diff --git a/panda b/panda
index 1befaad8b..dd22fafc3 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 1befaad8b013209aff58145d006d8d047359797e
+Subproject commit dd22fafc3c9f36c9d96dffee5437fb9f56d7ff6d
diff --git a/release/files_common b/release/files_common
index a720feef8..80353ba34 100644
--- a/release/files_common
+++ b/release/files_common
@@ -98,6 +98,7 @@ selfdrive/car/car_helpers.py
 selfdrive/car/fingerprints.py
 selfdrive/car/interfaces.py
 selfdrive/car/vin.py
+selfdrive/car/disable_ecu.py
 selfdrive/car/fw_versions.py
 selfdrive/car/isotp_parallel_query.py
 selfdrive/car/tests/__init__.py
diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py
new file mode 100644
index 000000000..3a06cc06f
--- /dev/null
+++ b/selfdrive/car/disable_ecu.py
@@ -0,0 +1,34 @@
+from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
+from selfdrive.swaglog import cloudlog
+
+EXT_DIAG_REQUEST = b'\x10\x03'
+EXT_DIAG_RESPONSE = b'\x50\x03'
+
+COM_CONT_RESPONSE = b''
+
+def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False):
+  """Silence an ECU by disabling sending and receiving messages using UDS 0x28.
+  The ECU will stay silent as long as openpilot keeps sending Tester Present.
+
+  This is used to disable the radar in some cars. Openpilot will emulate the radar.
+  WARNING: THIS DISABLES AEB!"""
+  cloudlog.warning(f"ecu disable {hex(addr)} ...")
+
+  for i in range(retry):
+    try:
+      query = IsoTpParallelQuery(sendcan, logcan, bus, [addr], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
+
+      for _, _ in query.get_data(timeout).items():
+        cloudlog.warning("communication control disable tx/rx ...")
+
+        query = IsoTpParallelQuery(sendcan, logcan, bus, [addr], [com_cont_req], [COM_CONT_RESPONSE], debug=debug)
+        query.get_data(0)
+
+        cloudlog.warning("ecu disabled")
+        return True
+    except Exception:
+      cloudlog.exception("ecu disable exception")
+
+    print(f"ecu disable retry ({i+1}) ...")
+  cloudlog.warning("ecu disable failed")
+  return False
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index d30f5b54f..20a401c3b 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -1,7 +1,5 @@
-from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
 from selfdrive.car.honda.values import HONDA_BOSCH, CAR
 from selfdrive.config import Conversions as CV
-from selfdrive.swaglog import cloudlog
 
 # CAN bus layout with relay
 # 0 = ACC-CAN - radar side
@@ -9,13 +7,6 @@ from selfdrive.swaglog import cloudlog
 # 2 = ACC-CAN - camera side
 # 3 = F-CAN A - OBDII port
 
-RADAR_ADDR = 0x18DAB0F1
-EXT_DIAG_REQUEST = b'\x10\x03'
-EXT_DIAG_RESPONSE = b'\x50\x03'
-COM_CONT_REQUEST = b'\x28\x83\x03'
-COM_CONT_RESPONSE = b''
-
-
 def get_pt_bus(car_fingerprint):
   return 1 if car_fingerprint in HONDA_BOSCH else 0
 
@@ -27,30 +18,6 @@ def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False):
   # normally steering commands are sent to radar, which forwards them to powertrain bus
   return 0
 
