diff --git a/panda/board/safety/safety_chrysler.h b/panda/board/safety/safety_chrysler.h
index b1c6a743f1..6cbf003858 100644
--- a/panda/board/safety/safety_chrysler.h
+++ b/panda/board/safety/safety_chrysler.h
@@ -5,7 +5,7 @@ const int CHRYSLER_MAX_RATE_UP = 3;
 const int CHRYSLER_MAX_RATE_DOWN = 3;
 const int CHRYSLER_MAX_TORQUE_ERROR = 80;    // max torque cmd in excess of torque motor
 
-int chrysler_camera_detected = 0;
+int chrysler_camera_detected = 0;             // is giraffe switch 2 high?
 int chrysler_rt_torque_last = 0;
 int chrysler_desired_torque_last = 0;
 int chrysler_cruise_engaged_last = 0;
@@ -125,12 +125,29 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   return true;
 }
 
+static void chrysler_init(int16_t param) {
+  chrysler_camera_detected = 0;
+}
+
+static int chrysler_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+  int32_t addr = to_fwd->RIR >> 21;
+  // forward CAN 0 -> 2 so stock LKAS camera sees messages
+  if (bus_num == 0 && !chrysler_camera_detected) {
+    return 2;
+  }
+  // forward LKAS_HEARTBIT message from stock camera
+  if (bus_num == 2 && !chrysler_camera_detected && addr == 0x2d9) {
+    return 0;
+  }
+  return -1;  // do not forward
+}
+
 
 const safety_hooks chrysler_hooks = {
-  .init = nooutput_init,
+  .init = chrysler_init,
   .rx = chrysler_rx_hook,
   .tx = chrysler_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
-  .fwd = nooutput_fwd_hook,
+  .fwd = chrysler_fwd_hook,
 };
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index 83c2ecc32c..7db36634c0 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -2,9 +2,9 @@ from cereal import car
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car import apply_toyota_steer_torque_limits
 from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, \
-                                               create_wheel_buttons, create_lkas_heartbit, \
+                                               create_wheel_buttons, \
                                                create_chimes
-from selfdrive.car.chrysler.values import ECU
+from selfdrive.car.chrysler.values import ECU, CAR
 from selfdrive.can.packer import CANPacker
 
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
@@ -29,6 +29,7 @@ class CarController(object):
     self.car_fingerprint = car_fingerprint
     self.alert_active = False
     self.send_chime = False
+    self.gone_fast_yet = False
 
     self.fake_ecus = set()
     if enable_camera:
@@ -39,8 +40,8 @@ class CarController(object):
 
   def update(self, sendcan, enabled, CS, frame, actuators,
              pcm_cancel_cmd, hud_alert, audible_alert):
-
     # this seems needed to avoid steering faults and to force the sync with the EPS counter
+    frame = CS.lkas_counter
     if self.prev_frame == frame:
       return
 
@@ -51,6 +52,11 @@ class CarController(object):
                                                    CS.steer_torque_motor, SteerLimitParams)
 
     moving_fast = CS.v_ego > CS.CP.minSteerSpeed  # for status message
+    if CS.v_ego > (CS.CP.minSteerSpeed - 0.5):  # for command high bit
+      self.gone_fast_yet = True
+    elif self.car_fingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.JEEP_CHEROKEE_2019):
+      if CS.v_ego < (CS.CP.minSteerSpeed - 3.0):
+        self.gone_fast_yet = False  # < 14.5m/s stock turns off this bit, but fine down to 13.5
     lkas_active = moving_fast and enabled
 
     if not lkas_active:
@@ -76,18 +82,17 @@ class CarController(object):
       new_msg = create_wheel_buttons(self.ccframe)
       can_sends.append(new_msg)
 
+    # LKAS_HEARTBIT is forwarded by Panda so no need to send it here.
     # frame is 100Hz (0.01s period)
-    if (self.ccframe % 10 == 0):  # 0.1s period
-      new_msg = create_lkas_heartbit(self.car_fingerprint)
-      can_sends.append(new_msg)
-
     if (self.ccframe % 25 == 0):  # 0.25s period
-      new_msg = create_lkas_hud(self.packer, CS.gear_shifter, lkas_active, hud_alert, self.car_fingerprint,
-                                self.hud_count)
-      can_sends.append(new_msg)
-      self.hud_count += 1
-
-    new_msg = create_lkas_command(self.packer, int(apply_steer), frame)
+      if (CS.lkas_car_model != -1):
+        new_msg = create_lkas_hud(
+            self.packer, CS.gear_shifter, lkas_active, hud_alert,
+            self.hud_count, CS.lkas_car_model)
+        can_sends.append(new_msg)
+        self.hud_count += 1
+
+    new_msg = create_lkas_command(self.packer, int(apply_steer), self.gone_fast_yet, frame)
     can_sends.append(new_msg)
 
