cruise_min = FCA_V_CRUISE_MIN[CS.params_list.is_metric] * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1)
 
     can_sends = []
 
     if not self.CP.pcmCruiseSpeed:
-      if not self.last_speed_limit_sign_tap_prev and self.last_speed_limit_sign_tap:
+      if not self.last_speed_limit_sign_tap_prev and CS.params_list.last_speed_limit_sign_tap:
         self.sl_force_active_timer = self.frame
         self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False)
-      self.last_speed_limit_sign_tap_prev = self.last_speed_limit_sign_tap
+      self.last_speed_limit_sign_tap_prev = CS.params_list.last_speed_limit_sign_tap
 
-      sl_force_active = self.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
-      sl_inactive = not sl_force_active and (not self.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
-      sl_temp_inactive = not sl_force_active and (self.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
+      sl_force_active = CS.params_list.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
+      sl_inactive = not sl_force_active and (not CS.params_list.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
+      sl_temp_inactive = not sl_force_active and (CS.params_list.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
       slc_active = not sl_inactive and not sl_temp_inactive
 
       self.slc_active_stock = slc_active
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index f4881dd363..fbfce9d30d 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -91,10 +91,12 @@ class CarInterface(CarInterfaceBase):
 
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
-    self.sp_update_params()
 
-    self.CS.button_events.extend(create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}))
-    self.CS.button_events.extend(create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}))
+    self.CS.button_events = [
+      *self.CS.button_events,
+      *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
+      *create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
+    ]
 
     self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index b0a1c15f34..a3bbd7ecf5 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -72,10 +72,12 @@ class CarInterface(CarInterfaceBase):
 
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
-    self.sp_update_params()
 
-    self.CS.button_events.extend(create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}))
-    self.CS.button_events.extend(create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}))
+    self.CS.button_events = [
+      *self.CS.button_events,
+      *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
+      *create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
+    ]
 
     self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 4a1e459722..e60039ec9a 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -204,7 +204,6 @@ class CarInterface(CarInterfaceBase):
   # returns a car.CarState
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
-    self.sp_update_params()
 
     distance_button = 0
 
@@ -218,7 +217,10 @@ class CarInterface(CarInterfaceBase):
       ]
       distance_button = self.CS.distance_button
 
-    self.CS.button_events.extend(create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}))
+    self.CS.button_events = [
+      *self.CS.button_events,
+      *create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
+    ]
 
     self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index dd40d07712..22c2eefe82 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -132,9 +132,6 @@ class CarController(CarControllerBase):
 
     self.sm = messaging.SubMaster(['longitudinalPlanSP'])
     self.param_s = Params()
-    self.is_metric = self.param_s.get_bool("IsMetric")
-    self.speed_limit_control_enabled = False
-    self.last_speed_limit_sign_tap = False
     self.last_speed_limit_sign_tap_prev = False
     self.speed_limit = 0.
     self.speed_limit_offset = 0
@@ -173,11 +170,7 @@ class CarController(CarControllerBase):
         self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed
         self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed
 
-      if self.frame % 200 == 0:
-        self.speed_limit_control_enabled = self.param_s.get_bool("EnableSlc")
-        self.is_metric = self.param_s.get_bool("IsMetric")
-      self.last_speed_limit_sign_tap = self.param_s.get_bool("LastSpeedLimitSignTap")
-      self.v_cruise_min = HONDA_V_CRUISE_MIN[self.is_metric] * (CV.KPH_TO_MPH if not self.is_metric else 1)
+      self.v_cruise_min = HONDA_V_CRUISE_MIN[CS.params_list.is_metric] * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1)
 
     actuators = CC.actuators
     hud_control = CC.hudControl
@@ -213,14 +206,14 @@ class CarController(CarControllerBase):
                              self.params.STEER_LOOKUP_BP, self.params.STEER_LOOKUP_V))
 
     if not self.CP.pcmCruiseSpeed:
-      if not self.last_speed_limit_sign_tap_prev and self.last_speed_limit_sign_tap:
+      if not self.last_speed_limit_sign_tap_prev and CS.params_list.last_speed_limit_sign_tap:
         self.sl_force_active_timer = self.frame
         self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False)
-      self.last_speed_limit_sign_tap_prev = self.last_speed_limit_sign_tap
+      self.last_speed_limit_sign_tap_prev = CS.params_list.last_speed_limit_sign_tap
 
-      sl_force_active = self.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
-      sl_inactive = not sl_force_active and (not self.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
-      sl_temp_inactive = not sl_force_active and (self.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
+      sl_force_active = CS.params_list.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
+      sl_inactive = not sl_force_active and (not CS.params_list.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
+      sl_temp_inactive = not sl_force_active and (CS.params_list.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
       slc_active = not sl_inactive and not sl_temp_inactive
 
       self.slc_active_stock = slc_active
@@ -432,8 +425,8 @@ class CarController(CarControllerBase):
     return min(target_speed_kph, curve_speed)
 
   def get_button_control(self, CS, final_speed, v_cruise_kph_prev):
-    self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not self.is_metric else 1))
-    self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not self.is_metric else CV.MS_TO_KPH))
+    self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1))
+    self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not CS.params_list.is_metric else CV.MS_TO_KPH))
     cruise_button = self.get_button_type(self.button_type)
     return cruise_button
 
