diff --git a/README.md b/README.md
index 256271eebc710a..24596f4b316aa3 100644
--- a/README.md
+++ b/README.md
@@ -32,6 +32,9 @@ Supported Cars
 - Honda Odyssey 2018 with Honda Sensing (alpha!)
   - Can only be enabled above 25 mph
 
+- Acura RDX 2018 with AcuraWatch Plus (alpha!)
+  - Can only be enabled above 25 mph
+
 - Toyota RAV-4 2016+ non-hybrid with TSS-P
   - By default it uses stock Toyota ACC for longitudinal control
   - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Rav4_.28for_openpilot.29) and can be enabled above 20 mph
@@ -64,8 +67,6 @@ Community WIP Cars
 
 - [Honda Pilot 2017 with Honda Sensing](https://github.com/commaai/openpilot/pull/161)
 
-- [Acura RDX 2018 with AcuraWatch Plus](https://github.com/commaai/openpilot/pull/162)
-
 Directory structure
 ------
 
diff --git a/common/fingerprints.py b/common/fingerprints.py
index 90bf8563c87816..3a4fdfa9526506 100644
--- a/common/fingerprints.py
+++ b/common/fingerprints.py
@@ -3,6 +3,7 @@ class HONDA:
   ACURA_ILX = "ACURA ILX 2016 ACURAWATCH PLUS"
   CRV = "HONDA CR-V 2016 TOURING"
   ODYSSEY = "HONDA ODYSSEY 2018 EX-L"
+  ACURA_RDX = "ACURA RDX 2018 ACURAWATCH PLUS"
 
 
 class TOYOTA:
@@ -18,6 +19,9 @@ class TOYOTA:
     # sent messages
     0xe4: 5, 0x1fa: 8, 0x200: 3, 0x30c: 8, 0x33d: 5,
   },
+  HONDA.ACURA_RDX: {
+    57L: 3, 145L: 8, 229L: 4, 308L: 5, 316L: 8, 342L: 6, 344L: 8, 380L: 8, 392L: 6, 398L: 3, 399L: 6, 404L: 4, 420L: 8, 422L: 8, 426L: 8, 432L: 7, 464L: 8, 474L: 5, 476L: 4, 487L: 4, 490L: 8, 506L: 8, 542L: 7, 545L: 4, 597L: 8, 660L: 8, 773L: 7, 777L: 8, 780L: 8, 800L: 8, 804L: 8, 808L: 8, 819L: 7, 821L: 5, 829L: 5, 882L: 2, 884L: 7, 887L: 8, 888L: 8, 892L: 8, 923L: 2, 929L: 4, 963L: 8, 965L: 8, 966L: 8, 967L: 8, 983L: 8, 985L: 3, 1024L: 5, 1027L: 5, 1029L: 8, 1033L: 5, 1034L: 5, 1036L: 8, 1039L: 8, 1057L: 5, 1064L: 7, 1108L: 8, 1365L: 5, 1424L: 5, 1729L: 1
+  },  
   HONDA.CIVIC: {
     1024L: 5, 513L: 5, 1027L: 5, 1029L: 8, 777L: 8, 1036L: 8, 1039L: 8, 1424L: 5, 401L: 8, 148L: 8, 662L: 4, 985L: 3, 795L: 8, 773L: 7, 800L: 8, 545L: 6, 420L: 8, 806L: 8, 808L: 8, 1322L: 5, 427L: 3, 428L: 8, 304L: 8, 432L: 7, 57L: 3, 450L: 8, 929L: 8, 330L: 8, 1302L: 8, 464L: 8, 1361L: 5, 1108L: 8, 597L: 8, 470L: 2, 344L: 8, 804L: 8, 399L: 7, 476L: 7, 1633L: 8, 487L: 4, 892L: 8, 490L: 8, 493L: 5, 884L: 8, 891L: 8, 380L: 8, 1365L: 5,
     # sent messages
diff --git a/opendbc/acura_rdx_2018_can_generated.dbc b/opendbc/acura_rdx_2018_can_generated.dbc
index dc30eb22aa2cf8..1e85eb41322ccc 100644
--- a/opendbc/acura_rdx_2018_can_generated.dbc
+++ b/opendbc/acura_rdx_2018_can_generated.dbc
@@ -1,9 +1,47 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT"
-BO_ 342 STEERING_SENSORS: 6 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
+CM_ "Imported file _honda_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
 
 BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
@@ -16,8 +54,175 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
  SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ COMPUTER_BRAKE : 7|10@0+ (0.003906248,0) [0|1] "" EBCM
+ SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST_2 : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
+ SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
+ SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
+ SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
+
+BO_ 512 GAS_COMMAND: 3 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 5 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EON
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 LOCK_STATUS: 8 XXX
+ SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.002759506,0) [0|100] "m/s" BDY
+ SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "acura_rdx_2018_can.dbc starts here"
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
+
 BO_ 392 GEARBOX: 6 XXX
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" XXX
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" XXX
@@ -48,13 +253,13 @@ BO_ 420 VSA_STATUS: 8 VSA
 BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
- SG_ PARKING_BREAK_LIGHT : 2|1@0+ (1,0) [0|1] "" EON
+ SG_ PARKING_BRAKE_LIGHT : 2|1@0+ (1,0) [0|1] "" EON
  SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
  SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
-BO_ 487 XXX_9: 4 VSA
+BO_ 487 BRAKE_PRESSURE: 4 VSA
  SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
  SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
  SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EON
@@ -67,7 +272,7 @@ BO_ 660 SCM_FEEDBACK: 8 SCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
-CM_ SG_ 422 PARKING_BREAK_LIGHT "Believe this is just the dash light for the parking break";
+CM_ SG_ 422 PARKING_BRAKE_LIGHT "Believe this is just the dash light for the parking break";
 VAL_ 392 GEAR_SHIFTER 0 "S" 1 "P" 2 "R" 4 "N" 8 "D" ;
 VAL_ 392 GEAR 26 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
diff --git a/opendbc/generator/honda/acura_rdx_2018_can.dbc b/opendbc/generator/honda/acura_rdx_2018_can.dbc
index 7b33013d45c77b..5179d233e1727c 100644
--- a/opendbc/generator/honda/acura_rdx_2018_can.dbc
+++ b/opendbc/generator/honda/acura_rdx_2018_can.dbc
@@ -1,22 +1,11 @@
+CM_ "IMPORT _honda_2017.dbc"
+
 BO_ 342 STEERING_SENSORS: 6 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
 
-BO_ 380 POWERTRAIN_DATA: 8 PCM
- SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
- SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm" EON
- SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
- SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
- SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" EON
- SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
- SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
 BO_ 392 GEARBOX: 6 XXX
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" XXX
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" XXX
@@ -47,13 +36,13 @@ BO_ 420 VSA_STATUS: 8 VSA
 BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
- SG_ PARKING_BREAK_LIGHT : 2|1@0+ (1,0) [0|1] "" EON
+ SG_ PARKING_BRAKE_LIGHT : 2|1@0+ (1,0) [0|1] "" EON
  SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
  SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
-BO_ 487 XXX_9: 4 VSA
+BO_ 487 BRAKE_PRESSURE: 4 VSA
  SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
  SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
  SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EON
@@ -66,7 +55,7 @@ BO_ 660 SCM_FEEDBACK: 8 SCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
-CM_ SG_ 422 PARKING_BREAK_LIGHT "Believe this is just the dash light for the parking break";
+CM_ SG_ 422 PARKING_BRAKE_LIGHT "Believe this is just the dash light for the parking break";
 VAL_ 392 GEAR_SHIFTER 0 "S" 1 "P" 2 "R" 4 "N" 8 "D" ;
 VAL_ 392 GEAR 26 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
diff --git a/opendbc/generator/toyota/_toyota_2017.dbc b/opendbc/generator/toyota/_toyota_2017.dbc
index 3e2b5ec86fa3b6..25120828c2d4a7 100644
--- a/opendbc/generator/toyota/_toyota_2017.dbc
+++ b/opendbc/generator/toyota/_toyota_2017.dbc
@@ -80,13 +80,13 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 
 BO_ 643 PRE_COLLISION: 8 XXX
 
-BO_ 740 STEERING_LKA: 8 XXX
+BO_ 740 STEERING_LKA: 5 XXX
  SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
  SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
  SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
  SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 742 LEAD_INFO: 8 DSU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
diff --git a/opendbc/generator/toyota/lexus_rx_hybrid_2017_pt.dbc b/opendbc/generator/toyota/lexus_rx_hybrid_2017_pt.dbc
new file mode 100644
index 00000000000000..2c0a4809918306
--- /dev/null
+++ b/opendbc/generator/toyota/lexus_rx_hybrid_2017_pt.dbc
@@ -0,0 +1,30 @@
+CM_ "IMPORT _toyota_2017.dbc"
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+VAL_ 610 STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 50 "temporary_fault";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
diff --git a/opendbc/generator/toyota/toyota_rav4_hybrid_2017_pt.dbc b/opendbc/generator/toyota/toyota_rav4_hybrid_2017_pt.dbc
index fb62c09fd3e1c1..2c0a4809918306 100644
--- a/opendbc/generator/toyota/toyota_rav4_hybrid_2017_pt.dbc
+++ b/opendbc/generator/toyota/toyota_rav4_hybrid_2017_pt.dbc
@@ -5,7 +5,7 @@ BO_ 550 BRAKE_MODULE: 8 XXX
  SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
  SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
 
