diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
index 5af3a55..82b668d 100644
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -22,6 +22,9 @@ class CanBus(CanBusBase):
     self._e += self.offset
     self._cam = 2 + self.offset
 
+    self.params = Params()
+    self.params_memory = Params("/dev/shm/params")
+
   @property
   def ECAN(self):
     return self._e
@@ -119,18 +122,19 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
   values.update({
     "ACCMode": 4,
     "aReqRaw": 0.0,
-    "aReqValue": 0.0,
+    "aReqVClearpalue": 0.0,
   })
   return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
 
 # CLEARPILOT changed HDA icons
 # This doesn't appear to do anything on my tucson
 def create_lfahda_cluster(packer, CAN, enabled, lat_active):
+  no_lat_lane_change = self.params_memory.get_int("no_lat_lane_change", 1)
   values = {
     # 0 off, 1 gray, 2 green, 3 blinking (wheel icon)
     # CP: Is this actually the wheel?  Might this be the HDA2 thing?
     "HDA_ICON": 0,  # Intention is to have this represent stock HDA mode
-    "LFA_ICON": 2 if enabled else 1 if lat_active else 0,   
+    "LFA_ICON": 0 if no_lat_lane_change else 2 if enabled else 1 if lat_active else 0,   
   }
   return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
 
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 2a5221a..2249eed 100644
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -641,7 +641,6 @@ class Controls:
     if model_v2.meta.laneChangeState == LaneChangeState.laneChangeStarting and clearpilot_disable_lat_on_lane_change:
       CC.latActive = False
       self.params_memory.put_int("no_lat_lane_change", 1)
-      # self.params_memory.put_int("CurrentRandomEvent", 1)
     else:
       self.params_memory.put_int("no_lat_lane_change", 0)
 
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 017d877..d9b3811 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -910,9 +910,9 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
     // edge_gradient.setColorAt(0.0, QColor(test_color.red(), test_color.green(), test_color.blue(), static_cast<int>(OTHER_LANE_ALPHA * 255)));  
     // edge_gradient.setColorAt(0.5, QColor(test_color.red(), test_color.green(), test_color.blue(), static_cast<int>(OTHER_LANE_ALPHA * 255 * 0.5)));  
     // edge_gradient.setColorAt(1.0, QColor(test_color.red(), test_color.green(), test_color.blue(), static_cast<int>(OTHER_LANE_ALPHA * 255 * 0.1)));  
-    edge_gradient.setColorAt(0.0, QColor(test_color.red(), test_color.green(), test_color.blue(), static_cast<int>(255)));  
-    edge_gradient.setColorAt(0.5, QColor(test_color.red(), test_color.green(), test_color.blue(), static_cast<int>(255 * 0.5)));  
-    edge_gradient.setColorAt(1.0, QColor(test_color.red(), test_color.green(), test_color.blue(), static_cast<int>(255 * 0.3)));  
+    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)));  
 
     QPainterPath path;
     path.addPolygon(scene.track_vertices);
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 9583145..1d56351 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -33,7 +33,7 @@ typedef enum UIStatus {
 } UIStatus;
 
 // Clearpilot new alpha constants
-const float CENTER_LANE_ALPHA = 0.35;
+const float CENTER_LANE_ALPHA = 0.40;
 const float OTHER_LANE_ALPHA = 0.75;
 
 const int CENTER_LANE_WIDTH = 50;