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index af294a63a7..1459b301a2 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -174,11 +174,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 239], [0, 239]]
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.,20], [0.,20]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.4,0.3], [0,0]]
-      tire_stiffness_factor = 0.8467
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [2.4, 1.6, 0.8]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.2, 0.16]
 
     elif candidate in (CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
@@ -266,7 +261,6 @@ class CarInterface(CarInterfaceBase):
   # returns a car.CarState
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
-    self.sp_update_params()
 
     self.CS.button_events = [
       *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT),
@@ -288,21 +282,26 @@ class CarInterface(CarInterfaceBase):
     else:
       self.CS.madsEnabled = False
 
-    if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
+    min_enable_speed_pcm = self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed
+
+    if not self.CP.pcmCruise or min_enable_speed_pcm or not self.CP.pcmCruiseSpeed:
       if any(b.type == ButtonType.cancel for b in self.CS.button_events):
         self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
     if self.get_sp_pedal_disengage(ret):
       self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
-      ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
+      ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads or min_enable_speed_pcm \
+                                                        else False if self.CP.pcmCruise \
+                                                        else self.CS.accEnabled
 
-    if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
+    if min_enable_speed_pcm:
       if ret.gasPressed and not ret.cruiseState.enabled:
         self.CS.accEnabled = False
-      self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
+      if ret.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
+        self.CS.accEnabled = True
+      elif not ret.cruiseState.enabled:
+        self.CS.accEnabled = False
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS,
-                                            min_enable_speed_pcm=(self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed),
-                                            gap_button=(self.CS.cruise_setting == 3))
+    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=(self.CS.cruise_setting == 3))
 
     ret.buttonEvents = [
       *self.CS.button_events,
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index f640f6529a..7f07c08a0f 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -72,9 +72,6 @@ class CarController(CarControllerBase):
       self.sm = messaging.SubMaster(sub_services)
 
     self.param_s = Params()
-    self.is_metric = self.param_s.get_bool("IsMetric")
-    self.speed_limit_control_enabled = False
-    self.last_speed_limit_sign_tap = False
     self.last_speed_limit_sign_tap_prev = False
     self.speed_limit = 0.
     self.speed_limit_offset = 0
@@ -127,11 +124,7 @@ class CarController(CarControllerBase):
         self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed
         self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed
 
-      if self.frame % 200 == 0:
-        self.speed_limit_control_enabled = self.param_s.get_bool("EnableSlc")
-        self.is_metric = self.param_s.get_bool("IsMetric")
-      self.last_speed_limit_sign_tap = self.param_s.get_bool("LastSpeedLimitSignTap")
-      self.v_cruise_min = HYUNDAI_V_CRUISE_MIN[self.is_metric] * (CV.KPH_TO_MPH if not self.is_metric else 1)
+      self.v_cruise_min = HYUNDAI_V_CRUISE_MIN[CS.params_list.is_metric] * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1)
 
     actuators = CC.actuators
     hud_control = CC.hudControl
@@ -175,14 +168,14 @@ class CarController(CarControllerBase):
     blinking_icon = (self.frame - self.disengage_blink) * DT_CTRL < 1.0 if self.lat_disengage_init else False
 
     if not self.CP.pcmCruiseSpeed:
-      if not self.last_speed_limit_sign_tap_prev and self.last_speed_limit_sign_tap:
+      if not self.last_speed_limit_sign_tap_prev and CS.params_list.last_speed_limit_sign_tap:
         self.sl_force_active_timer = self.frame
         self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False)
-      self.last_speed_limit_sign_tap_prev = self.last_speed_limit_sign_tap
+      self.last_speed_limit_sign_tap_prev = CS.params_list.last_speed_limit_sign_tap
 
-      sl_force_active = self.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
-      sl_inactive = not sl_force_active and (not self.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
-      sl_temp_inactive = not sl_force_active and (self.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
+      sl_force_active = CS.params_list.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
+      sl_inactive = not sl_force_active and (not CS.params_list.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
+      sl_temp_inactive = not sl_force_active and (CS.params_list.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
       slc_active = not sl_inactive and not sl_temp_inactive
 
       self.slc_active_stock = slc_active
@@ -235,7 +228,7 @@ class CarController(CarControllerBase):
         if hda2:
           can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
         if self.frame % 2 == 0:
-          can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled and CS.out.cruiseState.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
+          can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CS, CC.enabled and CS.out.cruiseState.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
                                                            set_speed_in_units, hud_control))
           self.accel_last = accel
       else:
@@ -433,8 +426,8 @@ class CarController(CarControllerBase):
     return min(target_speed_kph, curve_speed)
 
   def get_button_control(self, CS, final_speed, v_cruise_kph_prev):
-    self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not self.is_metric else 1))
-    self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not self.is_metric else CV.MS_TO_KPH))
+    self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1))
+    self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not CS.params_list.is_metric else CV.MS_TO_KPH))
     cruise_button = self.get_button_type(self.button_type)
     return cruise_button
 
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index d8329c5ba7..fcd44cc1cd 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -62,6 +62,11 @@ class CarState(CarStateBase):
     self.escc_aeb_dec_cmd = 0
     self._speed_limit_clu = 0
 
