diff --git a/cereal/messaging/socketmaster.cc b/cereal/messaging/socketmaster.cc
index a3a4049..ee54174 100644
--- a/cereal/messaging/socketmaster.cc
+++ b/cereal/messaging/socketmaster.cc
@@ -47,6 +47,9 @@ SubMaster::SubMaster(const std::vector<const char *> &service_list, const std::v
                      const char *address, const std::vector<const char *> &ignore_alive) {
   poller_ = Poller::create();
   for (auto name : service_list) {
+    if (services.count(std::string(name)) == 0) {
+      printf("Unknown service name: %s\n", name);
+    }
     assert(services.count(std::string(name)) > 0);
 
     service serv = services.at(std::string(name));
diff --git a/cereal/services.py b/cereal/services.py
index b899cd0..28c35fb 100644
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -36,7 +36,7 @@ _services: dict[str, tuple] = {
   "errorLogMessage": (True, 0., 1),
   "liveCalibration": (True, 4., 4),
   "liveTorqueParameters": (True, 4., 1),
-  "liveDelay": (True, 4., 1),
+  "liveDelay": (True, 4., 1), 
   "androidLog": (True, 0.),
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),
diff --git a/common/params_keys.h b/common/params_keys.h
index 22b05ea..ccc1995 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -207,7 +207,6 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"LongTuningKiV", PERSISTENT},
     {"LongTuningKf", PERSISTENT},
     {"LongActuatorDelay", PERSISTENT },
-    {"LongVelocityControl", PERSISTENT},
     {"VEgoStopping", PERSISTENT },
     {"RadarReactionFactor", PERSISTENT},
     {"EnableRadarTracks", PERSISTENT},
diff --git a/scripts/add/events_ko.py b/scripts/add/events_ko.py
index fdf59a6..d7d8468 100644
--- a/scripts/add/events_ko.py
+++ b/scripts/add/events_ko.py
@@ -463,7 +463,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       "조향제어 일시적 불가능",
       "",
       AlertStatus.userPrompt, AlertSize.small,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 1.8),
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, 1.8),
   },
 
   EventName.preDriverDistracted: {
@@ -773,24 +773,13 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.doorOpen: {
-    #ET.SOFT_DISABLE: user_soft_disable_alert("Door Open"),
-    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
+    ET.SOFT_DISABLE: user_soft_disable_alert("도어 열림"),
     ET.NO_ENTRY: NoEntryAlert("도어 열림"),
-    ET.PERMANENT: Alert(
-      "도어 열림",
-      "",
-      AlertStatus.normal, AlertSize.full,
-      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
   },
 
   EventName.seatbeltNotLatched: {
     ET.SOFT_DISABLE: user_soft_disable_alert("안전벨트를 착용해주세요"),
     ET.NO_ENTRY: NoEntryAlert("안전벨트를 착용해주세요"),
-    ET.PERMANENT: Alert(
-      "안전벨트 미착용",
-      "",
-      AlertStatus.normal, AlertSize.full,
-      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
   },
 
   EventName.espDisabled: {
diff --git a/selfdrive/carrot_settings.json b/selfdrive/carrot_settings.json
index dd5325a..3c76d9b 100644
--- a/selfdrive/carrot_settings.json
+++ b/selfdrive/carrot_settings.json
@@ -443,19 +443,6 @@
       "default": 20,
       "unit": 5
     },
-    {
-      "group": "주행튜닝",
-      "name": "LongVelocityControl",
-      "title": "LongVelocityControl(1)",
-      "descr": "0: Accel PID, 1: Velocity PID",
-      "egroup": "LONG",
-      "etitle": "LongVelocityControl(1)",
-      "edescr": "0: Accel PID, 1: Velocity PID",
-      "min": 0,
-      "max": 1,
-      "default": 1,
-      "unit": 1
-    },
     {
       "group": "주행튜닝",
       "name": "VEgoStopping",
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 00b7012..69bc97f 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -74,7 +74,7 @@ class LongControl:
     soft_hold_active = CS.softHoldActive > 0
     a_target = long_plan.aTarget
     should_stop = long_plan.shouldStop
-    velocity_pid = self.params.get_float("LongVelocityControl")
+    velocity_pid = True
     long_delay = self.params.get_float("LongActuatorDelay")*0.01 + t_since_plan
 
     speeds = long_plan.speeds
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index d687bb3..dd2ed2f 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -674,7 +674,6 @@ CarrotPanel::CarrotPanel(QWidget* parent) : QWidget(parent) {
   latLongToggles->addItem(new CValueControl("LongTuningKiV", "LONG: I Gain(0)", "", "../assets/offroad/icon_logic.png", 0, 2000, 5));
   latLongToggles->addItem(new CValueControl("LongTuningKf", "LONG: FF Gain(100)", "", "../assets/offroad/icon_logic.png", 0, 200, 5));
   latLongToggles->addItem(new CValueControl("LongActuatorDelay", "LONG: ActuatorDelay(20)", "", "../assets/offroad/icon_logic.png", 0, 200, 5));
-  latLongToggles->addItem(new CValueControl("LongVelocityControl", "LONG: VelocityControl(1)", "0:AccelPID, 1:VelocityPID", "../assets/offroad/icon_logic.png", 0, 1, 1));
   latLongToggles->addItem(new CValueControl("VEgoStopping", "LONG: VEgoStopping(50)", "Stopping factor", "../assets/offroad/icon_logic.png", 1, 100, 5));
   latLongToggles->addItem(new CValueControl("RadarReactionFactor", "LONG: Radar reaction factor(10)", "", "../assets/offroad/icon_logic.png", 0, 200, 10));
   //latLongToggles->addItem(new CValueControl("StartAccelApply", "LONG: StartingAccel 2.0x(0)%", "정지->출발시 가속도의 가속율을 지정합니다 0: 사용안함.", "../assets/offroad/icon_road.png", 0, 100, 10));
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 2933cc1..93cbaf0 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -104,7 +104,6 @@ def get_default_params():
     ("LongTuningKiV", "0"),
     ("LongTuningKf", "100"),
     ("LongActuatorDelay", "20"),
-    ("LongVelocityControl", "1"),
     ("VEgoStopping", "50"),
     ("RadarReactionFactor", "10"),
     ("EnableRadarTracks", "0"),