diff --git a/README.md b/README.md
index ca567da6d2..f765d299ae 100644
--- a/README.md
+++ b/README.md
@@ -163,6 +163,7 @@ Community Maintained Cars and Features
 | Kia       | Optima 2019                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Sorento 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Stinger 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Nissan    | Altima 2020                   | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Nissan    | Leaf 2018-20                  | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Nissan    | Rogue 2018-19                 | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Nissan    | X-Trail 2017                  | ProPILOT          | Stock            | 0mph               | 0mph         |
diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py
index da69b86c07..8f763f3583 100644
--- a/selfdrive/car/nissan/carcontroller.py
+++ b/selfdrive/car/nissan/carcontroller.py
@@ -64,8 +64,8 @@ class CarController():
       # send acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
       cruise_cancel = 1
 
-    if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL] and cruise_cancel:
-        can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, CS.cruise_throttle_msg, frame))
+    if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA] and cruise_cancel:
+        can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg, frame))
 
     # TODO: Find better way to cancel!
     # For some reason spamming the cancel button is unreliable on the Leaf
@@ -75,15 +75,16 @@ class CarController():
         can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, cruise_cancel))
 
     can_sends.append(nissancan.create_steering_control(
-        self.packer, self.car_fingerprint, apply_angle, frame, enabled, self.lkas_max_torque))
+        self.packer, apply_angle, frame, enabled, self.lkas_max_torque))
 
-    if frame % 2 == 0:
-      can_sends.append(nissancan.create_lkas_hud_msg(
-        self.packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart))
+    if lkas_hud_msg and lkas_hud_info_msg:
+      if frame % 2 == 0:
+        can_sends.append(nissancan.create_lkas_hud_msg(
+          self.packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart))
 
-    if frame % 50 == 0:
-      can_sends.append(nissancan.create_lkas_hud_info_msg(
-        self.packer, lkas_hud_info_msg, steer_hud_alert
-      ))
+      if frame % 50 == 0:
+        can_sends.append(nissancan.create_lkas_hud_info_msg(
+          self.packer, lkas_hud_info_msg, steer_hud_alert
+        ))
 
     return can_sends
diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py
index 2b66bcd158..67ee422bc6 100644
--- a/selfdrive/car/nissan/carstate.py
+++ b/selfdrive/car/nissan/carstate.py
@@ -14,25 +14,28 @@ class CarState(CarStateBase):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
 
+    self.lkas_hud_msg = None
+    self.lkas_hud_info_msg = None
+
     self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES)
     self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
 
   def update(self, cp, cp_adas, cp_cam):
     ret = car.CarState.new_message()
 
-    if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
+    if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
       ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL"]
     elif self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
       ret.gas = cp.vl["CRUISE_THROTTLE"]["GAS_PEDAL"]
 
     ret.gasPressed = bool(ret.gas > 3)
 
-    if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
+    if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
       ret.brakePressed = bool(cp.vl["DOORS_LIGHTS"]["USER_BRAKE_PRESSED"])
     elif self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
       ret.brakePressed = bool(cp.vl["BRAKE_PEDAL"]["BRAKE_PEDAL"] > 3)
 
-    if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
+    if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
       ret.brakeLights = bool(cp.vl["DOORS_LIGHTS"]["BRAKE_LIGHT"])
 
     ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FL"] * CV.KPH_TO_MS
@@ -45,7 +48,11 @@ class CarState(CarStateBase):
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
     ret.standstill = ret.vEgoRaw < 0.01
 
