diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index b72615c712..d4ca3a9ec7 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -258,15 +258,16 @@ class CarState(CarStateBase):
       ("SAS11", 100),
     ]
 
-    if not CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR and not (CP.flags & HyundaiFlags.CAN_CANFD.value):
-      messages += [
-        ("SCC11", 50),
-        ("SCC12", 50),
-      ]
-      if CP.flags & HyundaiFlags.USE_FCA.value:
-        messages.append(("FCA11", 50))
-    elif CP.flags & HyundaiFlags.CAN_CANFD.value:
-      messages.append(("SCC12", 50))
+    if not CP.openpilotLongitudinalControl:
+      if CP.flags & HyundaiFlags.CAN_CANFD.value:
+        messages.append(("SCC12", 50))
+      elif CP.carFingerprint not in CAMERA_SCC_CAR:
+        messages += [
+          ("SCC11", 50),
+          ("SCC12", 50),
+        ]
+        if CP.flags & HyundaiFlags.USE_FCA.value:
+          messages.append(("FCA11", 50))
 
     if CP.enableBsm:
       freq_lca11 = 20 if CP.flags & HyundaiFlags.CAN_CANFD.value else 50
@@ -294,7 +295,7 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_cam_can_parser(CP):
-    if CP.carFingerprint in CANFD_CAR:
+    if CP.carFingerprint in (CANFD_CAR - CAN_CANFD_CAR):
       return CarState.get_cam_can_parser_canfd(CP)
 
     messages = []
diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py
index 6e3afe9ab8..485465df2a 100644
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@@ -1,5 +1,5 @@
 import crcmod
-from selfdrive.car.hyundai.hyundaicanfd import CanBus
+from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, CHECKSUM, CAMERA_SCC_CAR
 
 hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)