+  def get_main_enabled(self, ret) -> bool:
+    if self.prev_main_buttons != 1 and self.main_buttons[-1] == 1:
+      self.mainEnabled = not self.mainEnabled
+    return ret.cruiseState.available and self.mainEnabled
+
   def update(self, cp, cp_cam):
     if self.CP.carFingerprint in CANFD_CAR:
       return self.update_canfd(cp, cp_cam)
@@ -112,7 +117,7 @@ class CarState(CarStateBase):
     # cruise state
     if self.CP.openpilotLongitudinalControl:
       # These are not used for engage/disengage since openpilot keeps track of state using the buttons
-      ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0 and self.mainEnabled
+      ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0
       ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
       ret.cruiseState.standstill = False
       ret.cruiseState.nonAdaptive = False
@@ -207,17 +212,12 @@ class CarState(CarStateBase):
     self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
     self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
     if self.CP.openpilotLongitudinalControl:
-      if self.prev_main_buttons != 1:
-        if self.main_buttons[-1] == 1:
-          self.mainEnabled = not self.mainEnabled
-      ret.cruiseState.available = ret.cruiseState.available and self.mainEnabled
+      ret.cruiseState.available = self.get_main_enabled(ret)
     self.prev_mads_enabled = self.mads_enabled
     self.prev_lfa_enabled = self.lfa_enabled
     if self.CP.spFlags & HyundaiFlagsSP.SP_CAN_LFA_BTN:
       self.lfa_enabled = cp.vl["BCM_PO_11"]["LFA_Pressed"]
 
-    self.mads_enabled = False if not self.control_initialized else ret.cruiseState.available
-
     if self.CP.spFlags & HyundaiFlagsSP.SP_NAV_MSG or self.CP.spFlags & HyundaiFlagsSP.SP_LKAS12:
       self._update_traffic_signals(cp, cp_cam)
       ret.cruiseState.speedLimit = self._calculate_speed_limit() * speed_conv
@@ -282,6 +282,7 @@ class CarState(CarStateBase):
       ret.cruiseState.standstill = False
     else:
       cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp
+      ret.cruiseState.available = cp_cruise_info.vl["SCC_CONTROL"]["MainMode_ACC"] == 1
       ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2)
       ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1
       ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
@@ -298,6 +299,8 @@ class CarState(CarStateBase):
     self.prev_main_buttons = self.main_buttons[-1]
     self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
     self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
+    if self.CP.openpilotLongitudinalControl:
+      ret.cruiseState.available = self.get_main_enabled(ret)
     self.prev_mads_enabled = self.mads_enabled
     self.prev_lfa_enabled = self.lfa_enabled
     self.lfa_enabled = cp.vl[self.cruise_btns_msg_canfd]["LFA_BTN"]
diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
index 8225166bfa..12b84ad0f6 100644
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -121,7 +121,7 @@ def create_lfahda_cluster(packer, CAN, enabled, lat_active, lateral_paused, blin
   return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
 
 
-def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control):
+def create_acc_control(packer, CAN, CS, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control):
   jerk = 5
   jn = jerk / 50
   if not enabled or gas_override:
@@ -132,7 +132,7 @@ def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_ov
 
   values = {
     "ACCMode": 0 if not enabled else (2 if gas_override else 1),
-    "MainMode_ACC": 1,
+    "MainMode_ACC": 1 if CS.mainEnabled else 0,
     "StopReq": 1 if stopping else 0,
     "aReqValue": a_val,
     "aReqRaw": a_raw,
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 72a12b0ba8..c2140d2925 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -203,28 +203,32 @@ class CarInterface(CarInterfaceBase):
 
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
-    self.sp_update_params()
 
-    self.CS.button_events.extend(create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT))
-    self.CS.button_events.extend(create_button_events(self.CS.lfa_enabled, self.CS.prev_lfa_enabled, {1: ButtonType.altButton1}))
-    self.CS.button_events.extend(create_button_events(self.CS.main_buttons[-1], self.CS.prev_main_buttons, {1: ButtonType.altButton3}))
+    self.CS.button_events = [
+      *create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT),
+      *create_button_events(self.CS.lfa_enabled, self.CS.prev_lfa_enabled, {1: ButtonType.altButton1}),
+      *create_button_events(self.CS.main_buttons[-1], self.CS.prev_main_buttons, {1: ButtonType.altButton3}),
+    ]
+
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
     self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
                                                             self.CS.button_events, c.vCruise)
 
-    self.CS.mads_enabled = False if not self.mads_main_toggle else self.CS.mads_enabled
-
     if ret.cruiseState.available:
       if not self.CP.pcmCruiseSpeed:
         if any(b.type in (ButtonType.altButton3, ButtonType.cancel) and not b.pressed for b in self.CS.button_events):
           self.CS.accEnabled = True
-      if self.enable_mads:
-        if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
-          self.CS.madsEnabled = True
-        if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
-          self.CS.madsEnabled = not self.CS.madsEnabled
-        self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
-    else:
+
+    if self.enable_mads:
+      if not self.CS.prev_mads_enabled and self.CS.mads_enabled and \
+        any(b.type == ButtonType.altButton3 for b in self.CS.button_events):
+        self.CS.madsEnabled = True
+      if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
+        self.CS.madsEnabled = not self.CS.madsEnabled
+      self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
+
+    if not ret.cruiseState.available and self.CS.out.cruiseState.available:
       self.CS.madsEnabled = False
 