-    ret.cruiseState.enabled = bool(cp_adas.vl["CRUISE_STATE"]["CRUISE_ENABLED"])
+    if self.CP.carFingerprint == CAR.ALTIMA:
+      ret.cruiseState.enabled = bool(cp.vl["CRUISE_STATE"]["CRUISE_ENABLED"])
+    else:
+      ret.cruiseState.enabled = bool(cp_adas.vl["CRUISE_STATE"]["CRUISE_ENABLED"])
+
     if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
       ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0
       ret.cruiseState.available = bool(cp_cam.vl["PRO_PILOT"]["CRUISE_ON"])
@@ -55,8 +62,15 @@ class CarState(CarStateBase):
       elif self.CP.carFingerprint == CAR.LEAF_IC:
         ret.seatbeltUnlatched = cp.vl["CANCEL_MSG"]["CANCEL_SEATBELT"] == 1
       ret.cruiseState.available = bool(cp.vl["CRUISE_THROTTLE"]["CRUISE_AVAILABLE"])
+    elif self.CP.carFingerprint == CAR.ALTIMA:
+      ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0
+      ret.cruiseState.available = bool(cp_adas.vl["PRO_PILOT"]["CRUISE_ON"])
+
+    if self.CP.carFingerprint == CAR.ALTIMA:
+      speed = cp.vl["PROPILOT_HUD"]["SET_SPEED"]
+    else:
+      speed = cp_adas.vl["PROPILOT_HUD"]["SET_SPEED"]
 
-    speed = cp_adas.vl["PROPILOT_HUD"]["SET_SPEED"]
     if speed != 255:
       if self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
         conversion = CV.MPH_TO_MS if cp.vl["HUD_SETTINGS"]["SPEED_MPH"] else CV.KPH_TO_MS
@@ -65,7 +79,11 @@ class CarState(CarStateBase):
       speed -= 1  # Speed on HUD is always 1 lower than actually sent on can bus
       ret.cruiseState.speed = speed * conversion
 
-    ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
+    if self.CP.carFingerprint == CAR.ALTIMA:
+      ret.steeringTorque = cp_cam.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
+    else:
+      ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
+
     self.steeringTorqueSamples.append(ret.steeringTorque)
     # Filtering driver torque to prevent steeringPressed false positives
     ret.steeringPressed = bool(abs(sum(self.steeringTorqueSamples) / TORQUE_SAMPLES) > CarControllerParams.STEER_THRESHOLD)
@@ -85,15 +103,19 @@ class CarState(CarStateBase):
     can_gear = int(cp.vl["GEARBOX"]["GEAR_SHIFTER"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
 
-    self.lkas_enabled = bool(cp_adas.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
+    if self.CP.carFingerprint == CAR.ALTIMA:
+      self.lkas_enabled = bool(cp.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
+    else:
+      self.lkas_enabled = bool(cp_adas.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
 
     self.cruise_throttle_msg = copy.copy(cp.vl["CRUISE_THROTTLE"])
 
     if self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
       self.cancel_msg = copy.copy(cp.vl["CANCEL_MSG"])
 
-    self.lkas_hud_msg = copy.copy(cp_adas.vl["PROPILOT_HUD"])
-    self.lkas_hud_info_msg = copy.copy(cp_adas.vl["PROPILOT_HUD_INFO_MSG"])
+    if self.CP.carFingerprint != CAR.ALTIMA:
+      self.lkas_hud_msg = copy.copy(cp_adas.vl["PROPILOT_HUD"])
+      self.lkas_hud_info_msg = copy.copy(cp_adas.vl["PROPILOT_HUD_INFO_MSG"])
 
     return ret
 
@@ -107,8 +129,6 @@ class CarState(CarStateBase):
       ("WHEEL_SPEED_RL", "WHEEL_SPEEDS_REAR", 0),
       ("WHEEL_SPEED_RR", "WHEEL_SPEEDS_REAR", 0),
 
-
-      ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
       ("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
 
       ("DOOR_OPEN_FR", "DOORS_LIGHTS", 1),
@@ -128,12 +148,11 @@ class CarState(CarStateBase):
       # sig_address, frequency
       ("WHEEL_SPEEDS_REAR", 50),
       ("WHEEL_SPEEDS_FRONT", 50),
-      ("STEER_TORQUE_SENSOR", 100),
       ("STEER_ANGLE_SENSOR", 100),
       ("DOORS_LIGHTS", 10),
     ]
 