     self.ccframe += 1
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index a6344027df..fd3c081f3d 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -63,6 +63,18 @@ def get_can_parser(CP):
 
   return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
 
+def get_camera_parser(CP):
+  signals = [
+    # sig_name, sig_address, default
+    # TODO read in all the other values
+    ("COUNTER", "LKAS_COMMAND", -1),
+    ("CAR_MODEL", "LKAS_HUD", -1),
+    ("LKAS_STATUS_OK", "LKAS_HEARTBIT", -1)
+  ]
+  checks = []
+
+  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
+
 
 class CarState(object):
   def __init__(self, CP):
@@ -85,7 +97,7 @@ class CarState(object):
     self.v_ego = 0.0
 
 
-  def update(self, cp):
+  def update(self, cp, cp_cam):
     # copy can_valid
     self.can_valid = cp.can_valid
 
@@ -142,3 +154,7 @@ class CarState(object):
     self.pcm_acc_status = self.main_on
 
     self.generic_toggle = bool(cp.vl["STEERING_LEVERS"]['HIGH_BEAM_FLASH'])
+
+    self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]['COUNTER']
+    self.lkas_car_model = cp_cam.vl["LKAS_HUD"]['CAR_MODEL']
+    self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]['LKAS_STATUS_OK']
diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py
index e17ee36231..53c1eb662b 100644
--- a/selfdrive/car/chrysler/chryslercan.py
+++ b/selfdrive/car/chrysler/chryslercan.py
@@ -5,14 +5,6 @@ from selfdrive.car.chrysler.values import CAR
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
 
-MODEL_TO_CONSTANT = {
-  CAR.PACIFICA_2017_HYBRID: 0,
-  CAR.PACIFICA_2018: 0x64,
-  CAR.PACIFICA_2018_HYBRID: 0xa8,
-  CAR.PACIFICA_2019_HYBRID: 0x68,
-  CAR.JEEP_CHEROKEE: 0xa4,
-  }
-
 def calc_checksum(data):
   """This function does not want the checksum byte in the input data.
 
@@ -53,28 +45,26 @@ def calc_checksum(data):
 def make_can_msg(addr, dat):
   return [addr, 0, dat, 0]
 
-def create_lkas_heartbit(car_fingerprint):
-  # LKAS_HEARTBIT (729) Lane-keeping heartbeat.
-  msg = '0000000820'.decode('hex')  # 2017
-  return make_can_msg(0x2d9, msg)
+def create_lkas_heartbit(packer, lkas_status_ok):
+  # LKAS_HEARTBIT 0x2d9 (729) Lane-keeping heartbeat.
+  values = {
+    "LKAS_STATUS_OK": lkas_status_ok
+  }
+  return packer.make_can_msg("LKAS_HEARTBIT", 0, values)
 
-def create_lkas_hud(packer, gear, lkas_active, hud_alert, car_fingerprint, hud_count):
+def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_model):
   # LKAS_HUD 0x2a6 (678) Controls what lane-keeping icon is displayed.
 
   if hud_alert == VisualAlert.steerRequired:
     msg = '0000000300000000'.decode('hex')
     return make_can_msg(0x2a6, msg)
 
-  color = 0  # default values are for park or neutral
-  lines = 0
+  color = 1  # default values are for park or neutral in 2017 are 0 0, but trying 1 1 for 2019
+  lines = 1
   alerts = 0
 
-  if hud_count < (3 *4):  # first 3 seconds, 4Hz
-    lines = 1
+  if hud_count < (1 *4):  # first 3 seconds, 4Hz
     alerts = 1
-  elif hud_count < (6 * 4):  # next 3 seconds, 4Hz
-    lines = 1
-    alerts = 0
   # CAR.PACIFICA_2018_HYBRID and CAR.PACIFICA_2019_HYBRID
   # had color = 1 and lines = 1 but trying 2017 hybrid style for now.
   if gear in ('drive', 'reverse', 'low'):
@@ -87,7 +77,7 @@ def create_lkas_hud(packer, gear, lkas_active, hud_alert, car_fingerprint, hud_c
 
   values = {
     "LKAS_ICON_COLOR": color,  # byte 0, last 2 bits
-    "CAR_MODEL": MODEL_TO_CONSTANT[car_fingerprint],  # byte 1
+    "CAR_MODEL": lkas_car_model,  # byte 1
     "LKAS_LANE_LINES": lines,  # byte 2, last 4 bits
     "LKAS_ALERTS": alerts,  # byte 3, last 4 bits
     }
@@ -95,11 +85,11 @@ def create_lkas_hud(packer, gear, lkas_active, hud_alert, car_fingerprint, hud_c
   return packer.make_can_msg("LKAS_HUD", 0, values)  # 0x2a6
 
