diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 4651dd56db..4a296ab9cb 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -15,10 +15,7 @@ def process_hud_alert(enabled, fingerprint, visual_alert, left_lane,
   # initialize to no line visible
   sys_state = 1
   if left_lane and right_lane or sys_warning:  # HUD alert only display when LKAS status is active
-    if enabled or sys_warning:
-      sys_state = 3
-    else:
-      sys_state = 4
+    sys_state = 3 if enabled or sys_warning else 4
   elif left_lane:
     sys_state = 5
   elif right_lane:
@@ -37,14 +34,14 @@ def process_hud_alert(enabled, fingerprint, visual_alert, left_lane,
 
 class CarController():
   def __init__(self, dbc_name, CP, VM):
+    self.p = SteerLimitParams(CP)
+    self.packer = CANPacker(dbc_name)
+
     self.apply_steer_last = 0
     self.car_fingerprint = CP.carFingerprint
-    self.packer = CANPacker(dbc_name)
     self.steer_rate_limited = False
     self.last_resume_frame = 0
 
-    self.p = SteerLimitParams(CP)
-
   def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert,
              left_lane, right_lane, left_lane_depart, right_lane_depart):
     # Steering Torque
@@ -64,7 +61,7 @@ class CarController():
 
     self.apply_steer_last = apply_steer
 
-    sys_warning, sys_state, left_lane_warning, right_lane_warning =\
+    sys_warning, sys_state, left_lane_warning, right_lane_warning = \
       process_hud_alert(enabled, self.car_fingerprint, visual_alert,
                         left_lane, right_lane, left_lane_depart, right_lane_depart)
 
diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py
index 6ea6bbcbfd..81398c23da 100644
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@@ -15,9 +15,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
   values["CF_Lkas_LdwsRHWarning"] = right_lane_depart
   values["CR_Lkas_StrToqReq"] = apply_steer
   values["CF_Lkas_ActToi"] = steer_req
-  values["CF_Lkas_ToiFlt"] = 0
   values["CF_Lkas_MsgCount"] = frame % 0x10
-  values["CF_Lkas_Chksum"] = 0
 
   if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV]:
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index eff7c6d207..847401eaa3 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -58,13 +58,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 13.75 * 1.15
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
-    elif candidate == CAR.KIA_SORENTO:
-      ret.lateralTuning.pid.kf = 0.00005
-      ret.mass = 1985. + STD_CARGO_KG
-      ret.wheelbase = 2.78
-      ret.steerRatio = 14.4 * 1.1   # 10% higher at the center seems reasonable
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
     elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
       ret.lateralTuning.pid.kf = 0.00006
       ret.mass = 1275. + STD_CARGO_KG
@@ -85,49 +78,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.indi.timeConstant = 1.4
       ret.lateralTuning.indi.actuatorEffectiveness = 2.3
       ret.minSteerSpeed = 60 * CV.KPH_TO_MS
-    elif candidate == CAR.GENESIS_G70: 
-      ret.lateralTuning.pid.kf = 0.00005 
-      ret.mass = 1640. + STD_CARGO_KG 
-      ret.wheelbase = 2.84 
-      ret.steerRatio = 16.5 
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
-    elif candidate == CAR.GENESIS_G80:
-      ret.lateralTuning.pid.kf = 0.00005
-      ret.mass = 2060. + STD_CARGO_KG
-      ret.wheelbase = 3.01
-      ret.steerRatio = 16.5
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
-    elif candidate == CAR.GENESIS_G90:
-      ret.mass = 2200
-      ret.wheelbase = 3.15
-      ret.steerRatio = 12.069
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
-    elif candidate == CAR.KIA_NIRO_EV:
-      ret.lateralTuning.pid.kf = 0.00006
-      ret.mass = 1737. + STD_CARGO_KG
-      ret.wheelbase = 2.7
-      ret.steerRatio = 13.73  # Spec
-      tire_stiffness_factor = 0.385
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
-    elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]:
-      ret.lateralTuning.pid.kf = 0.00005
-      ret.mass = 3558. * CV.LB_TO_KG
-      ret.wheelbase = 2.80
-      ret.steerRatio = 13.75
-      tire_stiffness_factor = 0.5
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
-    elif candidate == CAR.KIA_STINGER:
-      ret.lateralTuning.pid.kf = 0.00005
-      ret.mass = 1825. + STD_CARGO_KG
-      ret.wheelbase = 2.78
-      ret.steerRatio = 14.4 * 1.15   # 15% higher at the center seems reasonable
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
     elif candidate == CAR.KONA:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 1275. + STD_CARGO_KG
@@ -153,7 +103,32 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
       ret.minSteerSpeed = 32 * CV.MPH_TO_MS
-    elif candidate == CAR.KIA_FORTE:
+    elif candidate == CAR.VELOSTER:
+      ret.lateralTuning.pid.kf = 0.00005
+      ret.mass = 3558. * CV.LB_TO_KG
+      ret.wheelbase = 2.80
+      ret.steerRatio = 13.75 * 1.15
+      tire_stiffness_factor = 0.5
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+
+    # Kia
+    elif candidate == CAR.KIA_SORENTO:
+      ret.lateralTuning.pid.kf = 0.00005
+      ret.mass = 1985. + STD_CARGO_KG
+      ret.wheelbase = 2.78
+      ret.steerRatio = 14.4 * 1.1   # 10% higher at the center seems reasonable
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+    elif candidate == CAR.KIA_NIRO_EV:
+      ret.lateralTuning.pid.kf = 0.00006
+      ret.mass = 1737. + STD_CARGO_KG
+      ret.wheelbase = 2.7
+      ret.steerRatio = 13.73  # Spec
+      tire_stiffness_factor = 0.385
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+    elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3558. * CV.LB_TO_KG
       ret.wheelbase = 2.80
@@ -161,15 +136,46 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 0.5
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
-    elif candidate == CAR.VELOSTER:
+    elif candidate == CAR.KIA_STINGER:
+      ret.lateralTuning.pid.kf = 0.00005
+      ret.mass = 1825. + STD_CARGO_KG
+      ret.wheelbase = 2.78
+      ret.steerRatio = 14.4 * 1.15   # 15% higher at the center seems reasonable
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+
+    elif candidate == CAR.KIA_FORTE:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3558. * CV.LB_TO_KG
       ret.wheelbase = 2.80
-      ret.steerRatio = 13.75 * 1.15
+      ret.steerRatio = 13.75
       tire_stiffness_factor = 0.5
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
 