     if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed:
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index b8ca13ec86..904fe4f45b 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -7,6 +7,7 @@ import tomllib
 from abc import abstractmethod, ABC
 from difflib import SequenceMatcher
 from enum import StrEnum
+from types import SimpleNamespace
 from typing import Any, NamedTuple
 from collections.abc import Callable
 from functools import cache
@@ -19,6 +20,7 @@ from openpilot.common.numpy_fast import clip
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG, ButtonEvents
+from openpilot.selfdrive.car.param_manager import ParamManager
 from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.desire_helper import get_min_lateral_speed
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, V_CRUISE_UNSET, get_friction
@@ -238,19 +240,10 @@ class CarInterfaceBase(ABC):
     self.mads_ndlob = self.enable_mads and not self.mads_disengage_lateral_on_brake
     self.gear_warning = 0
     self.cruise_cancelled_btn = True
-    self.acc_mads_combo = self.param_s.get_bool("AccMadsCombo")
-    self.is_metric = self.param_s.get_bool("IsMetric")
-    self.below_speed_pause = self.param_s.get_bool("BelowSpeedPause")
-    self.pause_lateral_speed = int(self.param_s.get("PauseLateralSpeed", encoding="utf8"))
     self.prev_acc_mads_combo = False
     self.mads_event_lock = True
     self.gap_button_counter = 0
     self.experimental_mode_hold = False
-    self.experimental_mode = self.param_s.get_bool("ExperimentalMode")
-    self._frame = 0
-    self.reverse_dm_cam = self.param_s.get_bool("ReverseDmCam")
-    self.mads_main_toggle = self.param_s.get_bool("MadsCruiseMain")
-    self.lkas_toggle = self.param_s.get_bool("LkasToggle")
     self.last_mads_init = 0.
     self.madsEnabledInit = False
     self.madsEnabledInitPrev = False
@@ -421,13 +414,14 @@ class CarInterfaceBase(ABC):
   def _update(self, c: car.CarControl) -> car.CarState:
     pass
 
-  def update(self, c: car.CarControl, can_strings: list[bytes]) -> car.CarState:
+  def update(self, c: car.CarControl, can_strings: list[bytes], params_list: SimpleNamespace) -> car.CarState:
     # parse can
     for cp in self.can_parsers:
       if cp is not None:
         cp.update_strings(can_strings)
 
     self.CS.button_events = []
+    self.CS.params_list = params_list
 
     # get CarState
     ret = self._update(c)
@@ -472,11 +466,11 @@ class CarInterfaceBase(ABC):
       else:
         events.add(EventName.wrongGear)
     if cs_out.gearShifter == GearShifter.reverse:
-      if not self.reverse_dm_cam and cs_out.vEgo < 5:
+      if not self.CS.params_list.reverse_dm_cam and cs_out.vEgo < 5:
         events.add(EventName.spReverseGear)
       elif cs_out.vEgo >= 5:
         events.add(EventName.reverseGear)
-    if not cs_out.cruiseState.available:
+    if not cs_out.cruiseState.available and cs_out.cruiseState.enabled:
       events.add(EventName.wrongCarMode)
     if cs_out.espDisabled:
       events.add(EventName.espDisabled)
@@ -554,7 +548,7 @@ class CarInterfaceBase(ABC):
     return v_cruise != V_CRUISE_UNSET
 
   def get_acc_mads(self, cruiseState_enabled, acc_enabled, mads_enabled):
-    if self.acc_mads_combo:
+    if self.CS.params_list.acc_mads_combo:
       if not self.prev_acc_mads_combo and (cruiseState_enabled or acc_enabled):
         mads_enabled = True
       self.prev_acc_mads_combo = (cruiseState_enabled or acc_enabled)
@@ -594,7 +588,7 @@ class CarInterfaceBase(ABC):
   def get_sp_cruise_main_state(self, cs_out, CS):
     if not CS.control_initialized:
       mads_enabled = False
-    elif not self.mads_main_toggle:
+    elif not self.CS.params_list.mads_main_toggle:
       mads_enabled = False
     else:
       mads_enabled = cs_out.cruiseState.available
@@ -606,7 +600,7 @@ class CarInterfaceBase(ABC):
       self.madsEnabledInit = False
       self.madsEnabledInitPrev = False
       return False
-    if not self.mads_main_toggle or self.prev_acc_mads_combo:
+    if not self.CS.params_list.mads_main_toggle or self.prev_acc_mads_combo:
       return CS.madsEnabled
     if not self.madsEnabledInit and CS.madsEnabled:
       self.madsEnabledInit = True
@@ -621,9 +615,8 @@ class CarInterfaceBase(ABC):
     else:
       return CS.madsEnabled
 
-  def get_sp_common_state(self, cs_out, CS, min_enable_speed_pcm=False, gear_allowed=True, gap_button=False):
-    cs_out.cruiseState.enabled = CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed or min_enable_speed_pcm else \
-                                 cs_out.cruiseState.enabled
+  def get_sp_common_state(self, cs_out, CS, gear_allowed=True, gap_button=False):
+    cs_out.cruiseState.enabled = CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed else cs_out.cruiseState.enabled
 
     if not self.enable_mads:
       if cs_out.cruiseState.enabled and not CS.out.cruiseState.enabled:
@@ -634,9 +627,9 @@ class CarInterfaceBase(ABC):
     if self.CP.openpilotLongitudinalControl:
       self.toggle_exp_mode(gap_button)
 
