diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 12d736e..e082589 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -9,6 +9,8 @@ from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 
+import sys
+
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
@@ -120,10 +122,12 @@ class CarController(CarControllerBase):
                                                           self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING))
 
       # LFA and HDA icons
-      if self.frame % 5 == 0 and (not hda2 or hda2_long):
+      # if self.frame % 5 == 0 and (not hda2 or hda2_long):
         # CLEARPILOT TEST self.CS.lkas_enabled
+
         # can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, CC.latActive))
-        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CS.lkas_enabled, CS.lkas_enabled))
+        
+        # can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CS.lkas_enabled, CS.lkas_enabled))
 
       # blinkers
       if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
@@ -178,6 +182,9 @@ class CarController(CarControllerBase):
 
   def create_button_messages(self, CC: car.CarControl, CS: car.CarState, use_clu11: bool):
     can_sends = []
+    
+    sys.stderr.write(str({'use_clu11': use_clu11}) + '\n')
+
     if use_clu11:
       if CC.cruiseControl.cancel:
         can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 91788d5..f1332ac 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -290,8 +290,13 @@ class CarState(CarStateBase):
       nothing = 0
 
     # print('Hello World', file=sys.stderr)
-    # print(json.dumps(self), file=sys.stderr)
-    sys.stderr.write(str({k: v for k, v in vars(self).items() if isinstance(v, (int, float, str, bool))}) + '\n')
+    # sys.stderr.write(str({k: v for k, v in vars(self).items() if isinstance(v, (int, float, str, bool))}) + '\n')
+    # notes:
+    # lkas_enabled = 1 = lkas button has been pressed
+    # prev_cruise_buttons = 0 (none), 1, 2 - up down
+    # new lane change works perfect
+    # need to auto disable lat on turn lower than 20 + turn signal as default
+
 
     self.lkas_enabled = lkas_enabled
 
diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
index 760a497..ca43349 100644
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -41,7 +41,7 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
 
   values = {
     "LKA_MODE": 2,  # CP: Whats this?
-    "LKA_ICON": 2 if enabled else 1 if lat_active else 0, # CP: Whats this?
+    "LKA_ICON": 2 if enabled else 1 if lat_active else 0, # right mode icon
     "TORQUE_REQUEST": apply_steer,
     "LKA_ASSIST": 0,
     "STEER_REQ": 1 if lat_active else 0,
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 7f14dd3..909889d 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -899,9 +899,10 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   // if (bg != bg_colors[STATUS_DISENGAGED]) {
     // Use current background color 
     QLinearGradient edge_gradient;
-    edge_gradient.setColorAt(0.0, QColor(bg.red(), bg.green(), bg.blue(), static_cast<int>(OTHER_LANE_ALPHA * 255)));  
-    edge_gradient.setColorAt(0.5, QColor(bg.red(), bg.green(), bg.blue(), static_cast<int>(OTHER_LANE_ALPHA * 255 * 0.5)));  
-    edge_gradient.setColorAt(1.0, QColor(bg.red(), bg.green(), bg.blue(), static_cast<int>(OTHER_LANE_ALPHA * 255 * 0.1)));  
+    QColor test_color = QColor(201, 41, 204, 0xd1);
+    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)));  
 
     QPainterPath path;
     path.addPolygon(scene.track_vertices);