diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py
index 359ae83..a60f18c 100644
--- a/selfdrive/car/honda/fingerprints.py
+++ b/selfdrive/car/honda/fingerprints.py
@@ -435,6 +435,16 @@ FW_VERSIONS = {
       b'39990-TGG-J510\x00\x00',
       b'39990-TGL-E130\x00\x00',
       b'39990-TGN-E120\x00\x00',
+      #modded EPS bosch civic fw list
+      b'39990-TBA,C020\x00\x00',
+      b'39990-TBA,C120\x00\x00',
+      b'39990-TEA,T820\x00\x00',
+      b'39990-TEZ,T020\x00\x00',
+      b'39990-TGG,A020\x00\x00',
+      b'39990-TGG,A120\x00\x00',
+      b'39990-TGG,J510\x00\x00',
+      b'39990-TGL,E130\x00\x00',
+      b'39990-TGN,E120\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-TBA-A060\x00\x00',
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 737f274..696e1ce 100644
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -118,8 +118,12 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.70
       ret.centerToFront = ret.wheelbase * 0.4
       ret.steerRatio = 15.38  # 10.93 is end-to-end spec
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
+      if eps_modified:
+        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2564, 8000], [0, 2564, 3840]]
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]  # 2.5x Modded EPS
+      else:
+        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
     elif candidate in (CAR.ACCORD, CAR.ACCORDH):
       ret.mass = 3279. * CV.LB_TO_KG