-    if CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
+    if CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
       signals += [
         ("USER_BRAKE_PRESSED", "DOORS_LIGHTS", 1),
         ("BRAKE_LIGHT", "DOORS_LIGHTS", 1),
@@ -159,7 +178,9 @@ class CarState(CarStateBase):
       ]
 
       checks += [
-        ("GAS_PEDAL", 50),
+        ("GAS_PEDAL", 100),
+        ("CRUISE_THROTTLE", 50),
+        ("HUD", 25),
       ]
 
     elif CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
@@ -182,108 +203,153 @@ class CarState(CarStateBase):
         ("CRUISE_THROTTLE", 50),
       ]
 
+    if CP.carFingerprint == CAR.ALTIMA:
+      signals += [
+        ("LKAS_ENABLED", "LKAS_SETTINGS", 0),
+        ("CRUISE_ENABLED", "CRUISE_STATE", 0),
+        ("SET_SPEED", "PROPILOT_HUD", 0),
+      ]
+      checks += [
+        ("CRUISE_STATE", 10),
+        ("LKAS_SETTINGS", 10),
+        ("PROPILOT_HUD", 50),
+      ]
+      return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 1)
+
+    signals += [
+      ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
+    ]
+    checks += [
+      ("STEER_TORQUE_SENSOR", 100),
+    ]
+
     return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
 