 
-def create_lkas_command(packer, apply_steer, frame):
-  # LKAS_COMMAND (658) Lane-keeping signal to turn the wheel.
+def create_lkas_command(packer, apply_steer, moving_fast, frame):
+  # LKAS_COMMAND 0x292 (658) Lane-keeping signal to turn the wheel.
   values = {
     "LKAS_STEERING_TORQUE": apply_steer,
-    "LKAS_HIGH_TORQUE": 1,
+    "LKAS_HIGH_TORQUE": int(moving_fast),
     "COUNTER": frame % 0x10,
   }
 
diff --git a/selfdrive/car/chrysler/chryslercan_test.py b/selfdrive/car/chrysler/chryslercan_test.py
index 2edfff9f2a..b4ca4a91f8 100644
--- a/selfdrive/car/chrysler/chryslercan_test.py
+++ b/selfdrive/car/chrysler/chryslercan_test.py
@@ -1,5 +1,6 @@
 import chryslercan
 from values import CAR
+from carcontroller import CarController
 from selfdrive.can.packer import CANPacker
 
 from cereal import car
@@ -16,32 +17,52 @@ class TestChryslerCan(unittest.TestCase):
     self.assertEqual(0xcc, chryslercan.calc_checksum([0x14, 0, 0, 0, 0x20]))
 
   def test_heartbit(self):
+    packer = CANPacker('chrysler_pacifica_2017_hybrid')
     self.assertEqual(
         [0x2d9, 0, '0000000820'.decode('hex'), 0],
-        chryslercan.create_lkas_heartbit(CAR.PACIFICA_2017_HYBRID))
+        chryslercan.create_lkas_heartbit(packer, 0x820))
 
   def test_hud(self):
     packer = CANPacker('chrysler_pacifica_2017_hybrid')
     self.assertEqual(
-        [0x2a6, 0, '0000010100000000'.decode('hex'), 0],
-        chryslercan.create_lkas_hud(packer,
-            'park', False, False, CAR.PACIFICA_2017_HYBRID, 1))
+        [0x2a6, 0, '0100010100000000'.decode('hex'), 0],
+        chryslercan.create_lkas_hud(
+            packer,
+            'park', False, False, 1, 0))
     self.assertEqual(
-        [0x2a6, 0, '0000010000000000'.decode('hex'), 0],
-        chryslercan.create_lkas_hud(packer,
-            'park', False, False, CAR.PACIFICA_2017_HYBRID, 5*4))
+        [0x2a6, 0, '0100010000000000'.decode('hex'), 0],
+        chryslercan.create_lkas_hud(
+            packer,
+            'park', False, False, 5*4, 0))
     self.assertEqual(
-        [0x2a6, 0, '0000000000000000'.decode('hex'), 0],
-        chryslercan.create_lkas_hud(packer,
-            'park', False, False, CAR.PACIFICA_2017_HYBRID, 99999))
+        [0x2a6, 0, '0100010000000000'.decode('hex'), 0],
+        chryslercan.create_lkas_hud(
+            packer,
+            'park', False, False, 99999, 0))
     self.assertEqual(
         [0x2a6, 0, '0200060000000000'.decode('hex'), 0],
-        chryslercan.create_lkas_hud(packer,
-            'drive', True, False, CAR.PACIFICA_2017_HYBRID, 99999))
+        chryslercan.create_lkas_hud(
+            packer,
+            'drive', True, False, 99999, 0))
     self.assertEqual(
         [0x2a6, 0, '0264060000000000'.decode('hex'), 0],
-        chryslercan.create_lkas_hud(packer,
-            'drive', True, False, CAR.PACIFICA_2018, 99999))
+        chryslercan.create_lkas_hud(
+            packer,
+            'drive', True, False, 99999, 0x64))
+
+  def test_command(self):
+    packer = CANPacker('chrysler_pacifica_2017_hybrid')
+    self.assertEqual(
+        [0x292, 0, '140000001086'.decode('hex'), 0],
+        chryslercan.create_lkas_command(
+            packer,
+            0, True, 1))
+    self.assertEqual(
+        [0x292, 0, '040000008083'.decode('hex'), 0],
+        chryslercan.create_lkas_command(
+            packer,
+            0, False, 8))
+
 
 if __name__ == '__main__':
   unittest.main()
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index ac797616bc..7e96ebc2b5 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -4,7 +4,7 @@ from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
 from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.car.chrysler.carstate import CarState, get_can_parser
+from selfdrive.car.chrysler.carstate import CarState, get_can_parser, get_camera_parser
 from selfdrive.car.chrysler.values import ECU, check_ecu_msgs, CAR
 
 try:
@@ -27,8 +27,8 @@ class CarInterface(object):
 