-
-def disable_radar(logcan, sendcan, bus=1, timeout=0.1, debug=False):
-  """Silence the radar by disabling sending and receiving messages using UDS 0x28.
-  The radar will stay silent as long as openpilot keeps sending Tester Present.
-  Openpilot will emulate the radar. WARNING: THIS DISABLES AEB!"""
-  cloudlog.warning(f"radar disable {hex(RADAR_ADDR)} ...")
-
-  try:
-    query = IsoTpParallelQuery(sendcan, logcan, bus, [RADAR_ADDR], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
-
-    for _, _ in query.get_data(timeout).items():
-      cloudlog.warning("radar communication control disable tx/rx ...")
-
-      query = IsoTpParallelQuery(sendcan, logcan, bus, [RADAR_ADDR], [COM_CONT_REQUEST], [COM_CONT_RESPONSE], debug=debug)
-      query.get_data(0)
-
-      cloudlog.warning("radar disabled")
-      return
-
-  except Exception:
-    cloudlog.exception("radar disable exception")
-  cloudlog.warning("radar disable failed")
-
-
 def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, stock_brake):
   # TODO: do we loose pressure if we keep pump off for long?
   brakelights = apply_brake > 0
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 6bcd17f49..29f259f32 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -4,9 +4,9 @@ from panda import Panda
 from common.numpy_fast import interp
 from common.params import Params
 from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CAR, HONDA_BOSCH, HONDA_BOSCH_ALT_BRAKE_SIGNAL
-from selfdrive.car.honda.hondacan import disable_radar
 from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
+from selfdrive.car.disable_ecu import disable_ecu
 from selfdrive.config import Conversions as CV
 
 
@@ -300,7 +300,7 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def init(CP, logcan, sendcan):
     if CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl:
-      disable_radar(logcan, sendcan)
+      disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')
 
   # returns a car.CarState
   def update(self, c, can_strings):
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 026b2dada..bab5912b6 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -1,11 +1,14 @@
 from cereal import car
 from common.realtime import DT_CTRL
+from common.numpy_fast import clip, interp
+from selfdrive.config import Conversions as CV
 from selfdrive.car import apply_std_steer_torque_limits
-from selfdrive.car.hyundai.hyundaican import create_lkas11, create_clu11, create_lfahda_mfc
+from selfdrive.car.hyundai.hyundaican import create_lkas11, create_clu11, create_lfahda_mfc, create_acc_commands, create_acc_opt, create_frt_radar_opt
 from selfdrive.car.hyundai.values import Buttons, CarControllerParams, CAR
 from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
+LongCtrlState = car.CarControl.Actuators.LongControlState
 
 
 def process_hud_alert(enabled, fingerprint, visual_alert, left_lane,
@@ -42,7 +45,7 @@ class CarController():
     self.steer_rate_limited = False
     self.last_resume_frame = 0
 
-  def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert,
+  def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, hud_speed,
              left_lane, right_lane, left_lane_depart, right_lane_depart):
     # Steering Torque
     new_steer = int(round(actuators.steer * self.p.STEER_MAX))
@@ -62,19 +65,41 @@ class CarController():
                         left_lane, right_lane, left_lane_depart, right_lane_depart)
 
     can_sends = []
+
+    # tester present - w/ no response (keeps radar disabled)
+    if CS.CP.openpilotLongitudinalControl:
+      if (frame % 100) == 0:
+        can_sends.append([0x7D0, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 0])
+
     can_sends.append(create_lkas11(self.packer, frame, self.car_fingerprint, apply_steer, lkas_active,
                                    CS.lkas11, sys_warning, sys_state, enabled,
                                    left_lane, right_lane,
                                    left_lane_warning, right_lane_warning))
 
-    if pcm_cancel_cmd:
-      can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.CANCEL))
-    elif CS.out.cruiseState.standstill:
-      # send resume at a max freq of 10Hz
-      if (frame - self.last_resume_frame) * DT_CTRL > 0.1:
-        # send 25 messages at a time to increases the likelihood of resume being accepted
-        can_sends.extend([create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL)] * 25)
-        self.last_resume_frame = frame
+    if not CS.CP.openpilotLongitudinalControl:
+      if pcm_cancel_cmd:
+        can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.CANCEL))
+      elif CS.out.cruiseState.standstill:
+        # send resume at a max freq of 10Hz
+        if (frame - self.last_resume_frame) * DT_CTRL > 0.1:
+          # send 25 messages at a time to increases the likelihood of resume being accepted
+          can_sends.extend([create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL)] * 25)
+          self.last_resume_frame = frame
+
+    if frame % 2 == 0 and CS.CP.openpilotLongitudinalControl:
+      lead_visible = False
+      accel = actuators.accel if enabled else 0
+
+      jerk = clip(2.0 * (accel - CS.out.aEgo), -12.7, 12.7)
+
+      if accel < 0:
+        accel = interp(accel - CS.out.aEgo, [-1.0, -0.5], [2 * accel, accel])
+
+      accel = clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
+
+      stopping = (actuators.longControlState == LongCtrlState.stopping)
+      set_speed_in_units = hud_speed * (CV.MS_TO_MPH if CS.clu11["CF_Clu_SPEED_UNIT"] == 1 else CV.MS_TO_KPH)
+      can_sends.extend(create_acc_commands(self.packer, enabled, accel, jerk, int(frame / 2), lead_visible, set_speed_in_units, stopping))
 