   @staticmethod
   def get_adas_can_parser(CP):
     # this function generates lists for signal, messages and initial values
-    signals = [
-      # sig_name, sig_address, default
-      ("LKAS_ENABLED", "LKAS_SETTINGS", 0),
-
-      ("CRUISE_ENABLED", "CRUISE_STATE", 0),
-
-      ("DESIRED_ANGLE", "LKAS", 0),
-      ("SET_0x80_2", "LKAS", 0),
-      ("MAX_TORQUE", "LKAS", 0),
-      ("SET_0x80", "LKAS", 0),
-      ("COUNTER", "LKAS", 0),
-      ("LKA_ACTIVE", "LKAS", 0),
-
-      # Below are the HUD messages. We copy the stock message and modify
-      ("LARGE_WARNING_FLASHING", "PROPILOT_HUD", 0),
-      ("SIDE_RADAR_ERROR_FLASHING1", "PROPILOT_HUD", 0),
-      ("SIDE_RADAR_ERROR_FLASHING2", "PROPILOT_HUD", 0),
-      ("LEAD_CAR", "PROPILOT_HUD", 0),
-      ("LEAD_CAR_ERROR", "PROPILOT_HUD", 0),
-      ("FRONT_RADAR_ERROR", "PROPILOT_HUD", 0),
-      ("FRONT_RADAR_ERROR_FLASHING", "PROPILOT_HUD", 0),
-      ("SIDE_RADAR_ERROR_FLASHING3", "PROPILOT_HUD", 0),
-      ("LKAS_ERROR_FLASHING", "PROPILOT_HUD", 0),
-      ("SAFETY_SHIELD_ACTIVE", "PROPILOT_HUD", 0),
-      ("RIGHT_LANE_GREEN_FLASH", "PROPILOT_HUD", 0),
-      ("LEFT_LANE_GREEN_FLASH", "PROPILOT_HUD", 0),
-      ("FOLLOW_DISTANCE", "PROPILOT_HUD", 0),
-      ("AUDIBLE_TONE", "PROPILOT_HUD", 0),
-      ("SPEED_SET_ICON", "PROPILOT_HUD", 0),
-      ("SMALL_STEERING_WHEEL_ICON", "PROPILOT_HUD", 0),
-      ("unknown59", "PROPILOT_HUD", 0),
-      ("unknown55", "PROPILOT_HUD", 0),
-      ("unknown26", "PROPILOT_HUD", 0),
-      ("unknown28", "PROPILOT_HUD", 0),
-      ("unknown31", "PROPILOT_HUD", 0),
-      ("SET_SPEED", "PROPILOT_HUD", 0),
-      ("unknown43", "PROPILOT_HUD", 0),
-      ("unknown08", "PROPILOT_HUD", 0),
-      ("unknown05", "PROPILOT_HUD", 0),
-      ("unknown02", "PROPILOT_HUD", 0),
-
-      ("NA_HIGH_ACCEL_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
-      ("SIDE_RADAR_NA_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
-      ("SIDE_RADAR_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
-      ("LKAS_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
-      ("FRONT_RADAR_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
-      ("SIDE_RADAR_NA_CLEAN_REAR_CAMERA", "PROPILOT_HUD_INFO_MSG", 0),
-      ("NA_POOR_ROAD_CONDITIONS", "PROPILOT_HUD_INFO_MSG", 0),
-      ("CURRENTLY_UNAVAILABLE", "PROPILOT_HUD_INFO_MSG", 0),
-      ("SAFETY_SHIELD_OFF", "PROPILOT_HUD_INFO_MSG", 0),
-      ("FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION", "PROPILOT_HUD_INFO_MSG", 0),
-      ("PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED", "PROPILOT_HUD_INFO_MSG", 0),
-      ("SIDE_IMPACT_NA_RADAR_OBSTRUCTION", "PROPILOT_HUD_INFO_MSG", 0),
-      ("WARNING_DO_NOT_ENTER", "PROPILOT_HUD_INFO_MSG", 0),
-      ("SIDE_IMPACT_SYSTEM_OFF", "PROPILOT_HUD_INFO_MSG", 0),
-      ("SIDE_IMPACT_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
-      ("FRONT_COLLISION_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
-      ("SIDE_RADAR_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG", 0),
-      ("LKAS_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG", 0),
-      ("FRONT_RADAR_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG", 0),
-      ("PROPILOT_NA_MSGS", "PROPILOT_HUD_INFO_MSG", 0),
-      ("BOTTOM_MSG", "PROPILOT_HUD_INFO_MSG", 0),
-      ("HANDS_ON_WHEEL_WARNING", "PROPILOT_HUD_INFO_MSG", 0),
-      ("WARNING_STEP_ON_BRAKE_NOW", "PROPILOT_HUD_INFO_MSG", 0),
-      ("PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED", "PROPILOT_HUD_INFO_MSG", 0),
-      ("PROPILOT_NA_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
-      ("WARNING_PROPILOT_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
-      ("ACC_UNAVAILABLE_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
-      ("ACC_NA_FRONT_CAMERA_IMPARED", "PROPILOT_HUD_INFO_MSG", 0),
-      ("unknown07", "PROPILOT_HUD_INFO_MSG", 0),
-      ("unknown10", "PROPILOT_HUD_INFO_MSG", 0),
-      ("unknown15", "PROPILOT_HUD_INFO_MSG", 0),
-      ("unknown23", "PROPILOT_HUD_INFO_MSG", 0),
-      ("unknown19", "PROPILOT_HUD_INFO_MSG", 0),
-      ("unknown31", "PROPILOT_HUD_INFO_MSG", 0),
-      ("unknown32", "PROPILOT_HUD_INFO_MSG", 0),
-      ("unknown46", "PROPILOT_HUD_INFO_MSG", 0),
-      ("unknown61", "PROPILOT_HUD_INFO_MSG", 0),
-      ("unknown55", "PROPILOT_HUD_INFO_MSG", 0),
-      ("unknown50", "PROPILOT_HUD_INFO_MSG", 0),
-    ]
 
