diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 49a3f77..ec06cbd 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -825,10 +825,10 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
 
   // CLEARPILOT: color channel code rewriten to allow custom colors
   // Define base RGB color and alpha
-  int base_red = 139; // Dark red component
+  int base_red = 200; // Dark red component
   int base_green = 0; // Minimal green component
   int base_blue = 0; // Minimal blue component
-  float base_alpha = 0.6; // 60% opacity
+  float base_alpha = 0.75; // 60% opacity
 
   QColor baseColor(base_red, base_green, base_blue);
 
@@ -906,17 +906,15 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   // Paint path edges
   QLinearGradient pe(0, height(), 0, 0);
   if (alwaysOnLateralActive) {
-    pe.setColorAt(0.0, QColor::fromHslF(178 / 360., 0.90, 0.38, 1.0));
-    pe.setColorAt(0.5, QColor::fromHslF(178 / 360., 0.90, 0.38, 0.5));
-    pe.setColorAt(1.0, QColor::fromHslF(178 / 360., 0.90, 0.38, 0.1));
-  } else if (conditionalStatus == 1 || conditionalStatus == 3 || conditionalStatus == 5) {
-    pe.setColorAt(0.0, QColor::fromHslF(58 / 360., 1.00, 0.50, 1.0));
-    pe.setColorAt(0.5, QColor::fromHslF(58 / 360., 1.00, 0.50, 0.5));
-    pe.setColorAt(1.0, QColor::fromHslF(58 / 360., 1.00, 0.50, 0.1));
-  } else if (experimentalMode) {
-    pe.setColorAt(0.0, QColor::fromHslF(25 / 360., 0.71, 0.50, 1.0));
-    pe.setColorAt(0.5, QColor::fromHslF(25 / 360., 0.71, 0.50, 0.5));
-    pe.setColorAt(1.0, QColor::fromHslF(25 / 360., 0.71, 0.50, 0.1));
+    QColor color = bg_colors[STATUS_ALWAYS_ON_LATERAL_ACTIVE];
+    pe.setColorAt(0.0, QColor(color.red(), color.green(), color.blue(), static_cast<int>(base_alpha * 255)));  
+    pe.setColorAt(0.5, QColor(color.red(), color.green(), color.blue(), static_cast<int>(base_alpha * 255 * 0.5)));  
+    pe.setColorAt(1.0, QColor(color.red(), color.green(), color.blue(), static_cast<int>(base_alpha * 255 * 0.1)));  
+  } else if (conditionalStatus == 1 || conditionalStatus == 3 || conditionalStatus == 5 || experimentalMode) {
+    QColor color = bg_colors[STATUS_EXPERIMENTAL_ACTIVE];
+    pe.setColorAt(0.0, QColor(color.red(), color.green(), color.blue(), static_cast<int>(base_alpha * 255)));  
+    pe.setColorAt(0.5, QColor(color.red(), color.green(), color.blue(), static_cast<int>(base_alpha * 255 * 0.5)));  
+    pe.setColorAt(1.0, QColor(color.red(), color.green(), color.blue(), static_cast<int>(base_alpha * 255 * 0.1)));  
   } else if (trafficModeActive) {
     pe.setColorAt(0.0, QColor::fromHslF(355 / 360., 0.71, 0.46, 1.0));
     pe.setColorAt(0.5, QColor::fromHslF(355 / 360., 0.71, 0.46, 0.5));
@@ -926,9 +924,10 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
     pe.setColorAt(0.5, QColor::fromHslF(205 / 360., 0.85, 0.56, 0.5));
     pe.setColorAt(1.0, QColor::fromHslF(205 / 360., 0.85, 0.56, 0.1));
   } else {
-pe.setColorAt(0.0, QColor(baseColor.red(), baseColor.green(), baseColor.blue(), static_cast<int>(base_alpha * 255)));  
-pe.setColorAt(0.5, QColor(baseColor.red(), baseColor.green(), baseColor.blue(), static_cast<int>(base_alpha * 255 * 0.5)));  
-pe.setColorAt(1.0, QColor(baseColor.red(), baseColor.green(), baseColor.blue(), static_cast<int>(base_alpha * 255 * 0.1)));  
+    QColor color = bg_colors[STATUS_ENGAGED];
+    pe.setColorAt(0.0, QColor(color.red(), color.green(), color.blue(), static_cast<int>(base_alpha * 255)));  
+    pe.setColorAt(0.5, QColor(color.red(), color.green(), color.blue(), static_cast<int>(base_alpha * 255 * 0.5)));  
+    pe.setColorAt(1.0, QColor(color.red(), color.green(), color.blue(), static_cast<int>(base_alpha * 255 * 0.1)));  
   }
 
   QPainterPath path;
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index b8faf7c..4b3a88d 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -107,17 +107,6 @@ struct Alert {
   }
 };
 
-typedef enum UIStatus {
-  STATUS_DISENGAGED,
-  STATUS_OVERRIDE,
-  STATUS_ENGAGED,
-
-  // FrogPilot statuses
-  STATUS_ALWAYS_ON_LATERAL_ACTIVE,
-  STATUS_TRAFFIC_MODE_ACTIVE,
-
-} UIStatus;
-
 enum PrimeType {
   UNKNOWN = -1,
   NONE = 0,
@@ -127,15 +116,25 @@ enum PrimeType {
   MAGENTA_NEW = 4,
   PURPLE = 5,
 };
+  
+// Clearpilot redefined these.
+typedef enum UIStatus {
+  STATUS_DISENGAGED,
+  STATUS_OVERRIDE,
+  STATUS_ENGAGED,
+  STATUS_ALWAYS_ON_LATERAL_ACTIVE,
+  STATUS_TRAFFIC_MODE_ACTIVE,
+  STATUS_EXPERIMENTAL_ACTIVE,
+} UIStatus;
 
+// Clearpilot custom colors
 const QColor bg_colors [] = {
   [STATUS_DISENGAGED] = QColor(0x17, 0x33, 0x49, 0xc8),
-  [STATUS_OVERRIDE] = QColor(0x91, 0x7b, 0x7b, 0xf1),
-  [STATUS_ENGAGED] = QColor(0x91, 0x7b, 0x7b, 0xf1), // CLEARPILOT changed to redish gray
-
-  // FrogPilot colors
-  [STATUS_ALWAYS_ON_LATERAL_ACTIVE] = QColor(0x91, 0x7b, 0x7b, 0xf1), // CLEARPILOT changed to dark blue
-  [STATUS_TRAFFIC_MODE_ACTIVE] = QColor(0xc9, 0x22, 0x31, 0xf1),
+  [STATUS_OVERRIDE] = QColor(218, 112, 36, 0xd1), // When you nudge the steering wheel while engaged
+  [STATUS_ENGAGED] = QColor(218, 112, 36, 0xd1), // Orange
+  [STATUS_ALWAYS_ON_LATERAL_ACTIVE] = QColor(158, 126, 111, 0xd1), // Gray
+  [STATUS_TRAFFIC_MODE_ACTIVE] = QColor(0xc9, 0x22, 0x31, 0xd1), // ? unused?
+  [STATUS_EXPERIMENTAL_ACTIVE] = QColor(126, 32, 128, 0xd1), // Magenta
 };
 
 static std::map<cereal::ControlsState::AlertStatus, QColor> alert_colors = {