-BO_ 581 GAS_PEDAL: 8 XXX
+BO_ 581 GAS_PEDAL: 5 XXX
  SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
 
 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
diff --git a/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc b/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
new file mode 100644
index 00000000000000..abc28528dc4ac1
--- /dev/null
+++ b/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
@@ -0,0 +1,210 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "Imported file _toyota_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1,0) [0|16777215] "" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 8 XXX
+
+BO_ 740 STEERING_LKA: 5 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 921 PCM_CRUISE_SM: 8 XXX
+ SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_1 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1553 UI_SEETING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+CM_ "lexus_rx_hybrid_2017_pt.dbc starts here"
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+VAL_ 610 STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 50 "temporary_fault";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
diff --git a/opendbc/toyota_corolla_2017_pt_generated.dbc b/opendbc/toyota_corolla_2017_pt_generated.dbc
index 18d758120dec63..c1be02aada038c 100644
--- a/opendbc/toyota_corolla_2017_pt_generated.dbc
+++ b/opendbc/toyota_corolla_2017_pt_generated.dbc
@@ -82,13 +82,13 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 
 BO_ 643 PRE_COLLISION: 8 XXX
 
-BO_ 740 STEERING_LKA: 8 XXX
+BO_ 740 STEERING_LKA: 5 XXX
  SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
  SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
  SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
  SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 742 LEAD_INFO: 8 DSU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
diff --git a/opendbc/toyota_prius_2017_pt_generated.dbc b/opendbc/toyota_prius_2017_pt_generated.dbc
index bb5e0df32ba1ab..ec72752baa0e1d 100644
--- a/opendbc/toyota_prius_2017_pt_generated.dbc
+++ b/opendbc/toyota_prius_2017_pt_generated.dbc
@@ -82,13 +82,13 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 
 BO_ 643 PRE_COLLISION: 8 XXX
 
-BO_ 740 STEERING_LKA: 8 XXX
+BO_ 740 STEERING_LKA: 5 XXX
  SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
  SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
  SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
  SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 742 LEAD_INFO: 8 DSU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
diff --git a/opendbc/toyota_rav4_2017_pt_generated.dbc b/opendbc/toyota_rav4_2017_pt_generated.dbc
index df47a58b8a0a9f..3301bc0c6ded9e 100644
--- a/opendbc/toyota_rav4_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_2017_pt_generated.dbc
@@ -82,13 +82,13 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 
 BO_ 643 PRE_COLLISION: 8 XXX
 
-BO_ 740 STEERING_LKA: 8 XXX
+BO_ 740 STEERING_LKA: 5 XXX
  SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
  SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
  SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
  SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 742 LEAD_INFO: 8 DSU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
diff --git a/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc b/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
index f02b231317a721..cca97d041d9c75 100644
--- a/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
@@ -82,13 +82,13 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 
 BO_ 643 PRE_COLLISION: 8 XXX
 
-BO_ 740 STEERING_LKA: 8 XXX
+BO_ 740 STEERING_LKA: 5 XXX
  SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
  SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
  SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
  SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 742 LEAD_INFO: 8 DSU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
@@ -185,7 +185,7 @@ BO_ 550 BRAKE_MODULE: 8 XXX
  SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
  SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
 
-BO_ 581 GAS_PEDAL: 8 XXX
+BO_ 581 GAS_PEDAL: 5 XXX
  SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
 
 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index c5668bcdffa057..03d54cbe83b2bb 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -27,6 +27,7 @@
   HONDA.ACURA_ILX: HondaInterface,
   HONDA.CRV: HondaInterface,
   HONDA.ODYSSEY: HondaInterface,
+  HONDA.ACURA_RDX: HondaInterface,
 
   TOYOTA.PRIUS: ToyotaInterface,
   TOYOTA.RAV4: ToyotaInterface,
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 5372a44de41836..f964c1eb7f0ecd 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -121,7 +121,7 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
     if CS.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY):
       is_fw_modified = os.getenv("DONGLE_ID") in ['b0f5a01cf604185c']
       STEER_MAX = 0x1FFF if is_fw_modified else 0x1000
-    elif CS.crv:
+    elif CS.CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX):
       STEER_MAX = 0x3e8  # CR-V only uses 12-bits and requires a lower value (max value from energee)
     else:
       STEER_MAX = 0xF00
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 4d896a1e174742..4d9892a73a0222 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -23,7 +23,7 @@ def parse_gear_shifter(can_gear_shifter, car_fingerprint):
       return "drive"
     elif can_gear_shifter == 0xa:
       return "sport"
-  elif car_fingerprint in (CAR.CIVIC, CAR.CRV):
+  elif car_fingerprint in (CAR.CIVIC, CAR.CRV, CAR.ACURA_RDX):
     if can_gear_shifter == 0x4:
       return "neutral"
     elif can_gear_shifter == 0x8:
@@ -115,6 +115,9 @@ def get_can_signals(CP):
   elif CP.carFingerprint == CAR.CRV:
     dbc_f = 'honda_crv_touring_2016_can_generated.dbc'
     signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
+  elif CP.carFingerprint == CAR.ACURA_RDX:
+    dbc_f = 'acura_rdx_2018_can_generated.dbc'
+    signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
   elif CP.carFingerprint == CAR.ODYSSEY:
     dbc_f = 'honda_odyssey_exl_2018_generated.dbc'
     signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
@@ -235,6 +238,7 @@ def update(self, cp):
     else:
       self.park_brake = 0  # TODO
       self.brake_hold = 0  # TODO
+   
       self.main_on = cp.vl["SCM_BUTTONS"]['MAIN_ON']
 
