diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 4ae80a7796..dc9d8608af 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -142,7 +142,7 @@ class CarController(CarControllerBase):
 
       # 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:
-        desired_distance = 4 - hud_control.distanceBars
+        desired_distance = 4 - hud_control.leadDistanceBars
         if CS.pcm_follow_distance != desired_distance and CS.out.cruiseState.enabled and self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR:
           self.distance_button = not self.distance_button
         else:
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 65fced80f4..5d99467f25 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -44,7 +44,6 @@ class CarState(CarStateBase):
     self.distance_button = 0
 
     self.pcm_follow_distance = 0
-    self.pcm_follow_distance_values = can_define.dv['PCM_CRUISE_2']['PCM_FOLLOW_DISTANCE']
 
     self.low_speed_lockout = False
     self.acc_type = 1
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index c18b0dfeda..29358cb7b6 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -680,7 +680,7 @@ class Controls:
     hudControl.speedVisible = self.enabled
     hudControl.lanesVisible = self.enabled
     hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead
-    hudControl.distanceBars = self.sm['longitudinalPlan'].personality.raw + 1
+    hudControl.leadDistanceBars = self.sm['longitudinalPlan'].personality.raw + 1
 
     hudControl.rightLaneVisible = True
     hudControl.leftLaneVisible = True