diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 74b2e327df..7865e4c956 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -113,9 +113,13 @@ class CarState(CarStateBase):
       else:
         ret.gearShifter = GearShifter.unknown
 
-    ret.stockAeb = cp.vl["FCA11"]['FCA_CmdAct'] != 0
-    ret.stockFcw = cp.vl["FCA11"]['CF_VSM_Warn'] == 2
-    
+    if self.CP.carFingerprint in FEATURES["use_fca"]:
+      ret.stockAeb = cp.vl["FCA11"]['FCA_CmdAct'] != 0
+      ret.stockFcw = cp.vl["FCA11"]['CF_VSM_Warn'] == 2
+    else:
+      ret.stockAeb = cp.vl["SCC12"]['AEB_CmdAct'] != 0
+      ret.stockFcw = cp.vl["SCC12"]['CF_VSM_Warn'] == 2
+
     ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0
     ret.rightBlindspot = cp.vl["LCA11"]["CF_Lca_IndRight"] != 0
 
@@ -174,7 +178,7 @@ class CarState(CarStateBase):
       ("ESC_Off_Step", "TCS15", 0),
 
       ("CF_Lvr_GearInf", "LVR11", 0),        # Transmission Gear (0 = N or P, 1-8 = Fwd, 14 = Rev)
-      
+
       ("CF_Lca_IndLeft", "LCA11", 0),
       ("CF_Lca_IndRight", "LCA11", 0),
 
@@ -187,9 +191,6 @@ class CarState(CarStateBase):
       ("SAS_Angle", "SAS11", 0),
       ("SAS_Speed", "SAS11", 0),
 
-      ("FCA_CmdAct", "FCA11", 0),
-      ("CF_VSM_Warn", "FCA11", 0),
-
       ("MainMode_ACC", "SCC11", 0),
       ("VSetDis", "SCC11", 0),
       ("SCCInfoDisplay", "SCC11", 0),
@@ -210,7 +211,6 @@ class CarState(CarStateBase):
       ("SAS11", 100),
       ("SCC11", 50),
       ("SCC12", 50),
-      ("FCA11", 50),
       ("LCA11", 50),
     ]
 
@@ -259,6 +259,18 @@ class CarState(CarStateBase):
         ("LVR12", 100)
       ]
 
+    if CP.carFingerprint in FEATURES["use_fca"]:
+      signals += [
+        ("FCA_CmdAct", "FCA11", 0),
+        ("CF_VSM_Warn", "FCA11", 0),
+      ]
+      checks += [("FCA11", 50)]
+    else:
+      signals += [
+        ("AEB_CmdAct", "SCC12", 0),
+        ("CF_VSM_Warn", "SCC12", 0),
+      ]
+
     return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
 
   @staticmethod
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 09c70f008c..1e564f377c 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -206,9 +206,13 @@ CHECKSUM = {
 }
 
 FEATURES = {
-  "use_cluster_gears": [CAR.ELANTRA, CAR.KONA, CAR.ELANTRA_GT_I30],     # Use Cluster for Gear Selection, rather than Transmission
-  "use_tcu_gears": [CAR.KIA_OPTIMA, CAR.SONATA_2019],                                    # Use TCU Message for Gear Selection
-  "use_elect_gears": [CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ], # Use TCU Message for Gear Selection
+  # which message has the gear
+  "use_cluster_gears": [CAR.ELANTRA, CAR.KONA, CAR.ELANTRA_GT_I30],
+  "use_tcu_gears": [CAR.KIA_OPTIMA, CAR.SONATA_2019],
+  "use_elect_gears": [CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ],
+
+  # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
+  "use_fca": [CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.KONA, CAR.KONA_EV, CAR.KIA_FORTE, CAR.PALISADE],
 }
 
 EV_HYBRID = [CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV]