diff --git a/panda b/panda
index 81afa1065d..be8d6c2b5e 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 81afa1065d0b8785f5daad5a5e16ed5ae47f2c3c
+Subproject commit be8d6c2b5e6ee70c73f49627fc9ad48251672896
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index c01637b64f..510e752525 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -116,14 +116,24 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud,
   bus_lkas = get_lkas_cmd_bus(CP.carFingerprint, radar_disabled)
 
   if CP.openpilotLongitudinalControl:
-    acc_hud_values = {
-      'CRUISE_SPEED': hud.v_cruise,
-      'ENABLE_MINI_CAR': 1,
-      'HUD_DISTANCE': 0,  # max distance setting on display
-      'IMPERIAL_UNIT': int(not is_metric),
-      'HUD_LEAD': 2 if enabled and hud.lead_visible else 1 if enabled else 0,
-      'SET_ME_X01_2': 1,
-    }
+    if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
+      acc_hud_values = {
+        'CRUISE_SPEED': 255 if hud.v_cruise == 255 else hud.v_cruise * CV.KPH_TO_MPH ,
+        'ENABLE_MINI_CAR': 1,
+        'HUD_DISTANCE': 0,  # max distance setting on display
+        'IMPERIAL_UNIT': int(not is_metric),
+        'HUD_LEAD': 2 if enabled and hud.lead_visible else 1 if enabled else 0,
+        'SET_ME_X01_2': 1,
+      }
+    else:
+      acc_hud_values = {
+        'CRUISE_SPEED': hud.v_cruise,
+        'ENABLE_MINI_CAR': 1,
+        'HUD_DISTANCE': 0,  # max distance setting on display
+        'IMPERIAL_UNIT': int(not is_metric),
+        'HUD_LEAD': 2 if enabled and hud.lead_visible else 1 if enabled else 0,
+        'SET_ME_X01_2': 1,
+      }
 
     if CP.carFingerprint in HONDA_BOSCH:
       acc_hud_values['ACC_ON'] = int(enabled)