     self.cruise_speed_offset = calc_cruise_offset(cp.vl["CRUISE_PARAMS"]['CRUISE_SPEED_OFFSET'], self.v_ego)
@@ -242,12 +246,16 @@ def update(self, cp):
 
     self.pedal_gas = cp.vl["POWERTRAIN_DATA"]['PEDAL_GAS']
     # crv doesn't include cruise control
-    if self.CP.carFingerprint != CAR.CRV:
-      self.car_gas = cp.vl["GAS_PEDAL_2"]['CAR_GAS']
+    if self.CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX):
+     self.car_gas = self.pedal_gas
     else:
-      self.car_gas = self.pedal_gas
-
-    self.steer_override = abs(cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']) > 1200
+     self.car_gas = cp.vl["GAS_PEDAL_2"]['CAR_GAS']
+    
+    #rdx has different steer override threshold 
+    if self.CP.carFingerprint in (CAR.ACURA_RDX):
+      self.steer_override = abs(cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']) > 400
+    else:
+      self.steer_override = abs(cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']) > 1200
     self.steer_torque_driver = cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']
 
     # brake switch has shown some single time step noise, so only considered when
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index 81ae038099c050..0f9544be1a098a 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -49,11 +49,10 @@ def create_gas_command(gas_amount, idx):
   msg = struct.pack("!H", gas_amount)
   return make_can_msg(0x200, msg, idx, 0)
 
-
 def create_steering_control(apply_steer, car_fingerprint, idx):
   """Creates a CAN message for the Honda DBC STEERING_CONTROL."""
   commands = []
-  if car_fingerprint == CAR.CRV:
+  if car_fingerprint in (CAR.CRV, CAR.ACURA_RDX):
     msg_0x194 = struct.pack("!h", apply_steer << 4) + ("\x80" if apply_steer != 0 else "\x00")
     commands.append(make_can_msg(0x194, msg_0x194, idx, 0))
   else:
@@ -80,7 +79,6 @@ def create_ui_commands(pcm_speed, hud, car_fingerprint, idx):
     commands.append(make_can_msg(0x39f, msg_0x39f, idx, 0))
   return commands
 
-
 def create_radar_commands(v_ego, car_fingerprint, idx):
   """Creates an iterable of CAN messages for the radar system."""
   commands = []
@@ -97,6 +95,9 @@ def create_radar_commands(v_ego, car_fingerprint, idx):
   elif car_fingerprint == CAR.CRV:
     msg_0x301 = "\x00\x00\x50\x02\x51\x00\x00"
     commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
+  elif car_fingerprint == CAR.ACURA_RDX:
+    msg_0x301 = "\x0f\x57\x4f\x02\x5a\x00\x00"
+    commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
   elif car_fingerprint == CAR.ODYSSEY:
     msg_0x301 = "\x00\x00\x56\x02\x55\x00\x00"
     commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index e6725cb4491bbe..23d68fcce743fe 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -191,6 +191,18 @@ def get_params(candidate, fingerprint):
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
       ret.longitudinalKiBP = [0., 35.]
       ret.longitudinalKiV = [0.18, 0.12]
+    elif candidate == CAR.ACURA_RDX:
+      stop_and_go = False
+      ret.mass = 3935./2.205 + std_cargo
+      ret.wheelbase = 2.68
+      ret.centerToFront = ret.wheelbase * 0.38
+      ret.steerRatio = 15.0
+      ret.steerKp, ret.steerKi = 0.8, 0.24
+
+      ret.longitudinalKpBP = [0., 5., 35.]
+      ret.longitudinalKpV = [1.2, 0.8, 0.5]
+      ret.longitudinalKiBP = [0., 35.]
+      ret.longitudinalKiV = [0.18, 0.12]  
     elif candidate == CAR.ODYSSEY:
       stop_and_go = False
       ret.mass = 4354./2.205 + std_cargo