diff --git a/docs/CARS.md b/docs/CARS.md
index ea881f2333..04f285b2ee 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -42,7 +42,7 @@ How We Rate The Cars
|Hyundai|Palisade 2020-21|All|
|||||
|Hyundai|Santa Fe 2019-20|All||||||
|Hyundai|Sonata 2020-22|All||||||
-|Hyundai|Sonata Hybrid 2021-22|All||||||
+|Hyundai|Sonata Hybrid 2020-22|All||||||
|Kia|Niro Electric 2019-22|All||||||
|Kia|Telluride 2020|SCC + LKAS||||||
|Lexus|ES 2019-21|All||||||
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 1a28d0cf22..569dee06cf 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -103,7 +103,7 @@ CAR_INFO: Dict[str, Union[HyundaiCarInfo, List[HyundaiCarInfo]]] = {
HyundaiCarInfo("Kia Telluride 2020"),
],
CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS),
- CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2021-22", "All"),
+ CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All"),
# Kia
CAR.KIA_FORTE: HyundaiCarInfo("Kia Forte 2018-21"),
@@ -943,13 +943,13 @@ FW_VERSIONS = {
(Ecu.esp, 0x7d1, None): [
b'\xf1\x8758910-Q5450\xf1\000SP ESC \a 101\031\t\005 58910-Q5450',
b'\xf1\x8758910-Q5450\xf1\000SP ESC \t 101\031\t\005 58910-Q5450',
- ],
+ ],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x81616D2051\000\000\000\000\000\000\000\000',
b'\xf1\x81616D5051\000\000\000\000\000\000\000\000',
b'\001TSP2KNL06F100J0K',
b'\001TSP2KNL06F200J0K',
- ],
+ ],
(Ecu.eps, 0x7d4, None): [
b'\xf1\000SP2 MDPS C 1.00 1.04 56300Q5200 ',
b'\xf1\000SP2 MDPS C 1.01 1.05 56300Q5200 ',
@@ -962,7 +962,7 @@ FW_VERSIONS = {
b'\xf1\x87CZLUB49370612JF7h\xa8y\x87\x99\xa7hv\x99\x97fv\x88\x87x\x89x\x96O\xff\x88\xff\xff\xff.@\xf1\x816V2C2051\000\000\xf1\0006V2B0_C2\000\0006V2C2051\000\000CSP4N20NS3\000\000\000\000',
b'\xf1\x87954A22D200\xf1\x81T01950A1 \xf1\000T0190XBL T01950A1 DSP2T16X4X950NS6\xd30\xa5\xb9',
b'\xf1\x87954A22D200\xf1\x81T01950A1 \xf1\000T0190XBL T01950A1 DSP2T16X4X950NS8\r\xfe\x9c\x8b',
- ],
+ ],
},
CAR.KIA_OPTIMA: {
(Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4110 '],
@@ -975,7 +975,7 @@ FW_VERSIONS = {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5001 h32',
b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.02 95895-D5000 h31',
- ],
+ ],
(Ecu.transmission, 0x7e1, None): [b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW'],
},
CAR.ELANTRA_2021: {
@@ -1063,29 +1063,33 @@ FW_VERSIONS = {
b'\xf1\x8799110L5000\xf1\000DNhe SCC FHCUP 1.00 1.02 99110-L5000 ',
b'\xf1\000DNhe SCC F-CUP 1.00 1.02 99110-L5000 ',
b'\xf1\x8799110L5000\xf1\000DNhe SCC F-CUP 1.00 1.02 99110-L5000 ',
- ],
+ ],
+ (Ecu.esp, 0x7b0, None): [
+ b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81\x00\x00\x00\x00\x00\x00\x00\x00',
+ ],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x8756310-L5500\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102',
b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102',
b'\xf1\x8756310-L5450\xf1\000DN8 MDPS C 1.00 1.03 56310-L5450 4DNHC103',
- ],
+ ],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.04 99211-L1000 191016',
b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.05 99211-L1000 201109',
b'\xf1\000DN8HMFC AT USA LHD 1.00 1.06 99211-L1000 210325',
- ],
+ ],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\000PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW',
- b'\xf1\x87959102T250\000\000\000\000\000\xf1\x81E09\000\000\000\000\000\000\000\xf1\000PSBG2323 E09\000\000\000\000\000\000\000TDN2H20SA5\x97R\x88\x9e',
+ b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E09\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2323 E09\x00\x00\x00\x00\x00\x00\x00TDN2H20SA5\x97R\x88\x9e',
b'\xf1\000PSBG2323 E09\000\000\000\000\000\000\000TDN2H20SA5\x97R\x88\x9e',
b'\xf1\000PSBG2333 E16\000\000\000\000\000\000\000TDN2H20SA7\0323\xf9\xab',
b'\xf1\x87PCU\000\000\000\000\000\000\000\000\000\xf1\x81E16\000\000\000\000\000\000\000\xf1\000PSBG2333 E16\000\000\000\000\000\000\000TDN2H20SA7\0323\xf9\xab',
b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW',
- ],
+ ],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x87391162J012',
b'\xf1\x87391162J013',
- ],
+ b'\xf1\x87391062J002',
+ ],
},
CAR.KIA_SORENTO: {
(Ecu.fwdCamera, 0x7c4, None): [