     # 20 Hz LFA MFA message
     if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
@@ -82,4 +107,12 @@ class CarController():
                                                    CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV]:
       can_sends.append(create_lfahda_mfc(self.packer, enabled))
 
+    # 5 Hz ACC options
+    if frame % 20 == 0 and CS.CP.openpilotLongitudinalControl:
+      can_sends.extend(create_acc_opt(self.packer))
+
+    # 2 Hz front radar options
+    if frame % 50 == 0 and CS.CP.openpilotLongitudinalControl:
+      can_sends.append(create_frt_radar_opt(self.packer))
+
     return can_sends
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 2cb176aa1..7cc62b3cb 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -49,6 +49,7 @@ 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
       ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
       ret.cruiseState.standstill = False
@@ -57,11 +58,11 @@ class CarState(CarStateBase):
       ret.cruiseState.enabled = cp.vl["SCC12"]["ACCMode"] != 0
       ret.cruiseState.standstill = cp.vl["SCC11"]["SCCInfoDisplay"] == 4.
 
-    if ret.cruiseState.enabled:
-      speed_conv = CV.MPH_TO_MS if cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] else CV.KPH_TO_MS
-      ret.cruiseState.speed = cp.vl["SCC11"]["VSetDis"] * speed_conv
-    else:
-      ret.cruiseState.speed = 0
+      if ret.cruiseState.enabled:
+        speed_conv = CV.MPH_TO_MS if cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] else CV.KPH_TO_MS
+        ret.cruiseState.speed = cp.vl["SCC11"]["VSetDis"] * speed_conv
+      else:
+        ret.cruiseState.speed = 0
 
     # TODO: Find brake pressure
     ret.brake = 0
@@ -90,12 +91,13 @@ class CarState(CarStateBase):
 
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
 
-    if self.CP.carFingerprint in FEATURES["use_fca"]:
-      ret.stockAeb = cp.vl["FCA11"]["FCA_CmdAct"] != 0
-      ret.stockFcw = cp.vl["FCA11"]["CF_VSM_Warn"] == 2
-    else:
-      ret.stockAeb = cp.vl["SCC12"]["AEB_CmdAct"] != 0
-      ret.stockFcw = cp.vl["SCC12"]["CF_VSM_Warn"] == 2
+    if not self.CP.openpilotLongitudinalControl:
+      if self.CP.carFingerprint in FEATURES["use_fca"]:
+        ret.stockAeb = cp.vl["FCA11"]["FCA_CmdAct"] != 0
+        ret.stockFcw = cp.vl["FCA11"]["CF_VSM_Warn"] == 2
+      else:
+        ret.stockAeb = cp.vl["SCC12"]["AEB_CmdAct"] != 0
+        ret.stockFcw = cp.vl["SCC12"]["CF_VSM_Warn"] == 2
 
     if self.CP.enableBsm:
       ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0
@@ -106,7 +108,6 @@ class CarState(CarStateBase):
     self.clu11 = copy.copy(cp.vl["CLU11"])
     self.park_brake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
     self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"]  # 0 NOT ACTIVE, 1 ACTIVE
-    self.lead_distance = cp.vl["SCC11"]["ACC_ObjDist"]
     self.brake_hold = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
     self.brake_error = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
     self.prev_cruise_buttons = self.cruise_buttons
@@ -168,12 +169,6 @@ class CarState(CarStateBase):
 