-    checks = [
-      ("CRUISE_STATE", 50),
-    ]
+    if CP.carFingerprint == CAR.ALTIMA:
+      signals = [
+        ("DESIRED_ANGLE", "LKAS", 0),
+        ("SET_0x80_2", "LKAS", 0),
+        ("MAX_TORQUE", "LKAS", 0),
+        ("SET_0x80", "LKAS", 0),
+        ("COUNTER", "LKAS", 0),
+        ("LKA_ACTIVE", "LKAS", 0),
+
+        ("CRUISE_ON", "PRO_PILOT", 0),
+      ]
+      checks = [
+        ("PRO_PILOT", 100),
+      ]
+    else:
+      signals = [
+        # sig_name, sig_address, default
+        ("LKAS_ENABLED", "LKAS_SETTINGS", 0),
+
+        ("CRUISE_ENABLED", "CRUISE_STATE", 0),
+
+        ("DESIRED_ANGLE", "LKAS", 0),
+        ("SET_0x80_2", "LKAS", 0),
+        ("MAX_TORQUE", "LKAS", 0),
+        ("SET_0x80", "LKAS", 0),
+        ("COUNTER", "LKAS", 0),
+        ("LKA_ACTIVE", "LKAS", 0),
+
+        # Below are the HUD messages. We copy the stock message and modify
+        ("LARGE_WARNING_FLASHING", "PROPILOT_HUD", 0),
+        ("SIDE_RADAR_ERROR_FLASHING1", "PROPILOT_HUD", 0),
+        ("SIDE_RADAR_ERROR_FLASHING2", "PROPILOT_HUD", 0),
+        ("LEAD_CAR", "PROPILOT_HUD", 0),
+        ("LEAD_CAR_ERROR", "PROPILOT_HUD", 0),
+        ("FRONT_RADAR_ERROR", "PROPILOT_HUD", 0),
+        ("FRONT_RADAR_ERROR_FLASHING", "PROPILOT_HUD", 0),
+        ("SIDE_RADAR_ERROR_FLASHING3", "PROPILOT_HUD", 0),
+        ("LKAS_ERROR_FLASHING", "PROPILOT_HUD", 0),
+        ("SAFETY_SHIELD_ACTIVE", "PROPILOT_HUD", 0),
+        ("RIGHT_LANE_GREEN_FLASH", "PROPILOT_HUD", 0),
+        ("LEFT_LANE_GREEN_FLASH", "PROPILOT_HUD", 0),
+        ("FOLLOW_DISTANCE", "PROPILOT_HUD", 0),
+        ("AUDIBLE_TONE", "PROPILOT_HUD", 0),
+        ("SPEED_SET_ICON", "PROPILOT_HUD", 0),
+        ("SMALL_STEERING_WHEEL_ICON", "PROPILOT_HUD", 0),
+        ("unknown59", "PROPILOT_HUD", 0),
+        ("unknown55", "PROPILOT_HUD", 0),
+        ("unknown26", "PROPILOT_HUD", 0),
+        ("unknown28", "PROPILOT_HUD", 0),
+        ("unknown31", "PROPILOT_HUD", 0),
+        ("SET_SPEED", "PROPILOT_HUD", 0),
+        ("unknown43", "PROPILOT_HUD", 0),
+        ("unknown08", "PROPILOT_HUD", 0),
+        ("unknown05", "PROPILOT_HUD", 0),
+        ("unknown02", "PROPILOT_HUD", 0),
+
+        ("NA_HIGH_ACCEL_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
+        ("SIDE_RADAR_NA_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
+        ("SIDE_RADAR_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
+        ("LKAS_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
+        ("FRONT_RADAR_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
+        ("SIDE_RADAR_NA_CLEAN_REAR_CAMERA", "PROPILOT_HUD_INFO_MSG", 0),
+        ("NA_POOR_ROAD_CONDITIONS", "PROPILOT_HUD_INFO_MSG", 0),
+        ("CURRENTLY_UNAVAILABLE", "PROPILOT_HUD_INFO_MSG", 0),
+        ("SAFETY_SHIELD_OFF", "PROPILOT_HUD_INFO_MSG", 0),
+        ("FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION", "PROPILOT_HUD_INFO_MSG", 0),
+        ("PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED", "PROPILOT_HUD_INFO_MSG", 0),
+        ("SIDE_IMPACT_NA_RADAR_OBSTRUCTION", "PROPILOT_HUD_INFO_MSG", 0),
+        ("WARNING_DO_NOT_ENTER", "PROPILOT_HUD_INFO_MSG", 0),
+        ("SIDE_IMPACT_SYSTEM_OFF", "PROPILOT_HUD_INFO_MSG", 0),
+        ("SIDE_IMPACT_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
+        ("FRONT_COLLISION_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
+        ("SIDE_RADAR_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG", 0),
+        ("LKAS_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG", 0),
+        ("FRONT_RADAR_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG", 0),
+        ("PROPILOT_NA_MSGS", "PROPILOT_HUD_INFO_MSG", 0),
+        ("BOTTOM_MSG", "PROPILOT_HUD_INFO_MSG", 0),
+        ("HANDS_ON_WHEEL_WARNING", "PROPILOT_HUD_INFO_MSG", 0),
+        ("WARNING_STEP_ON_BRAKE_NOW", "PROPILOT_HUD_INFO_MSG", 0),
+        ("PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED", "PROPILOT_HUD_INFO_MSG", 0),
+        ("PROPILOT_NA_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
+        ("WARNING_PROPILOT_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
+        ("ACC_UNAVAILABLE_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
+        ("ACC_NA_FRONT_CAMERA_IMPARED", "PROPILOT_HUD_INFO_MSG", 0),
+        ("unknown07", "PROPILOT_HUD_INFO_MSG", 0),
+        ("unknown10", "PROPILOT_HUD_INFO_MSG", 0),
+        ("unknown15", "PROPILOT_HUD_INFO_MSG", 0),
+        ("unknown23", "PROPILOT_HUD_INFO_MSG", 0),
+        ("unknown19", "PROPILOT_HUD_INFO_MSG", 0),
+        ("unknown31", "PROPILOT_HUD_INFO_MSG", 0),
+        ("unknown32", "PROPILOT_HUD_INFO_MSG", 0),
+        ("unknown46", "PROPILOT_HUD_INFO_MSG", 0),
+        ("unknown61", "PROPILOT_HUD_INFO_MSG", 0),
+        ("unknown55", "PROPILOT_HUD_INFO_MSG", 0),
+        ("unknown50", "PROPILOT_HUD_INFO_MSG", 0),
+      ]
+
+      checks = [
+        ("CRUISE_STATE", 50),
+      ]
 