-    lane_change_speed_min = get_min_lateral_speed(self.pause_lateral_speed, self.is_metric)
+    lane_change_speed_min = get_min_lateral_speed(self.CS.params_list.pause_lateral_speed, self.CS.params_list.is_metric)
 
-    cs_out.belowLaneChangeSpeed = cs_out.vEgo < lane_change_speed_min and self.below_speed_pause
+    cs_out.belowLaneChangeSpeed = cs_out.vEgo < lane_change_speed_min and self.CS.params_list.below_speed_pause
 
     if cs_out.gearShifter in [GearShifter.park, GearShifter.reverse] or cs_out.doorOpen or \
       (cs_out.seatbeltUnlatched and cs_out.gearShifter != GearShifter.park):
@@ -669,7 +662,7 @@ class CarInterfaceBase(ABC):
         if self.gap_button_counter > 50:
           self.gap_button_counter = 0
           self.experimental_mode_hold = True
-          self.param_s.put_bool_nonblocking("ExperimentalMode", not self.experimental_mode)
+          self.param_s.put_bool_nonblocking("ExperimentalMode", not self.CS.params_list.experimental_mode)
     else:
       self.gap_button_counter = 0
       self.experimental_mode_hold = False
@@ -735,17 +728,6 @@ class CarInterfaceBase(ABC):
 
     return events, cs_out
 
-  def sp_update_params(self):
-    self.experimental_mode = self.param_s.get_bool("ExperimentalMode")
-    self._frame += 1
-    if self._frame % 100 == 0:
-      self.is_metric = self.param_s.get_bool("IsMetric")
-      self.below_speed_pause = self.param_s.get_bool("BelowSpeedPause")
-      self.pause_lateral_speed = int(self.param_s.get("PauseLateralSpeed", encoding="utf8"))
-    if self._frame % 300 == 0:
-      self._frame = 0
-      self.reverse_dm_cam = self.param_s.get_bool("ReverseDmCam")
-
 class RadarInterfaceBase(ABC):
   def __init__(self, CP):
     self.rcp = None
@@ -776,7 +758,6 @@ class CarStateBase(ABC):
     self.cluster_speed_hyst_gap = 0.0
     self.cluster_min_speed = 0.0  # min speed before dropping to 0
 
-    self.param_s = Params()
     self.accEnabled = False
     self.madsEnabled = False
     self.disengageByBrake = False
@@ -785,6 +766,7 @@ class CarStateBase(ABC):
     self.control_initialized = False
 
     self.button_events: list[capnp.lib.capnp._DynamicStructBuilder] = []
+    self.params_list: SimpleNamespace = ParamManager().get_params()
 
     Q = [[0.0, 0.0], [0.0, 100.0]]
     R = 0.3
diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index 368198e1c8..705dedc328 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -24,9 +24,6 @@ class CarController(CarControllerBase):
 
     self.sm = messaging.SubMaster(['longitudinalPlanSP'])
     self.param_s = Params()
-    self.is_metric = self.param_s.get_bool("IsMetric")
-    self.speed_limit_control_enabled = False
-    self.last_speed_limit_sign_tap = False
     self.last_speed_limit_sign_tap_prev = False
     self.speed_limit = 0.
     self.speed_limit_offset = 0
@@ -65,23 +62,19 @@ class CarController(CarControllerBase):
         self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed
         self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed
 
-      if self.frame % 200 == 0:
-        self.speed_limit_control_enabled = self.param_s.get_bool("EnableSlc")
-        self.is_metric = self.param_s.get_bool("IsMetric")
-      self.last_speed_limit_sign_tap = self.param_s.get_bool("LastSpeedLimitSignTap")
-      self.v_cruise_min = MAZDA_V_CRUISE_MIN[self.is_metric] * (CV.KPH_TO_MPH if not self.is_metric else 1)
+      self.v_cruise_min = MAZDA_V_CRUISE_MIN[CS.params_list.is_metric] * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1)
 
     can_sends = []
 
     if not self.CP.pcmCruiseSpeed:
-      if not self.last_speed_limit_sign_tap_prev and self.last_speed_limit_sign_tap:
+      if not self.last_speed_limit_sign_tap_prev and CS.params_list.last_speed_limit_sign_tap:
         self.sl_force_active_timer = self.frame
         self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False)
-      self.last_speed_limit_sign_tap_prev = self.last_speed_limit_sign_tap
+      self.last_speed_limit_sign_tap_prev = CS.params_list.last_speed_limit_sign_tap
 