       ("SAS_Angle", "SAS11", 0),
       ("SAS_Speed", "SAS11", 0),
-
-      ("MainMode_ACC", "SCC11", 0),
-      ("VSetDis", "SCC11", 0),
-      ("SCCInfoDisplay", "SCC11", 0),
-      ("ACC_ObjDist", "SCC11", 0),
-      ("ACCMode", "SCC12", 1),
     ]
 
     checks = [
@@ -191,11 +186,31 @@ class CarState(CarStateBase):
     ]
 
     if not CP.openpilotLongitudinalControl:
+      signals += [
+        ("MainMode_ACC", "SCC11", 0),
+        ("VSetDis", "SCC11", 0),
+        ("SCCInfoDisplay", "SCC11", 0),
+        ("ACC_ObjDist", "SCC11", 0),
+        ("ACCMode", "SCC12", 1),
+      ]
+
       checks += [
         ("SCC11", 50),
         ("SCC12", 50),
       ]
 
+      if CP.carFingerprint in FEATURES["use_fca"]:
+        signals += [
+          ("FCA_CmdAct", "FCA11", 0),
+          ("CF_VSM_Warn", "FCA11", 0),
+        ]
+        checks += [("FCA11", 50)]
+      else:
+        signals += [
+          ("AEB_CmdAct", "SCC12", 0),
+          ("CF_VSM_Warn", "SCC12", 0),
+        ]
+
     if CP.enableBsm:
       signals += [
         ("CF_Lca_IndLeft", "LCA11", 0),
@@ -250,19 +265,6 @@ class CarState(CarStateBase):
         ("LVR12", 100)
       ]
 
-    if CP.carFingerprint in FEATURES["use_fca"]:
-      signals += [
-        ("FCA_CmdAct", "FCA11", 0),
-        ("CF_VSM_Warn", "FCA11", 0),
-      ]
-      if not CP.openpilotLongitudinalControl:
-        checks += [("FCA11", 50)]
-    else:
-      signals += [
-        ("AEB_CmdAct", "SCC12", 0),
-        ("CF_VSM_Warn", "SCC12", 0),
-      ]
-
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
 
   @staticmethod
diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py
index 77b47e8ed..550b69d66 100644
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@@ -3,7 +3,6 @@ from selfdrive.car.hyundai.values import CAR, CHECKSUM
 
 hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
 
-
 def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
                   lkas11, sys_warning, sys_state, enabled,
                   left_lane, right_lane,
@@ -78,7 +77,7 @@ def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
   }
   return packer.make_can_msg("LFAHDA_MFC", 0, values)
 
-def create_acc_commands(packer, enabled, accel, idx, lead_visible, set_speed, stopping):
+def create_acc_commands(packer, enabled, accel, jerk, idx, lead_visible, set_speed, stopping):
   commands = []
 
   scc11_values = {
@@ -86,14 +85,19 @@ def create_acc_commands(packer, enabled, accel, idx, lead_visible, set_speed, st
     "TauGapSet": 4,
     "VSetDis": set_speed if enabled else 0,
     "AliveCounterACC": idx % 0x10,
+    "ObjValid": 1 if lead_visible else 0,
+    "ACC_ObjStatus": 1 if lead_visible else 0,
+    "ACC_ObjLatPos": 0,
+    "ACC_ObjRelSpd": 0,
+    "ACC_ObjDist": 0,
   }
   commands.append(packer.make_can_msg("SCC11", 0, scc11_values))
 
   scc12_values = {
     "ACCMode": 1 if enabled else 0,
-    "StopReq": 1 if stopping else 0,
-    "aReqRaw": accel,
-    "aReqValue": accel, # stock ramps up at 1.0/s and down at 0.5/s until it reaches aReqRaw
+    "StopReq": 1 if enabled and stopping else 0,
+    "aReqRaw": accel if enabled else 0,
+    "aReqValue": accel if enabled else 0, # stock ramps up and down respecting jerk limit until it reaches aReqRaw
     "CR_VSM_Alive": idx % 0xF,
   }
   scc12_dat = packer.make_can_msg("SCC12", 0, scc12_values)[2]
@@ -104,10 +108,10 @@ def create_acc_commands(packer, enabled, accel, idx, lead_visible, set_speed, st
   scc14_values = {
     "ComfortBandUpper": 0.0, # stock usually is 0 but sometimes uses higher values
     "ComfortBandLower": 0.0, # stock usually is 0 but sometimes uses higher values
-    "JerkUpperLimit": 1.0 if enabled else 0, # stock usually is 1.0 but sometimes uses higher values
-    "JerkLowerLimit": 0.5 if enabled else 0, # stock usually is 0.5 but sometimes uses higher values
+    "JerkUpperLimit": max(jerk, 1.0) if (enabled and not stopping) else 0, # stock usually is 1.0 but sometimes uses higher values
+    "JerkLowerLimit": max(-jerk, 1.0) if enabled else 0, # stock usually is 0.5 but sometimes uses higher values
     "ACCMode": 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
-    "ObjGap": 3 if lead_visible else 0, # TODO: 1-5 based on distance to lead vehicle
+    "ObjGap": 2 if lead_visible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
   }
   commands.append(packer.make_can_msg("SCC14", 0, scc14_values))
 
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 5b6b24812..36afc225e 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -1,11 +1,21 @@
 #!/usr/bin/env python3
 from cereal import car
+from panda import Panda
+from common.params import Params
 from selfdrive.config import Conversions as CV
-from selfdrive.car.hyundai.values import CAR, EV_CAR, HYBRID_CAR
+from selfdrive.car.hyundai.values import CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
+from selfdrive.car.disable_ecu import disable_ecu
+
+ButtonType = car.CarState.ButtonEvent.Type
+EventName = car.CarEvent.EventName
 
 class CarInterface(CarInterfaceBase):
+  @staticmethod
+  def get_pid_accel_limits(CP, current_speed, cruise_speed):
+    return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
+
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # pylint: disable=dangerous-default-value
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
@@ -14,14 +24,28 @@ class CarInterface(CarInterfaceBase):
     ret.safetyModel = car.CarParams.SafetyModel.hyundai
     ret.radarOffCan = True
 
+    ret.openpilotLongitudinalControl = Params().get_bool("DisableRadar") and candidate in [CAR.SONATA, CAR.PALISADE]
+    ret.safetyParam = 0
+
     # Most Hyundai car ports are community features for now
-    ret.communityFeature = candidate not in [CAR.SONATA, CAR.PALISADE]
+    ret.communityFeature = candidate not in [CAR.SONATA, CAR.PALISADE] or ret.openpilotLongitudinalControl
+    ret.pcmCruise = not ret.openpilotLongitudinalControl
 
     ret.steerActuatorDelay = 0.1  # Default delay
     ret.steerRateCost = 0.5
     ret.steerLimitTimer = 0.4
     tire_stiffness_factor = 1.
 
+    ret.stoppingControl = True
+    ret.vEgoStopping = 1.0
+
+    ret.longitudinalTuning.kpV = [0.1]
+    ret.longitudinalTuning.kiV = [0.0]
+    ret.stoppingDecelRate = 2.0
+    ret.startAccel = 0.0
+
+    ret.longitudinalActuatorDelay = 1.0 # s
+
     if candidate == CAR.SANTA_FE:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
@@ -239,8 +263,16 @@ class CarInterface(CarInterfaceBase):
 
     ret.enableBsm = 0x58b in fingerprint[0]
 
+    if ret.openpilotLongitudinalControl:
+      ret.safetyParam |= Panda.FLAG_HYUNDAI_LONG
+
     return ret
 
+  @staticmethod
+  def init(CP, logcan, sendcan):
+    if CP.openpilotLongitudinalControl:
+      disable_ecu(logcan, sendcan, addr=0x7d0, com_cont_req=b'\x28\x83\x01')
+
   def update(self, c, can_strings):
     self.cp.update_strings(can_strings)
     self.cp_cam.update_strings(can_strings)
@@ -249,7 +281,46 @@ class CarInterface(CarInterfaceBase):
     ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
     ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
 
