diff --git a/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py b/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
index a1ab4f0..81c0e75 100644
--- a/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
+++ b/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
@@ -3,6 +3,7 @@ import numpy as np
 from opendbc.car import CanBusBase
 from opendbc.car.hyundai.values import HyundaiFlags, HyundaiExtFlags
 from openpilot.common.params import Params
+from opendbc.car.common.conversions import Conversions as CV
 
 def hyundai_crc8(data: bytes) -> int:
   poly = 0x2F
@@ -416,10 +417,10 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control, disp_angle
     if frame % 2 == 0:
       if CS.adrv_info_160 is not None:
         values = CS.adrv_info_160
-        values["NEW_SIGNAL_1"] = 0 # steer_temp관련없음, 계기판에러
-        values["SET_ME_9"] = 17 # steer_temp관련없음, 계기판에러
-        values["SET_ME_2"] = 0   #커멘트해도 steer_temp에러남, 2값은 콤마에서 찾은거니...
-        values["DATA102"] = 0  # steer_temp관련없음
+        #values["NEW_SIGNAL_1"] = 0 # steer_temp관련없음, 계기판에러
+        #values["SET_ME_9"] = 17 # steer_temp관련없음, 계기판에러
+        #values["SET_ME_2"] = 0   #커멘트해도 steer_temp에러남, 2값은 콤마에서 찾은거니...
+        #values["DATA102"] = 0  # steer_temp관련없음
         ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values))
 
       if CS.cruise_buttons_msg is not None:
@@ -453,7 +454,8 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control, disp_angle
 
           values["SETSPEED"] = 6 if hdp_active else 3 if main_enabled else 0
           values["SETSPEED_HUD"] = 5 if hdp_active else 2 if cruise_enabled else 1
-          values["vSetDis"] = int(hud_control.setSpeed * 3.6 + 0.5)
+          set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH)
+          values["vSetDis"] = int(set_speed_in_units + 0.5)
 
           values["DISTANCE"] = 4 if hdp_active else hud_control.leadDistanceBars
           values["DISTANCE_LEAD"] = 2 if cruise_enabled and hud_control.leadVisible else 0
diff --git a/opendbc_repo/opendbc/dbc/hyundai_canfd.dbc b/opendbc_repo/opendbc/dbc/hyundai_canfd.dbc
index 3f31864..79f6bc1 100644
--- a/opendbc_repo/opendbc/dbc/hyundai_canfd.dbc
+++ b/opendbc_repo/opendbc/dbc/hyundai_canfd.dbc
@@ -249,13 +249,14 @@ BO_ 373 TCS: 24 XXX
 BO_ 352 ADRV_0x160: 16 ADRV
  SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
  SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ AEB_SETTING : 24|2@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_1 : 28|3@0+ (1,0) [0|7] "" XXX
- SG_ SET_ME_2 : 56|8@1+ (1,0) [0|7] "" XXX
+ SG_ AEB_SETTING : 24|2@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_2 : 56|8@1+ (1,0) [0|1] "" XXX
  SG_ SET_ME_FF : 64|8@1+ (1,0) [0|255] "" XXX
  SG_ SET_ME_FC : 72|8@1+ (1,0) [0|255] "" XXX
  SG_ SET_ME_9 : 80|8@1+ (1,0) [0|255] "" XXX
- SG_ DATA102 : 102|1@1+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 95|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 353 ADRV_0x161: 32 ADRV
  SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
diff --git a/selfdrive/carrot_settings.json b/selfdrive/carrot_settings.json
index 2329bde..c1b119c 100644
--- a/selfdrive/carrot_settings.json
+++ b/selfdrive/carrot_settings.json
@@ -459,14 +459,14 @@
     {
       "group": "주행튜닝",
       "name": "RadarReactionFactor",
-      "title": "Radar reaction factor (10)%",
+      "title": "Radar reaction factor (100)%",
       "descr": "값이 낮아지면 선행차량에 대한 반응이 빨라짐.",
       "egroup": "LONG",
-      "etitle": "Radar reaction factor (10)%",
+      "etitle": "Radar reaction factor (100)%",
       "edescr": "",
       "min": 0,
       "max": 200,
-      "default": 0,
+      "default": 100,
       "unit": 1
     },
     {
diff --git a/selfdrive/ui/carrot.cc b/selfdrive/ui/carrot.cc
index 8910cf9..76a7bdd 100644
--- a/selfdrive/ui/carrot.cc
+++ b/selfdrive/ui/carrot.cc
@@ -2178,13 +2178,13 @@ public:
         int apply_y = by - 50;
 
         if (apply_source.length()) {
-            sprintf(apply_speed_str, "%.0f", apply_speed);
+            sprintf(apply_speed_str, "%.0f", (s->scene.is_metric)?apply_speed:apply_speed * KM_TO_MILE);
             textColor = COLOR_OCHRE;    // apply speed가 작동되면... 색을 바꾸자.
             ui_draw_text(s, apply_x, apply_y, apply_speed_str, 50, textColor, BOLD, 1.0, 5.0, COLOR_BLACK, COLOR_BLACK);
             ui_draw_text(s, apply_x, apply_y - 50, apply_source.toStdString().c_str(), 30, textColor, BOLD, 1.0, 5.0, COLOR_BLACK, COLOR_BLACK);
         }
 		    else if(abs(cruiseTarget - v_cruise) > 0.5) {
-            sprintf(apply_speed_str, "%.0f", cruiseTarget);
+            sprintf(apply_speed_str, "%.0f", (s->scene.is_metric)?cruiseTarget: cruiseTarget * KM_TO_MILE);
 			      ui_draw_text(s, apply_x, apply_y, apply_speed_str, 50, textColor, BOLD, 1.0, 5.0, COLOR_BLACK, COLOR_BLACK);
             ui_draw_text(s, apply_x, apply_y - 50, "eco", 30, textColor, BOLD, 1.0, 5.0, COLOR_BLACK, COLOR_BLACK);
 		    }
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 42f54c8..7f3f87d 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -675,7 +675,7 @@ CarrotPanel::CarrotPanel(QWidget* parent) : QWidget(parent) {
   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("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("RadarReactionFactor", "LONG: Radar reaction factor(100)", "", "../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));
   //latLongToggles->addItem(new CValueControl("StopAccelApply", "LONG: StoppingAccel -2.0x(0)%", "정지유지시 브레이크압을 조정합니다. 0: 사용안함. ", "../assets/offroad/icon_road.png", 0, 100, 10));
   latLongToggles->addItem(new CValueControl("LaneChangeNeedTorque", "LaneChange need torque", "1:need torque, 2:no lanechange", "../assets/offroad/icon_logic.png", 0, 2, 1));
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 93cbaf0..80c026b 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -105,7 +105,7 @@ def get_default_params():
     ("LongTuningKf", "100"),
     ("LongActuatorDelay", "20"),
     ("VEgoStopping", "50"),
-    ("RadarReactionFactor", "10"),
+    ("RadarReactionFactor", "100"),
     ("EnableRadarTracks", "0"),
     ("HyundaiCameraSCC", "0"),
     ("CanfdHDA2", "0"),