diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
index 82e6eadda24fa1..16f2a07982a909 100644
--- a/board/safety/safety_honda.h
+++ b/board/safety/safety_honda.h
@@ -138,15 +138,6 @@ static void honda_init(int16_t param) {
   honda_alt_brake_msg = false;
 }
 
-const safety_hooks honda_hooks = {
-  .init = honda_init,
-  .rx = honda_rx_hook,
-  .tx = honda_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
-  .ignition = default_ign_hook,
-  .fwd = nooutput_fwd_hook,
-};
-
 static void honda_bosch_init(int16_t param) {
   controls_allowed = 0;
   bosch_hardware = true;
@@ -154,6 +145,20 @@ static void honda_bosch_init(int16_t param) {
   honda_alt_brake_msg = param == 1 ? true : false;
 }
 
+static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+  // fwd from car to camera. also fwd certain msgs from camera to car
+  // 0xE4 is steering on all cars except CRV and RDX. 0x194 for CRV and RDX
+  int addr = to_fwd->RIR>>21;
+  if (bus_num == 0) {
+    return 2;
+  } else if (bus_num == 2 && addr != 0xE4 && addr != 0x1FA && addr != 0x30C &&
+              addr != 0x33D && addr != 0x35E && addr != 0x39E && addr != 0x194) {
+    return 0;
+  }
+
+  return -1;
+}
+
 static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   if (bus_num == 1 || bus_num == 2) {
     int addr = to_fwd->RIR>>21;
@@ -162,6 +167,15 @@ static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   return -1;
 }
 
+const safety_hooks honda_hooks = {
+  .init = honda_init,
+  .rx = honda_rx_hook,
+  .tx = honda_tx_hook,
+  .tx_lin = nooutput_tx_lin_hook,
+  .ignition = default_ign_hook,
+  .fwd = honda_fwd_hook,
+};
+
 const safety_hooks honda_bosch_hooks = {
   .init = honda_bosch_init,
   .rx = honda_rx_hook,