-    events = self.create_common_events(ret)
+    events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise)
+
+    if self.CS.brake_error:
+      events.add(EventName.brakeUnavailable)
+    if self.CS.brake_hold and self.CS.CP.openpilotLongitudinalControl:
+      events.add(EventName.brakeHold)
+    if self.CS.park_brake:
+      events.add(EventName.parkBrake)
+
+    if self.CS.CP.openpilotLongitudinalControl:
+      buttonEvents = []
+
+      if self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
+        be = car.CarState.ButtonEvent.new_message()
+        be.type = ButtonType.unknown
+        if self.CS.cruise_buttons != 0:
+          be.pressed = True
+          but = self.CS.cruise_buttons
+        else:
+          be.pressed = False
+          but = self.CS.prev_cruise_buttons
+        if but == Buttons.RES_ACCEL:
+          be.type = ButtonType.accelCruise
+        elif but == Buttons.SET_DECEL:
+          be.type = ButtonType.decelCruise
+        elif but == Buttons.GAP_DIST:
+          be.type = ButtonType.gapAdjustCruise
+        elif but == Buttons.CANCEL:
+          be.type = ButtonType.cancel
+        buttonEvents.append(be)
+
+        ret.buttonEvents = buttonEvents
+
+        for b in ret.buttonEvents:
+          # do enable on both accel and decel buttons
+          if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
+            events.add(EventName.buttonEnable)
+          # do disable on button down
+          if b.type == ButtonType.cancel and b.pressed:
+            events.add(EventName.buttonCancel)
 
     # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
     if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
@@ -266,7 +337,7 @@ class CarInterface(CarInterfaceBase):
 
   def apply(self, c):
     can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
-                               c.cruiseControl.cancel, c.hudControl.visualAlert, c.hudControl.leftLaneVisible,
+                               c.cruiseControl.cancel, c.hudControl.visualAlert, c.hudControl.setSpeed, c.hudControl.leftLaneVisible,
                                c.hudControl.rightLaneVisible, c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
     self.frame += 1
     return can_sends
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 53f1c1cac..459722655 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -6,6 +6,9 @@ Ecu = car.CarParams.Ecu
 
 # Steer torque limits
 class CarControllerParams:
+  ACCEL_MIN = -3.5 # m/s
+  ACCEL_MAX = 2.0 # m/s
+
   def __init__(self, CP):
     if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70,
                              CAR.IONIQ_EV_2020, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.ELANTRA_2021,
@@ -19,7 +22,6 @@ class CarControllerParams:
     self.STEER_DRIVER_MULTIPLIER = 2
     self.STEER_DRIVER_FACTOR = 1
 
-
 class CAR:
   # Hyundai
   ELANTRA = "HYUNDAI ELANTRA 2017"
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 8c8dbc99d..a619d7f9c 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -333,7 +333,8 @@ class Controls:
 
     all_valid = CS.canValid and self.sm.all_alive_and_valid()
     if not self.initialized and (all_valid or self.sm.frame * DT_CTRL > 3.5 or SIMULATION):
-      self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
+      if not self.read_only:
+        self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
       self.initialized = True
       Params().put_bool("ControlsReady", True)
 
diff --git a/selfdrive/debug/disable_ecu.py b/selfdrive/debug/disable_ecu.py
index 9dace9a68..f0faf4001 100644
--- a/selfdrive/debug/disable_ecu.py
+++ b/selfdrive/debug/disable_ecu.py
@@ -10,7 +10,7 @@ EXT_DIAG_RESPONSE = b'\x50\x03'
 COM_CONT_REQUEST = b'\x28\x83\x03'
 COM_CONT_RESPONSE = b''
 
-def disable_ecu(ecu_addr, logcan, sendcan, bus, timeout=0.1, retry=5, debug=False):
+def disable_ecu(ecu_addr, logcan, sendcan, bus, timeout=0.5, retry=5, debug=False):
   print(f"ecu disable {hex(ecu_addr)} ...")
   for i in range(retry):
     try:
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 03ffb9436..c77d97e8b 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-d8ba159971afb46d9b936517d2911bb9d5cd3377
\ No newline at end of file
+68db6ee0d2afb80b0d271788b3028de6db2da45e
\ No newline at end of file