diff --git a/README.md b/README.md
index f50bcbb83c..f994fba42d 100644
--- a/README.md
+++ b/README.md
@@ -83,6 +83,7 @@ Supported Cars
 | Honda     | Pilot 2016-18                 | Honda Sensing     | openpilot        | 25mph<sup>6</sup>  | 12mph             |
 | Honda     | Pilot 2019                    | All               | openpilot        | 25mph<sup>6</sup>  | 12mph             |
 | Honda     | Ridgeline 2017-19             | Honda Sensing     | openpilot        | 25mph<sup>6</sup>  | 12mph             |
+| Honda     | Insight 2019                  | Honda Sensing     | Stock            | 0mph               | 3mph             |
 | Hyundai   | Elantra 2017-19<sup>1</sup>   | SCC + LKAS        | Stock            | 19mph              | 34mph             |
 | Hyundai   | Genesis 2018<sup>1</sup>      | All               | Stock            | 19mph              | 34mph             |
 | Hyundai   | Santa Fe 2019<sup>1</sup>     | All               | Stock            | 0mph               | 0mph              |
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 0feadb6540..6e6cd0c0d5 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -81,7 +81,7 @@ def get_can_signals(CP):
 
   if CP.radarOffCan:
     # Civic is only bosch to use the same brake message as other hondas.
-    if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID):
+    if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT):
       signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
       checks += [("BRAKE_MODULE", 50)]
     signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
@@ -103,7 +103,7 @@ def get_can_signals(CP):
     else:
       checks += [("CRUISE_PARAMS", 50)]
 
-  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID):
+  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT):
     signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
   elif CP.carFingerprint == CAR.ODYSSEY_CHN:
     signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)]
@@ -176,7 +176,7 @@ class CarState(CarStateBase):
     self.prev_cruise_setting = self.cruise_setting
 
     # ******************* parse out can *******************
-    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID): # TODO: find wheels moving bit in dbc
+    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT): # TODO: find wheels moving bit in dbc
       ret.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
       ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN'])
     elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
@@ -223,7 +223,7 @@ class CarState(CarStateBase):
     ret.rightBlinker = cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER'] != 0
     self.brake_hold = cp.vl["VSA_STATUS"]['BRAKE_HOLD_ACTIVE']
 
-    if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID):
+    if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT):
       self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
       main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON']
     elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
@@ -262,7 +262,7 @@ class CarState(CarStateBase):
       self.cruise_mode = cp.vl["ACC_HUD"]['CRUISE_CONTROL_LABEL']
       ret.cruiseState.standstill = cp.vl["ACC_HUD"]['CRUISE_SPEED'] == 252.
       ret.cruiseState.speedOffset = calc_cruise_offset(0, ret.vEgo)
-      if self.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.ACCORDH, CAR.CRV_HYBRID):
+      if self.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.ACCORDH, CAR.CRV_HYBRID, CAR.INSIGHT):
         ret.brakePressed = cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] != 0 or \
                           (self.brake_switch and self.brake_switch_prev and \
                           cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != self.brake_switch_ts)
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index ee40e3003b..a602ef533b 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -353,6 +353,21 @@ class CarInterface(CarInterfaceBase):
       ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
       ret.longitudinalTuning.kiBP = [0., 35.]
       ret.longitudinalTuning.kiV = [0.18, 0.12]
+	  
+    elif candidate == CAR.INSIGHT:
+      stop_and_go = True
+      ret.mass = 2987. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.wheelbase = 2.7
+      ret.centerToFront = ret.wheelbase * 0.39
+      ret.steerRatio = 15.0  # 12.58 is spec end-to-end
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
+      tire_stiffness_factor = 0.82
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
+      ret.longitudinalTuning.kpBP = [0., 5., 35.]
+      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
+      ret.longitudinalTuning.kiBP = [0., 35.]
+      ret.longitudinalTuning.kiV = [0.18, 0.12]
+
 
     else:
       raise ValueError("unsupported car %s" % candidate)
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index e782e50f7d..38f8aace56 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -39,6 +39,7 @@ class CAR:
   PILOT = "HONDA PILOT 2017 TOURING"
   PILOT_2019 = "HONDA PILOT 2019 ELITE"
   RIDGELINE = "HONDA RIDGELINE 2017 BLACK EDITION"
+  INSIGHT = "HONDA INSIGHT 2019 TOURING"
 
