diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py
index 45c3dd720c..8847551a82 100644
--- a/selfdrive/car/nissan/carcontroller.py
+++ b/selfdrive/car/nissan/carcontroller.py
@@ -26,8 +26,6 @@ class CarController:
     can_sends = []
 
     ### STEER ###
-    lkas_hud_msg = CS.lkas_hud_msg
-    lkas_hud_info_msg = CS.lkas_hud_info_msg
     steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
 
     if CC.latActive:
@@ -65,14 +63,14 @@ class CarController:
     can_sends.append(nissancan.create_steering_control(
       self.packer, apply_angle, self.frame, CC.enabled, self.lkas_max_torque))
 
-    if lkas_hud_msg and lkas_hud_info_msg:
+    if self.CP.carFingerprint != CAR.ALTIMA:
       if self.frame % 2 == 0:
         can_sends.append(nissancan.create_lkas_hud_msg(
-          self.packer, lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart))
+          self.packer, CS.lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart))
 
       if self.frame % 50 == 0:
         can_sends.append(nissancan.create_lkas_hud_info_msg(
-          self.packer, lkas_hud_info_msg, steer_hud_alert
+          self.packer, CS.lkas_hud_info_msg, steer_hud_alert
         ))
 
     new_actuators = actuators.copy()
diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py
index d6b6d17d55..bbba92ddeb 100644
--- a/selfdrive/car/nissan/carstate.py
+++ b/selfdrive/car/nissan/carstate.py
@@ -14,8 +14,8 @@ 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.lkas_hud_msg = {}
+    self.lkas_hud_info_msg = {}
 
     self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES)
     self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py
index 166166a50b..3b498d3f70 100644
--- a/selfdrive/car/subaru/subarucan.py
+++ b/selfdrive/car/subaru/subarucan.py
@@ -3,6 +3,7 @@ from cereal import car
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
+
 def create_steering_control(packer, apply_steer):
   values = {
     "LKAS_Output": apply_steer,
@@ -11,9 +12,11 @@ def create_steering_control(packer, apply_steer):
   }
   return packer.make_can_msg("ES_LKAS", 0, values)
 
+
 def create_steering_status(packer):
   return packer.make_can_msg("ES_LKAS_State", 0, {})
 
+
 def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd):
   values = copy.copy(es_distance_msg)
   values["COUNTER"] = (values["COUNTER"] + 1) % 0x10
@@ -21,8 +24,8 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd):
     values["Cruise_Cancel"] = 1
   return packer.make_can_msg("ES_Distance", bus, values)
 
-def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
 
+def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
   values = copy.copy(es_lkas_state_msg)
 
   # Filter the stock LKAS "Keep hands on wheel" alert
@@ -52,18 +55,19 @@ def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_
   # Ensure we don't overwrite potentially more important alerts from stock (e.g. FCW)
   if visual_alert == VisualAlert.ldw and values["LKAS_Alert"] == 0:
     if left_lane_depart:
-      values["LKAS_Alert"] = 12 # Left lane departure dash alert
+      values["LKAS_Alert"] = 12  # Left lane departure dash alert
     elif right_lane_depart:
-      values["LKAS_Alert"] = 11 # Right lane departure dash alert
+      values["LKAS_Alert"] = 11  # Right lane departure dash alert
 
-  values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines
-  values["LKAS_Dash_State"] = 2 if enabled else 0 # Green enabled indicator
+  values["LKAS_ACTIVE"] = 1  # Show LKAS lane lines
+  values["LKAS_Dash_State"] = 2 if enabled else 0  # Green enabled indicator
 
   values["LKAS_Left_Line_Visible"] = int(left_line)
   values["LKAS_Right_Line_Visible"] = int(right_line)
 
   return packer.make_can_msg("ES_LKAS_State", 0, values)
 
+
 def create_es_dashstatus(packer, dashstatus_msg):
   values = copy.copy(dashstatus_msg)
 
@@ -73,6 +77,7 @@ def create_es_dashstatus(packer, dashstatus_msg):
 
   return packer.make_can_msg("ES_DashStatus", 0, values)
 
+
 def create_infotainmentstatus(packer, infotainmentstatus_msg, visual_alert):
   # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
   if infotainmentstatus_msg["LKAS_State_Infotainment"] in (3, 4):
@@ -88,12 +93,14 @@ def create_infotainmentstatus(packer, infotainmentstatus_msg, visual_alert):
 
   return packer.make_can_msg("INFOTAINMENT_STATUS", 0, infotainmentstatus_msg)
 
+
 # *** Subaru Pre-global ***
 
 def subaru_preglobal_checksum(packer, values, addr):
   dat = packer.make_can_msg(addr, 0, values)[2]
   return (sum(dat[:7])) % 256
 
+
 def create_preglobal_steering_control(packer, apply_steer):
   values = {
     "LKAS_Command": apply_steer,
@@ -103,8 +110,8 @@ def create_preglobal_steering_control(packer, apply_steer):
 
   return packer.make_can_msg("ES_LKAS", 0, values)
 
-def create_preglobal_es_distance(packer, cruise_button, es_distance_msg):
 
+def create_preglobal_es_distance(packer, cruise_button, es_distance_msg):
   values = copy.copy(es_distance_msg)
   values["Cruise_Button"] = cruise_button