     return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
 
   @staticmethod
   def get_cam_can_parser(CP):
     signals = []
+    checks = []
+
     if CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
       signals += [
         ("CRUISE_ON", "PRO_PILOT", 0),
       ]
 
-    checks = [
-    ]
+    elif CP.carFingerprint == CAR.ALTIMA:
+      signals += [
+        ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
+      ]
+      checks += [
+        ("STEER_TORQUE_SENSOR", 100),
+      ]
+      return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
+
 
     return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 1)
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index 0a1593d7cd..1ad4a93c7c 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -44,7 +44,14 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.705
       ret.centerToFront = ret.wheelbase * 0.44
       ret.steerRatio = 17
-
+    elif candidate == CAR.ALTIMA:
+      # Altima has EPS on C-CAN unlike the others that have it on V-CAN
+      ret.safetyParam = 1 # EPS is on alternate bus
+      ret.mass = 1492 + STD_CARGO_KG
+      ret.wheelbase = 2.824
+      ret.centerToFront = ret.wheelbase * 0.44
+      ret.steerRatio = 17
+  
     ret.steerControlType = car.CarParams.SteerControlType.angle
     ret.radarOffCan = True
 
diff --git a/selfdrive/car/nissan/nissancan.py b/selfdrive/car/nissan/nissancan.py
index a264442e64..ceace5088a 100644
--- a/selfdrive/car/nissan/nissancan.py
+++ b/selfdrive/car/nissan/nissancan.py
@@ -1,10 +1,11 @@
 import copy
 import crcmod
+from selfdrive.car.nissan.values import CAR
 
 nissan_checksum = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff)
 