     # *** init the major players ***
     self.CS = CarState(CP)
-
     self.cp = get_can_parser(CP)
+    self.cp_cam = get_camera_parser(CP)
 
     # sending if read only is False
     if sendcan is not None:
@@ -79,7 +79,7 @@ class CarInterface(object):
     ret.steerActuatorDelay = 0.1
     ret.steerRateCost = 0.7
 
-    if candidate == CAR.JEEP_CHEROKEE:
+    if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
       ret.wheelbase = 2.91  # in meters
       ret.steerRatio = 12.7
       ret.steerActuatorDelay = 0.2  # in seconds
@@ -91,6 +91,9 @@ class CarInterface(object):
 
     ret.minSteerSpeed = 3.8  # m/s
     ret.minEnableSpeed = -1.   # enable is done by stock ACC, so ignore this
+    if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.JEEP_CHEROKEE_2019):
+      ret.minSteerSpeed = 17.5  # m/s 17 on the way up, 13 on the way down once engaged.
+      # TODO allow 2019 cars to steer down to 13 m/s if already engaged.
 
     centerToRear = ret.wheelbase - ret.centerToFront
     # TODO: get actual value, for now starting with reasonable value for
@@ -137,10 +140,9 @@ class CarInterface(object):
   def update(self, c):
     # ******************* do can recv *******************
     canMonoTimes = []
-
     self.cp.update(int(sec_since_boot() * 1e9), False)
-
-    self.CS.update(self.cp)
+    self.cp_cam.update(int(sec_since_boot() * 1e9), False)
+    self.CS.update(self.cp, self.cp_cam)
 
     # create message
     ret = car.CarState.new_message()
@@ -208,6 +210,8 @@ class CarInterface(object):
     self.low_speed_alert = (ret.vEgo < self.CP.minSteerSpeed)
 
     ret.genericToggle = self.CS.generic_toggle
+    #ret.lkasCounter = self.CS.lkas_counter
+    #ret.lkasCarModel = self.CS.lkas_car_model
 
     # events
     events = []
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 6e3a24b8fd..4636b89a31 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -6,6 +6,7 @@ class CAR:
   PACIFICA_2019_HYBRID = "CHRYSLER PACIFICA HYBRID 2019"
   PACIFICA_2018 = "CHRYSLER PACIFICA 2018"
   JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018"  # Also covers Tailhawk 2017.
+  JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019"
 
 # Unique can messages:
 # Only the hybrids have 270: 8
@@ -24,11 +25,9 @@ FINGERPRINTS = {
   ],
   CAR.PACIFICA_2018: [
     {55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8},
-
   ],
   CAR.PACIFICA_2018_HYBRID: [
-    {68: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8},
-    {168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8},
+    {68: 8, 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8},
   ],
   CAR.PACIFICA_2019_HYBRID: [
     {168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770:8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1538: 8},
@@ -42,6 +41,8 @@ FINGERPRINTS = {
     {55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
     # Jeep Grand Cherokee 2017 Trailhawk
     {257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 660: 8, 671: 8, 672: 8, 680: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 752: 2, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 783: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
+  ],
+  CAR.JEEP_CHEROKEE_2019: [
     # Jeep Grand Cherokee 2019 from Switzerland
     # 530: 8 is so far only in this Jeep.
     {55: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 660: 8, 671: 8, 672: 8, 676: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 792: 8, 799: 8, 804: 8, 806: 2, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
@@ -65,6 +66,9 @@ DBC = {
   CAR.JEEP_CHEROKEE: dbc_dict(  # Same DBC file works.
     'chrysler_pacifica_2017_hybrid',  # 'pt'
     'chrysler_pacifica_2017_hybrid_private_fusion'),  # 'radar'
+  CAR.JEEP_CHEROKEE_2019: dbc_dict(  # Same DBC file works.
+    'chrysler_pacifica_2017_hybrid',  # 'pt'
+    'chrysler_pacifica_2017_hybrid_private_fusion'),  # 'radar'
 }
 
 STEER_THRESHOLD = 120