diff --git a/selfdrive/can/packer.py b/selfdrive/can/packer.py
index 0fa0bb26c8..7f3c8d2858 100644
--- a/selfdrive/can/packer.py
+++ b/selfdrive/can/packer.py
@@ -1,3 +1,4 @@
+import six
 import struct
 from selfdrive.can.libdbc_py import libdbc, ffi
 
@@ -20,7 +21,7 @@ class CANPacker(object):
 
   def pack(self, addr, values, counter):
     values_thing = []
-    for name, value in values.items():
+    for name, value in six.iteritems(values):
       if name not in self.sig_names:
         self.sig_names[name] = ffi.new("char[]", name)
 
diff --git a/selfdrive/can/parser.py b/selfdrive/can/parser.py
index 2e8384f637..83d0f66237 100644
--- a/selfdrive/can/parser.py
+++ b/selfdrive/can/parser.py
@@ -1,3 +1,4 @@
+import six
 import time
 from collections import defaultdict
 import numbers
@@ -58,7 +59,7 @@ class CANParser(object):
       {
         'address': msg_address,
         'check_frequency': freq,
-      } for msg_address, freq in message_options.items()])
+      } for msg_address, freq in six.iteritems(message_options)])
 
     self.can = libdbc.can_init(bus, dbc_name, len(message_options_c), message_options_c,
                                len(signal_options_c), signal_options_c, sendcan, tcp_addr)
diff --git a/selfdrive/can/process_dbc.py b/selfdrive/can/process_dbc.py
index 3f3f2ddcad..31b1315968 100755
--- a/selfdrive/can/process_dbc.py
+++ b/selfdrive/can/process_dbc.py
@@ -2,7 +2,7 @@
 import os
 import glob
 import sys
-
+import six
 import jinja2
 
 from collections import Counter
@@ -39,10 +39,10 @@ def main():
       continue #skip output is newer than template and dbc
 
     msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM"))) # process counter and checksums first
-            for address, ((msg_name, msg_size), msg_sigs) in sorted(can_dbc.msgs.items()) if msg_sigs]
+            for address, ((msg_name, msg_size), msg_sigs) in sorted(six.iteritems(can_dbc.msgs)) if msg_sigs]
 
     def_vals = {a: set(b) for a,b in can_dbc.def_vals.items()} #remove duplicates
-    def_vals = [(address, sig) for address, sig in sorted(def_vals.items())]
+    def_vals = [(address, sig) for address, sig in sorted(six.iteritems(def_vals))]
 
     if can_dbc.name.startswith("honda") or can_dbc.name.startswith("acura"):
       checksum_type = "honda"
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index a1999439fb..d5afffbaa9 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -218,7 +218,7 @@ class CarInterface(object):
     ret.gasPressed = self.CS.user_gas_pressed
 
     # brake pedal
-    ret.brake = self.CS.user_brake // 0xd0
+    ret.brake = self.CS.user_brake / 0xd0
     ret.brakePressed = self.CS.brake_pressed
 
     # steering wheel
diff --git a/selfdrive/mapd/default_speeds_generator.py b/selfdrive/mapd/default_speeds_generator.py
index ac2791c83a..b03e66d7af 100755
--- a/selfdrive/mapd/default_speeds_generator.py
+++ b/selfdrive/mapd/default_speeds_generator.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python
 import json
+import six
 
 DEFAULT_OUTPUT_FILENAME = "default_speeds_by_region.json"
 
@@ -145,7 +146,7 @@ def main(filename = DEFAULT_OUTPUT_FILENAME):
   DE.add_rule({"zone:maxspeed": "DE:rural"}, "100")
   DE.add_rule({"zone:maxspeed": "DE:motorway"}, "none")
   DE.add_rule({"bicycle_road": "yes"}, "30")
-  
+
 
   """ --- DO NOT MODIFY CODE BELOW THIS LINE --- """
   """ --- ADD YOUR COUNTRY OR STATE ABOVE --- """
@@ -205,7 +206,7 @@ class Country(Region):
   def jsonify(self):
     ret_dict = {}
     ret_dict[self.name] = {}
-    for r_name, region in self.regions.items():
+    for r_name, region in six.iteritems(self.regions):
       ret_dict[self.name].update(region.jsonify())
     ret_dict[self.name]['Default'] = self.rules
     return ret_dict
diff --git a/selfdrive/mapd/mapd_helpers.py b/selfdrive/mapd/mapd_helpers.py
index a6292bbea2..67346c31a7 100644
--- a/selfdrive/mapd/mapd_helpers.py
+++ b/selfdrive/mapd/mapd_helpers.py
@@ -1,3 +1,4 @@
+import six
 import math
 import json
 import numpy as np
@@ -91,7 +92,7 @@ def geocode_maxspeed(tags, location_info):
       rule_valid = all(
         tag_name in tags
         and tags[tag_name] == value
-        for tag_name, value in rule['tags'].items()
+        for tag_name, value in six.iteritems(rule['tags'])
       )
       if rule_valid:
         max_speed = rule['speed']
@@ -102,7 +103,7 @@ def geocode_maxspeed(tags, location_info):
       rule_valid = all(
         tag_name in tags
         and tags[tag_name] == value
-        for tag_name, value in rule['tags'].items()
+        for tag_name, value in six.iteritems(rule['tags'])
       )
       if rule_valid:
         max_speed = rule['speed']