 
-def create_steering_control(packer, car_fingerprint, apply_steer, frame, steer_on, lkas_max_torque):
+def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torque):
   idx = (frame % 16)
   values = {
     "DESIRED_ANGLE": apply_steer,
@@ -21,8 +22,12 @@ def create_steering_control(packer, car_fingerprint, apply_steer, frame, steer_o
   return packer.make_can_msg("LKAS", 0, values)
 
 
-def create_acc_cancel_cmd(packer, cruise_throttle_msg, frame):
+def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg, frame):
   values = copy.copy(cruise_throttle_msg)
+  can_bus = 2
+
+  if car_fingerprint == CAR.ALTIMA:
+    can_bus = 1
 
   values["CANCEL_BUTTON"] = 1
   values["NO_BUTTON_PRESSED"] = 0
@@ -32,7 +37,7 @@ def create_acc_cancel_cmd(packer, cruise_throttle_msg, frame):
   values["FOLLOW_DISTANCE_BUTTON"] = 0
   values["COUNTER"] = (frame % 4)
 
-  return packer.make_can_msg("CRUISE_THROTTLE", 2, values)
+  return packer.make_can_msg("CRUISE_THROTTLE", can_bus, values)
 
 
 def create_cancel_msg(packer, cancel_msg, cruise_cancel):
diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py
index fc85bae5e1..39ce707d5c 100644
--- a/selfdrive/car/nissan/values.py
+++ b/selfdrive/car/nissan/values.py
@@ -17,6 +17,7 @@ class CAR:
   # Currently the only known difference between them is the inverted seatbelt signal.
   LEAF_IC = "NISSAN LEAF 2018 Instrument Cluster"
   ROGUE = "NISSAN ROGUE 2019"
+  ALTIMA = "NISSAN ALTIMA 2020"
 
 
 FINGERPRINTS = {
@@ -49,6 +50,11 @@ FINGERPRINTS = {
     {
       2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 634: 7, 643: 5, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1042: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1534: 7, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1839: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
     },
+  ],
+  CAR.ALTIMA: [
+    {
+      2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 386: 8, 397: 8, 398: 8, 520: 2, 523: 6, 548: 8, 634: 7, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 851: 8, 855: 5, 1001: 6, 1041: 8, 1042: 8, 1055: 3, 1100: 7, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1227: 8, 1228: 8, 1229: 8, 1232: 8, 1247: 4, 1266: 8, 1273: 7, 1306: 1, 1342: 1, 1376: 8, 1401: 8, 1497: 3, 1514: 6, 1526: 8, 1527: 5, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
+    },
   ]
 }
 
@@ -57,4 +63,5 @@ DBC = {
   CAR.LEAF: dbc_dict('nissan_leaf_2018', None),
   CAR.LEAF_IC: dbc_dict('nissan_leaf_2018', None),
   CAR.ROGUE: dbc_dict('nissan_x_trail_2017', None),
+  CAR.ALTIMA: dbc_dict('nissan_x_trail_2017', None),
 }
diff --git a/selfdrive/test/test_car_models.py b/selfdrive/test/test_car_models.py
index 185703822f..3d974e33fa 100755
--- a/selfdrive/test/test_car_models.py
+++ b/selfdrive/test/test_car_models.py
@@ -497,6 +497,10 @@ routes = {
     'carFingerprint': MAZDA.Mazda3,
     'enableCamera': True,
   },
+    "b72d3ec617c0a90f|2020-12-11--15-38-17": {
+    'carFingerprint': NISSAN.ALTIMA,
+    'enableCamera': True,
+  },
 }
 
 passive_routes: List[str] = [