 # diag message that in some Nidec cars only appear with 1s freq if VIN query is performed
 DIAG_MSGS = {1600: 5, 1601: 8}
@@ -121,9 +122,16 @@ FINGERPRINTS = {
   # 2019 Ridgeline
   {
     57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 339: 7, 342: 6, 344: 8, 380: 8, 392: 6, 399: 7, 419: 8, 420: 8, 422:8, 425: 8, 426: 8, 427: 3, 432: 7, 464: 8, 476: 4, 490: 8, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 871: 8, 882: 2, 884: 7, 892: 8, 923: 2, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1125: 8, 1296: 8, 1365: 5, 424: 5, 1613: 5, 1616: 5, 1618: 5, 1623: 5, 1668: 5
+  }],
+  # 2019 Insight
+  CAR.INSIGHT: [{
+    57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 450: 8, 464: 8, 476: 8, 477: 8, 479: 8, 490: 8, 495: 8, 507: 1, 525: 8, 531: 8, 545: 6, 547: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 804: 8, 806: 8, 808: 8, 814: 4, 815: 8, 829: 5, 832: 3, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 954: 2, 985: 3, 1029: 8, 1093: 4, 1115: 2, 1302: 8, 1361: 5, 1365: 5, 1600: 5, 1601: 8, 1652: 8, 2015: 3
   }]
 }
 
+# Don't use theses fingerprints for fingerprinting, they are still needed for ECU detection
+IGNORED_FINGERPRINTS = [CAR.INSIGHT]
+
 # add DIAG_MSGS to fingerprints
 for c in FINGERPRINTS:
   for f, _ in enumerate(FINGERPRINTS[c]):
@@ -631,6 +639,20 @@ FW_VERSIONS = {
       b'57114-T6Z-A130\x00\x00',
     ],
   },
+  CAR.INSIGHT: {
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TXM-A040\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36802-TXM-A070\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
+      b'36161-TXM-A050\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TXM-A230\x00\x00',
+    ],
+  },
 }
 
 DBC = {
@@ -651,6 +673,7 @@ DBC = {
   CAR.PILOT: dbc_dict('honda_pilot_touring_2017_can_generated', 'acura_ilx_2016_nidec'),
   CAR.PILOT_2019: dbc_dict('honda_pilot_touring_2017_can_generated', 'acura_ilx_2016_nidec'),
   CAR.RIDGELINE: dbc_dict('honda_ridgeline_black_edition_2017_can_generated', 'acura_ilx_2016_nidec'),
+  CAR.INSIGHT: dbc_dict('honda_insight_ex_2019_can_generated', None),
 }
 
 STEER_THRESHOLD = {
@@ -671,6 +694,7 @@ STEER_THRESHOLD = {
   CAR.PILOT: 1200,
   CAR.PILOT_2019: 1200,
   CAR.RIDGELINE: 1200,
+  CAR.INSIGHT: 1200,
 }
 
 SPEED_FACTOR = {
@@ -691,6 +715,7 @@ SPEED_FACTOR = {
   CAR.PILOT: 1.,
   CAR.PILOT_2019: 1.,
   CAR.RIDGELINE: 1.,
+  CAR.INSIGHT: 1.,
 }
 
 # msgs sent for steering controller by camera module on can 0.
@@ -699,4 +724,4 @@ ECU_FINGERPRINT = {
   Ecu.fwdCamera: [0xE4, 0x194],   # steer torque cmd
 }
 
-HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID]
+HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT]
diff --git a/selfdrive/test/test_car_models.py b/selfdrive/test/test_car_models.py
index bd8c74f18a..e9960a7e98 100755
--- a/selfdrive/test/test_car_models.py
+++ b/selfdrive/test/test_car_models.py
@@ -201,10 +201,11 @@ routes = {
     'enableCamera': True,
     'fingerprintSource': 'fixed',
   },
-  #"18971a99f3f2b385|2018-11-14--19-09-31": {
-  #  'carFingerprint': HONDA.INSIGHT,
-  #  'enableCamera': True,
-  #},
+  "fb51d190ddfd8a90|2020-02-25--14-43-43": {
+    'carFingerprint': HONDA.INSIGHT,
+    'enableCamera': True,
+    'fingerprintSource': 'fixed',
+  },
   "38bfd238edecbcd7|2018-08-22--09-45-44": {
     'carFingerprint': HYUNDAI.SANTA_FE,
     'enableCamera': False,