-      sl_force_active = self.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
-      sl_inactive = not sl_force_active and (not self.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
-      sl_temp_inactive = not sl_force_active and (self.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
+      sl_force_active = CS.params_list.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
+      sl_inactive = not sl_force_active and (not CS.params_list.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
+      sl_temp_inactive = not sl_force_active and (CS.params_list.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
       slc_active = not sl_inactive and not sl_temp_inactive
 
       self.slc_active_stock = slc_active
@@ -229,8 +222,8 @@ class CarController(CarControllerBase):
     return min(target_speed_kph, curve_speed)
 
   def get_button_control(self, CS, final_speed, v_cruise_kph_prev):
-    self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not self.is_metric else 1))
-    self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not self.is_metric else CV.MS_TO_KPH))
+    self.init_speed = round(min(final_speed, v_cruise_kph_prev) * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1))
+    self.v_set_dis = round(CS.out.cruiseState.speed * (CV.MS_TO_MPH if not CS.params_list.is_metric else CV.MS_TO_KPH))
     cruise_button = self.get_button_type(self.button_type)
     return cruise_button
 
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index 2bd4f71c78..4c26a18a57 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -37,11 +37,13 @@ class CarInterface(CarInterfaceBase):
   # returns a car.CarState
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
-    self.sp_update_params()
 
     # TODO: add button types for inc and dec
-    self.CS.button_events.extend(create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}))
-    self.CS.button_events.extend(create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}))
+    self.CS.button_events = [
+      *self.CS.button_events,
+      *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
+      *create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
+    ]
 
     self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index 4a9e5a9125..661ac668a5 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -32,7 +32,6 @@ class CarInterface(CarInterfaceBase):
   # returns a car.CarState
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
-    self.sp_update_params()
 
     self.CS.button_events = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
diff --git a/selfdrive/car/param_manager.py b/selfdrive/car/param_manager.py
new file mode 100644
index 0000000000..c7df87b9b7
--- /dev/null
+++ b/selfdrive/car/param_manager.py
@@ -0,0 +1,50 @@
+from types import SimpleNamespace
+
+from openpilot.common.params import Params
+
+
+class ParamManager:
+  def __init__(self):
+    self._params_list: SimpleNamespace = self._create_namespace({
+      "acc_mads_combo": False,
+      "below_speed_pause": False,
+      "experimental_mode": False,
+      "is_metric": False,
+      "last_speed_limit_sign_tap": False,
+      "mads_main_toggle": False,
+      "pause_lateral_speed": 0,
+      "reverse_acc_change": False,
+      "reverse_dm_cam": False,
+      "speed_limit_control_enabled": False,
+      "subaru_manual_parking_brake": False,
+      "toyota_auto_lock_by_speed": False,
+      "toyota_auto_unlock_by_shifter": False,
+      "toyota_lkas_toggle": False,
+      "toyota_sng_hack": False,
+    })
+
+  @staticmethod
+  def _create_namespace(data: dict) -> SimpleNamespace:
+    return SimpleNamespace(**data)
+
+  def get_params(self) -> SimpleNamespace:
+    return self._params_list
+
+  def update(self, params: Params) -> None:
+    self._params_list = self._create_namespace({
+      "acc_mads_combo": params.get_bool("AccMadsCombo"),
+      "below_speed_pause": params.get_bool("BelowSpeedPause"),
+      "experimental_mode": params.get_bool("ExperimentalMode"),
+      "is_metric": params.get_bool("IsMetric"),
+      "last_speed_limit_sign_tap": params.get_bool("LastSpeedLimitSignTap"),
+      "mads_main_toggle": params.get_bool("MadsCruiseMain"),
+      "pause_lateral_speed": int(params.get("PauseLateralSpeed", encoding="utf8")),
+      "reverse_acc_change": params.get_bool("ReverseAccChange"),
+      "reverse_dm_cam": params.get_bool("ReverseDmCam"),
+      "speed_limit_control_enabled": params.get_bool("EnableSlc"),
+      "subaru_manual_parking_brake": params.get_bool("SubaruManualParkingBrakeSng"),
+      "toyota_auto_lock_by_speed": params.get_bool("ToyotaAutoLockBySpeed"),
+      "toyota_auto_unlock_by_shifter": params.get_bool("ToyotaAutoUnlockByShifter"),
+      "toyota_lkas_toggle": params.get_bool("LkasToggle"),
+      "toyota_sng_hack": params.get_bool("ToyotaSnG"),
+    })
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index 198b17ace6..7574d33af8 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -1,6 +1,5 @@
 from cereal import car
 from openpilot.common.numpy_fast import clip, interp
-from openpilot.common.params import Params
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
 from openpilot.selfdrive.car.interfaces import CarControllerBase
@@ -25,12 +24,9 @@ class CarController(CarControllerBase):
     self.cruise_button_prev = 0
     self.steer_rate_counter = 0
 
-    self.param_s = Params()
-
     self.subaru_sng = False
     if CP.spFlags & SubaruFlagsSP.SP_SUBARU_SNG:
       self.subaru_sng = True
-      self.manual_parking_brake = self.param_s.get_bool("SubaruManualParkingBrakeSng")
       self.prev_close_distance = 0
       self.prev_standstill = False
       self.standstill_start = 0
@@ -47,9 +43,6 @@ class CarController(CarControllerBase):
     hud_control = CC.hudControl
     pcm_cancel_cmd = CC.cruiseControl.cancel
 
-    if self.frame % 250 == 0 and self.subaru_sng:
-      self.manual_parking_brake = self.param_s.get_bool("SubaruManualParkingBrakeSng")
-
     can_sends = []
 
