diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index 451f309662..c4246b3806 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -10,7 +10,7 @@ class CarController:
     self.apply_steer_last = 0
     self.frame = 0
 
-    self.es_lkas_cnt = -1
+    self.es_lkas_state_cnt = -1
     self.es_distance_cnt = -1
     self.es_dashstatus_cnt = -1
     self.infotainmentstatus_cnt = -1
@@ -80,11 +80,11 @@ class CarController:
         can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg))
         self.es_dashstatus_cnt = CS.es_dashstatus_msg["COUNTER"]
 
-      if self.es_lkas_cnt != CS.es_lkas_msg["COUNTER"]:
-        can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, CC.enabled, hud_control.visualAlert,
-                                                  hud_control.leftLaneVisible, hud_control.rightLaneVisible,
-                                                  hud_control.leftLaneDepart, hud_control.rightLaneDepart))
-        self.es_lkas_cnt = CS.es_lkas_msg["COUNTER"]
+      if self.es_lkas_state_cnt != CS.es_lkas_state_msg["COUNTER"]:
+        can_sends.append(subarucan.create_es_lkas_state(self.packer, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
+                                                        hud_control.leftLaneVisible, hud_control.rightLaneVisible,
+                                                        hud_control.leftLaneDepart, hud_control.rightLaneDepart))
+        self.es_lkas_state_cnt = CS.es_lkas_state_msg["COUNTER"]
 
       if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT and self.infotainmentstatus_cnt != CS.es_infotainmentstatus_msg["COUNTER"]:
         can_sends.append(subarucan.create_infotainmentstatus(self.packer, CS.es_infotainmentstatus_msg, hud_control.visualAlert))
diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
index 0d92b4c162..e83129a71d 100644
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@@ -77,7 +77,7 @@ class CarState(CarStateBase):
       ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1
       ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3
       ret.stockFcw = cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2
-      self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
+      self.es_lkas_state_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
 
     cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam
     self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"])
@@ -250,7 +250,7 @@ class CarState(CarStateBase):
       ]
     else:
       signals = [
-        ("Counter", "ES_DashStatus"),
+        ("COUNTER", "ES_DashStatus"),
         ("PCB_Off", "ES_DashStatus"),
         ("LDW_Off", "ES_DashStatus"),
         ("Signal1", "ES_DashStatus"),
diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py
index e7b40bc6f2..166166a50b 100644
--- a/selfdrive/car/subaru/subarucan.py
+++ b/selfdrive/car/subaru/subarucan.py
@@ -21,9 +21,9 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd):
     values["Cruise_Cancel"] = 1
   return packer.make_can_msg("ES_Distance", bus, values)
 
-def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
+def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
 
-  values = copy.copy(es_lkas_msg)
+  values = copy.copy(es_lkas_state_msg)
 
   # Filter the stock LKAS "Keep hands on wheel" alert
   if values["LKAS_Alert_Msg"] == 1: