diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
index 8004544..6c3bed0 100644
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -133,7 +133,7 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
 def create_lfahda_cluster(packer, CAN, enabled, lat_active):
   values = {
     "HDA_ICON": 0, 
-    "LFA_ICON": 0
+    "LFA_ICON": 2 if enabled else 1 if lat_active else 0
   }
 
   return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 8db8372..32fb152 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -641,8 +641,8 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
 }
 
 void AnnotatedCameraWidget::updateLaneEdgeColor(QColor &bgColor) {
-if (bg != bgColor) {
-    bg = bgColor;
+if (edgeColor != bgColor) {
+    edgeColor = bgColor;
   }
 }
 
@@ -904,11 +904,11 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   painter.drawPolygon(scene.track_vertices);
 
   // Paint path edges ,Use current background color
-  if (bg != bg_colors[STATUS_DISENGAGED]) {
+  if (edgeColor != bg_colors[STATUS_DISENGAGED]) {
     QLinearGradient edge_gradient;
-    edge_gradient.setColorAt(0.0, QColor(bg.red(), bg.green(), bg.blue(), static_cast<int>(255)));  
-    edge_gradient.setColorAt(0.5, QColor(bg.red(), bg.green(), bg.blue(), static_cast<int>(255 * 0.7) ));  
-    edge_gradient.setColorAt(1.0, QColor(bg.red(), bg.green(), bg.blue(), static_cast<int>(255 * 0.5)));  
+    edge_gradient.setColorAt(0.0, QColor(edgeColor.red(), edgeColor.green(), edgeColor.blue(), static_cast<int>(255)));  
+    edge_gradient.setColorAt(0.5, QColor(edgeColor.red(), edgeColor.green(), edgeColor.blue(), static_cast<int>(255 * 0.7) ));  
+    edge_gradient.setColorAt(1.0, QColor(edgeColor.red(), edgeColor.green(), edgeColor.blue(), static_cast<int>(255 * 0.5)));  
 
     QPainterPath path;
     path.addPolygon(scene.track_vertices);
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index c909420..338da7d 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -308,7 +308,7 @@ private:
   void mousePressEvent(QMouseEvent* e) override;
   OnroadAlerts *alerts;
   AnnotatedCameraWidget *nvg;
-  QColor bg = bg_colors[STATUS_DISENGAGED];
+  QColor edgeColor = bg_colors[STATUS_DISENGAGED];
   QWidget *map = nullptr;
   QHBoxLayout* split;