+    # Genesis
+    elif candidate == CAR.GENESIS_G70:
+      ret.lateralTuning.pid.kf = 0.00005
+      ret.mass = 1640. + STD_CARGO_KG
+      ret.wheelbase = 2.84
+      ret.steerRatio = 16.5
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
+    elif candidate == CAR.GENESIS_G80:
+      ret.lateralTuning.pid.kf = 0.00005
+      ret.mass = 2060. + STD_CARGO_KG
+      ret.wheelbase = 3.01
+      ret.steerRatio = 16.5
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
+    elif candidate == CAR.GENESIS_G90:
+      ret.mass = 2200
+      ret.wheelbase = 3.15
+      ret.steerRatio = 12.069
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
+
+
     # these cars require a special panda safety mode due to missing counters and checksums in the messages
     if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_2019,
                      CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70]:
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 2fd4be9ae9..d413738597 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -19,20 +19,12 @@ class SteerLimitParams:
 
 
 class CAR:
+  # Hyundai
   ELANTRA = "HYUNDAI ELANTRA LIMITED ULTIMATE 2017"
   ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT"
-  GENESIS_G70 = "GENESIS G70 2018"
-  GENESIS_G80 = "GENESIS G80 2017"
-  GENESIS_G90 = "GENESIS G90 2017"
   HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016"
   IONIQ = "HYUNDAI IONIQ ELECTRIC PREMIUM SE 2020"
   IONIQ_EV_LTD = "HYUNDAI IONIQ ELECTRIC LIMITED 2019"
-  KIA_FORTE = "KIA FORTE E 2018"
-  KIA_NIRO_EV = "KIA NIRO EV 2020"
-  KIA_OPTIMA = "KIA OPTIMA SX 2019 & 2016"
-  KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
-  KIA_SORENTO = "KIA SORENTO GT LINE 2018"
-  KIA_STINGER = "KIA STINGER GT2 2018"
   KONA = "HYUNDAI KONA 2020"
   KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
   SANTA_FE = "HYUNDAI SANTA FE LIMITED 2019"
@@ -41,6 +33,19 @@ class CAR:
   PALISADE = "HYUNDAI PALISADE 2020"
   VELOSTER = "HYUNDAI VELOSTER 2019"
 
+  # Kia
+  KIA_FORTE = "KIA FORTE E 2018"
+  KIA_NIRO_EV = "KIA NIRO EV 2020"
+  KIA_OPTIMA = "KIA OPTIMA SX 2019 & 2016"
+  KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
+  KIA_SORENTO = "KIA SORENTO GT LINE 2018"
+  KIA_STINGER = "KIA STINGER GT2 2018"
+
+  # Genesis
+  GENESIS_G70 = "GENESIS G70 2018"
+  GENESIS_G80 = "GENESIS G80 2017"
+  GENESIS_G90 = "GENESIS G90 2017"
+
 
 class Buttons:
   NONE = 0
@@ -265,7 +270,7 @@ FW_VERSIONS = {
   CAR.KIA_NIRO_EV: {
     (Ecu.fwdRadar, 0x7D0, None): [
       b'\xf1\x00DEev SCC F-CUP      1.00 1.03 96400-Q4100         \xf1\xa01.03',
-      b'\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4000         \xf1\xa01.00',      
+      b'\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4000         \xf1\xa01.00',
     ],
     (Ecu.esp, 0x7D1, None): [
       b'\xf1\xa01.06',