diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index fab0e9967b..c964bcf750 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -112,7 +112,7 @@ class CarController(CarControllerBase):
 
       # steering control
       can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer,
-                                                             self.frame, torque_fault, CS.lkas11,
+                                                             self.frame, torque_fault,
                                                              hud_control.leftLaneVisible, hud_control.rightLaneVisible,
                                                              left_lane_warning, right_lane_warning))
 
diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
index 1ea9e64f6f..185432827b 100644
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -37,7 +37,7 @@ class CanBus(CanBusBase):
 
 
 def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer,
-                             frame, torque_fault, lkas11,
+                             frame, torque_fault,
                              left_lane, right_lane,
                              left_lane_depart, right_lane_depart):
 
@@ -60,7 +60,7 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer,
     if CP.openpilotLongitudinalControl:
       if CP.flags & HyundaiFlags.CAN_CANFD:
         ret.append(create_lkas11_can_canfd(packer, CAN, frame, apply_steer, lat_active,
-                                           torque_fault, lkas11, enabled,
+                                           torque_fault, enabled,
                                            left_lane, right_lane,
                                            left_lane_depart, right_lane_depart))
       else:
@@ -84,37 +84,20 @@ def create_suppress_lfa(packer, CAN, hda2_lfa_block_msg, hda2_alt_steering):
   return packer.make_can_msg(suppress_msg, CAN.ACAN, values)
 
 def create_lkas11_can_canfd(packer, CAN, frame, apply_steer, steer_req,
-                            torque_fault, lkas11, enabled,
+                            torque_fault, enabled,
                             left_lane, right_lane,
                             left_lane_depart, right_lane_depart):
-  values = {s: lkas11[s] for s in [
-    "CF_Lkas_LdwsActivemode",
-    #"CF_Lkas_LdwsSysState",
-    #"CF_Lkas_SysWarning",
-    "CF_Lkas_LdwsLHWarning",
-    "CF_Lkas_LdwsRHWarning",
-    #"CF_Lkas_HbaLamp",
-    #"CF_Lkas_FcwBasReq",
-    #"CF_Lkas_HbaSysState",
-    #"CF_Lkas_FcwOpt",
-    #"CF_Lkas_HbaOpt",
-    #"CF_Lkas_FcwSysState",
-    #"CF_Lkas_FcwCollisionWarning",
-    #"CF_Lkas_FusionState",
-    "CF_Lkas_FcwOpt_USM",
-    #"CF_Lkas_LdwsOpt_USM",
-  ]}
-  #values["CF_Lkas_LdwsSysState"] = sys_state
-  #values["CF_Lkas_SysWarning"] = 3 if sys_warning else 0
-  values["CF_Lkas_LdwsLHWarning"] = left_lane_depart
-  values["CF_Lkas_LdwsRHWarning"] = right_lane_depart
-  values["CR_Lkas_StrToqReq"] = apply_steer
-  values["CF_Lkas_ActToi"] = steer_req
-  values["CF_Lkas_ToiFlt"] = torque_fault  # seems to allow actuation on CR_Lkas_StrToqReq
-  values["CF_Lkas_MsgCount"] = frame % 0x10
 
-  values["CF_Lkas_FcwOpt_USM"] = 2 if enabled else 1
-  values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
+  values = {
+    "CF_Lkas_LdwsLHWarning": left_lane_depart,
+    "CF_Lkas_LdwsRHWarning": right_lane_depart,
+    "CR_Lkas_StrToqReq": apply_steer,
+    "CF_Lkas_ActToi": steer_req,
+    "CF_Lkas_ToiFlt": torque_fault,  # seems to allow actuation on CR_Lkas_StrToqReq
+    "CF_Lkas_MsgCount": frame % 0x10,
+    "CF_Lkas_FcwOpt_USM": 2 if enabled else 1,
+    "CF_Lkas_LdwsActivemode": int(left_lane) + (int(right_lane) << 1),
+  }
 
   dat = packer.make_can_msg("LKAS11", CAN.ECAN, values)[2]