     # *** steering ***
@@ -191,7 +184,7 @@ class CarController(CarControllerBase):
         and CS.close_distance > self.prev_close_distance):    # distance with lead car is increasing
         self.sng_acc_resume = True
     elif not (self.CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID)):
-      if self.manual_parking_brake:
+      if CS.params_list.subaru_manual_parking_brake and self.subaru_sng:
         # Send brake message with non-zero speed in standstill to avoid non-EPB ACC disengage
         if (CC.enabled                                        # ACC active
           and CS.car_follow == 1                              # lead car
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 7eefeb66eb..185ee8e54d 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -116,7 +116,6 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
 
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
-    self.sp_update_params()
 
     self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
index 3300e4b7f9..1fd33b4a97 100755
--- a/selfdrive/car/tesla/interface.py
+++ b/selfdrive/car/tesla/interface.py
@@ -38,7 +38,6 @@ class CarInterface(CarInterfaceBase):
 
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_adas)
-    self.sp_update_params()
 
     # TODO: Implement detection of half vs full press of stalk for MADS control
     # Until then, we're disabling main state control to prevent it from trying to self-engage without user input
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 89f5992961..b8185ee6ff 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -1,7 +1,6 @@
 from cereal import car
 from common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip, interp
-from openpilot.common.params import Params
 from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, \
                           create_gas_interceptor_command, make_can_msg
 from openpilot.selfdrive.car.interfaces import CarControllerBase
@@ -52,27 +51,16 @@ class CarController(CarControllerBase):
     self.gas = 0
     self.accel = 0
 
-    self.param_s = Params()
-    self._is_metric = self.param_s.get_bool("IsMetric")
-    self._reverse_acc_change = self.param_s.get_bool("ReverseAccChange")
-    self._sng_hack = self.param_s.get_bool("ToyotaSnG")
-
     self.left_blindspot_debug_enabled = False
     self.right_blindspot_debug_enabled = False
     self.last_blindspot_frame = 0
 
-    self._auto_lock_by_speed = self.param_s.get_bool("ToyotaAutoLockBySpeed")
-    self._auto_unlock_by_shifter = self.param_s.get_bool("ToyotaAutoUnlockByShifter")
-    self._auto_lock_speed = 10 * (CV.KPH_TO_MS if self._is_metric else CV.MPH_TO_MS)
+    self._auto_lock_speed = 0.0
     self._auto_lock_once = False
     self._gear_prev = GearShifter.park
 
   def update(self, CC, CS, now_nanos):
-    if self.frame % 200 == 0:
-      self._is_metric = self.param_s.get_bool("IsMetric")
-      self._auto_lock_by_speed = self.param_s.get_bool("ToyotaAutoLockBySpeed")
-      self._auto_unlock_by_shifter = self.param_s.get_bool("ToyotaAutoUnlockByShifter")
-      self._auto_lock_speed = 10 * (CV.KPH_TO_MS if self._is_metric else CV.MPH_TO_MS)
+    self._auto_lock_speed = 10 * (CV.KPH_TO_MS if CS.params_list.is_metric else CV.MPH_TO_MS)
 
     actuators = CC.actuators
     hud_control = CC.hudControl
@@ -88,11 +76,11 @@ class CarController(CarControllerBase):
     gear = CS.out.gearShifter
     if not CS.out.doorOpen:
       if gear == GearShifter.park and self._gear_prev != gear:
-        if self._auto_unlock_by_shifter:
+        if CS.params_list.toyota_auto_unlock_by_shifter:
           can_sends.append(make_can_msg(0x750, UNLOCK_CMD, 0))
         self._auto_lock_once = False
       elif gear == GearShifter.drive and not self._auto_lock_once and CS.out.vEgo >= self._auto_lock_speed:
-        if self._auto_lock_by_speed:
+        if CS.params_list.toyota_auto_lock_by_speed:
           can_sends.append(make_can_msg(0x750, LOCK_CMD, 0))
         self._auto_lock_once = True
     self._gear_prev = gear
@@ -173,7 +161,7 @@ class CarController(CarControllerBase):
 
     # on entering standstill, send standstill request
     if CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptorDEPRECATED) and \
-      not self._sng_hack:
+      not CS.params_list.toyota_sng_hack:
       self.standstill_req = True
     if CS.pcm_acc_status != 8:
       # pcm entered standstill or it's disabled
@@ -188,7 +176,7 @@ class CarController(CarControllerBase):
     # we can spam can to cancel the system even if we are using lat only control
     if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
       lead = hud_control.leadVisible or CS.out.vEgo < 12.  # at low speed we always assume the lead is present so ACC can be engaged
-      reverse_acc = 2 if self._reverse_acc_change else 1
+      reverse_acc = 2 if CS.params_list.reverse_acc_change else 1
 
       # Press distance button until we are at the correct bar length. Only change while enabled to avoid skipping startup popup
       if self.frame % 6 == 0 and self.CP.openpilotLongitudinalControl:
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 1b0528d12c..527964cead 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -207,7 +207,6 @@ class CarInterface(CarInterfaceBase):
   # returns a car.CarState
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
-    self.sp_update_params()
 
     distance_button = 0
 
@@ -221,7 +220,7 @@ class CarInterface(CarInterfaceBase):
       if self.enable_mads:
         if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
           self.CS.madsEnabled = True
-        if self.lkas_toggle:
+        if self.CS.params_list.toyota_lkas_toggle:
           if self.CS.lta_status_active:
             if (self.CS.prev_lkas_enabled == 16 and self.CS.lkas_enabled == 0) or \
               (self.CS.prev_lkas_enabled == 0 and self.CS.lkas_enabled == 16):
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index d690b7963d..4589805b5c 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -34,9 +34,6 @@ class CarController(CarControllerBase):
 
     self.sm = messaging.SubMaster(['longitudinalPlanSP'])
     self.param_s = Params()
-    self.is_metric = self.param_s.get_bool("IsMetric")
-    self.speed_limit_control_enabled = False
-    self.last_speed_limit_sign_tap = False
     self.last_speed_limit_sign_tap_prev = False
     self.speed_limit = 0.
     self.speed_limit_offset = 0
@@ -79,24 +76,20 @@ class CarController(CarControllerBase):
         self.v_tsc = self.sm['longitudinalPlanSP'].visionTurnSpeed
         self.m_tsc = self.sm['longitudinalPlanSP'].turnSpeed
 
-      if self.frame % 200 == 0:
-        self.speed_limit_control_enabled = self.param_s.get_bool("EnableSlc")
-        self.is_metric = self.param_s.get_bool("IsMetric")
-      self.last_speed_limit_sign_tap = self.param_s.get_bool("LastSpeedLimitSignTap")
-      self.v_cruise_min = VOLKSWAGEN_V_CRUISE_MIN[self.is_metric] * (CV.KPH_TO_MPH if not self.is_metric else 1)
+      self.v_cruise_min = VOLKSWAGEN_V_CRUISE_MIN[CS.params_list.is_metric] * (CV.KPH_TO_MPH if not CS.params_list.is_metric else 1)
     actuators = CC.actuators
     hud_control = CC.hudControl
     can_sends = []
 
     if not self.CP.pcmCruiseSpeed:
-      if not self.last_speed_limit_sign_tap_prev and self.last_speed_limit_sign_tap:
+      if not self.last_speed_limit_sign_tap_prev and CS.params_list.last_speed_limit_sign_tap:
         self.sl_force_active_timer = self.frame
         self.param_s.put_bool_nonblocking("LastSpeedLimitSignTap", False)
-      self.last_speed_limit_sign_tap_prev = self.last_speed_limit_sign_tap
+      self.last_speed_limit_sign_tap_prev = CS.params_list.last_speed_limit_sign_tap
 
-      sl_force_active = self.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
-      sl_inactive = not sl_force_active and (not self.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
-      sl_temp_inactive = not sl_force_active and (self.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
+      sl_force_active = CS.params_list.speed_limit_control_enabled and (self.frame < (self.sl_force_active_timer * DT_CTRL + 2.0))
+      sl_inactive = not sl_force_active and (not CS.params_list.speed_limit_control_enabled or (True if self.slc_state == 0 else False))
+      sl_temp_inactive = not sl_force_active and (CS.params_list.speed_limit_control_enabled and (True if self.slc_state == 1 else False))
       slc_active = not sl_inactive and not sl_temp_inactive
 
       self.slc_active_stock = slc_active
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index d965cf2e8b..0d57539a1b 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -113,7 +113,6 @@ class CarInterface(CarInterfaceBase):
   # returns a car.CarState
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
-    self.sp_update_params()
 
     self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 2af32f8a0c..a8dcc3b5e4 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -739,7 +739,9 @@ class Controls:
       CC.angularVelocity = angular_rate_value
 
     CC.cruiseControl.override = self.enabled_long and not CC.longActive and self.CP.openpilotLongitudinalControl
-    CC.cruiseControl.cancel = CS.cruiseState.enabled and (not self.enabled_long or (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)))
+    CC.cruiseControl.cancel = CS.cruiseState.enabled and \
+      (not self.enabled_long or (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or
+       (any(b.type == ButtonType.cancel for b in CS.buttonEvents) and self.CP.carName == "honda"))
     if self.joystick_mode and self.sm.recv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
       CC.cruiseControl.cancel = True
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc
index 610ee160bc..8dc11cbeac 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot/mads_settings.cc
@@ -101,7 +101,7 @@ void MadsSettings::updateToggles() {
   const bool enable_mads = params.getBool("EnableMads");
   const bool enabled = is_offroad && enable_mads;
 
-  toggles["AccMadsCombo"]->setEnabled(enabled);
-  toggles["MadsCruiseMain"]->setEnabled(enabled);
+  toggles["AccMadsCombo"]->setEnabled(enable_mads);
+  toggles["MadsCruiseMain"]->setEnabled(enable_mads);
   dlob_settings->setEnabled(enabled);
 }
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 0f34a5e57f..8169617302 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -111,7 +111,7 @@ def manager_init() -> None:
     ("OsmDownloadedDate", "0"),
     ("OSMDownloadProgress", "{}"),
     ("SidebarTemperatureOptions", "0"),
-    ("SunnylinkEnabled", "0" if (build_metadata.release_channel or build_metadata.release_sp_channel) else "1"),
+    ("SunnylinkEnabled", "1"),
     ("SunnylinkDongleId", f"{UNREGISTERED_SUNNYLINK_DONGLE_ID}"),
     ("CustomDrivingModel", "0"),
     ("DrivingModelGeneration", "4"),