diff --git a/common/params.cc b/common/params.cc
index bcb14f7..df9f58b 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -251,6 +251,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"GpsDelayTimeAdjust", PERSISTENT},
     {"AutoTurnMapChange", PERSISTENT },
     {"AutoNaviSpeedCtrlEnd", PERSISTENT},
+    {"AutoNaviSpeedCtrlMode", PERSISTENT},
     {"AutoNaviSpeedBumpTime", PERSISTENT},
     {"AutoNaviSpeedBumpSpeed", PERSISTENT},
     {"AutoNaviSpeedDecelRate", PERSISTENT},
@@ -283,7 +284,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LongTuningKpV", PERSISTENT},
     {"LongTuningKiV", PERSISTENT},
     {"LongTuningKf", PERSISTENT},
-    {"LongActuatorDelay", PERSISTENT},
+    {"LongActuatorDelay", PERSISTENT },
+    {"VegoStopping", PERSISTENT },
     {"RadarReactionFactor", PERSISTENT},
     {"EnableRadarTracks", PERSISTENT},
     {"EnableRadarTracksResult", PERSISTENT | CLEAR_ON_MANAGER_START},
diff --git a/selfdrive/carrot/carrot_man.py b/selfdrive/carrot/carrot_man.py
index 477ac2d..935cbaf 100644
--- a/selfdrive/carrot/carrot_man.py
+++ b/selfdrive/carrot/carrot_man.py
@@ -182,7 +182,7 @@ class CarrotMan:
     print("************************************************CarrotMan init************************************************")
     self.params = Params()
     self.params_memory = Params("/dev/shm/params")
-    self.sm = messaging.SubMaster(['deviceState', 'carState', 'controlsState', 'longitudinalPlan', 'modelV2', 'selfdriveState', 'carControl', 'navRouteNavd'])
+    self.sm = messaging.SubMaster(['deviceState', 'carState', 'controlsState', 'longitudinalPlan', 'modelV2', 'selfdriveState', 'carControl', 'navRouteNavd', 'liveLocationKalman'])
     self.pm = messaging.PubMaster(['carrotMan', "navRoute", "navInstructionCarrot"])
 
     self.carrot_serv = CarrotServ()
@@ -895,7 +895,6 @@ class CarrotServ:
     self.nPosAngle = 0.0
 
     self.diff_angle_count = 0
-    self.last_update_gps_time = 0
     self.last_calculate_gps_time = 0
     self.bearing_offset = 0.0
     self.bearing_measured = 0.0
@@ -948,6 +947,7 @@ class CarrotServ:
     self.autoNaviSpeedBumpSpeed = float(self.params.get_int("AutoNaviSpeedBumpSpeed"))
     self.autoNaviSpeedBumpTime = float(self.params.get_int("AutoNaviSpeedBumpTime"))
     self.autoNaviSpeedCtrlEnd = float(self.params.get_int("AutoNaviSpeedCtrlEnd"))
+    self.autoNaviSpeedCtrlMode = self.params.get_int("AutoNaviSpeedCtrlMode")
     self.autoNaviSpeedSafetyFactor = float(self.params.get_int("AutoNaviSpeedSafetyFactor")) * 0.01
     self.autoNaviSpeedDecelRate = float(self.params.get_int("AutoNaviSpeedDecelRate")) * 0.01
     self.autoNaviCountDownMode = self.params.get_int("AutoNaviCountDownMode")
@@ -1205,16 +1205,17 @@ class CarrotServ:
     # 1: startOSEPS: 구간단속시작
     # 2: inOSEPS: 구간단속중
     # 3: endOSEPS: 구간단속종료
-    if self.nSdiType in [0,1,2,3,4,7,8, 75, 76] and self.nSdiSpeedLimit > 0:
+    # 0:감속안함,1:과속카메라,2:+사고방지턱,3:+이동식카메라
+    if self.nSdiType in [0,1,2,3,4,7,8, 75, 76] and self.nSdiSpeedLimit > 0 and self.autoNaviSpeedCtrlMode > 0:
       self.xSpdLimit = self.nSdiSpeedLimit * self.autoNaviSpeedSafetyFactor
       self.xSpdDist = self.nSdiDist
       self.xSpdType = self.nSdiType
       if self.nSdiBlockType in [2,3]:
         self.xSpdDist = self.nSdiBlockDist
         self.xSpdType = 4
-      elif self.nSdiType == 7: #이동식카메라
+      elif self.nSdiType == 7 and self.autoNaviSpeedCtrlMode < 3: #이동식카메라
         self.xSpdLimit = self.xSpdDist = 0
-    elif (self.nSdiPlusType == 22 or self.nSdiType == 22) and self.roadcate > 1: # speed bump, roadcate:0,1: highway
+    elif (self.nSdiPlusType == 22 or self.nSdiType == 22) and self.roadcate > 1 and self.autoNaviSpeedCtrlMode >= 2: # speed bump, roadcate:0,1: highway
       self.xSpdLimit = self.autoNaviSpeedBumpSpeed
       self.xSpdDist = self.nSdiPlusDist if self.nSdiPlusType == 22 else self.nSdiDist
       self.xSpdType = 22
@@ -1224,22 +1225,30 @@ class CarrotServ:
       self.xSpdDist = 0
 
   def _update_gps(self, v_ego, sm):
-    if not sm.updated['carState'] or not sm.updated['carControl']:
+    llk = 'liveLocationKalman'
+    location = sm[llk]
+    #print(f"location = {sm.valid[llk]}, {sm.updated[llk]}, {sm.recv_frame[llk]}, {sm.recv_time[llk]}")
+    if not sm.updated['carState'] or not sm.updated['carControl'] or not sm.updated[llk]:
       return self.nPosAngle
     CS = sm['carState']
     CC = sm['carControl']
-    if len(CC.orientationNED) == 3:
-      bearing = math.degrees(CC.orientationNED[2])
+    self.gps_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid
+
+    now = time.monotonic()
+
+    if sm.valid[llk]:
+      bearing = math.degrees(location.calibratedOrientationNED.value[2])
     else:
-      bearing = 0.0
-      return self.nPosAngle
-
-    if not self.gps_valid:
-      if self.params_memory.get("LastGPSPosition"):
-        self.gps_valid = True
+      bearing = self.nPosAngle
 
+    #print(f"gps_valid = {self.gps_valid}, bearing = {bearing:.1f}, pos = {location.positionGeodetic.value[0]:.6f}, {location.positionGeodetic.value[1]:.6f}")
     if self.gps_valid:    # liveLocationKalman일때는 정확하나, livePose일때는 불안정함.
       self.bearing_offset = 0.0
+      if self.active_carrot <= 1:
+        self.vpPosPointLatNavi = location.positionGeodetic.value[0]
+        self.vpPosPointLonNavi = location.positionGeodetic.value[1]
+        self.last_calculate_gps_time = sm.recv_time[llk]
+        self.gpsDelayTimeAdjust = 0.0
     else:
       if abs(self.bearing_measured - bearing) < 0.1:
           self.diff_angle_count += 1
@@ -1255,10 +1264,14 @@ class CarrotServ:
 
     bearing_calculated = (bearing + self.bearing_offset) % 360
 
-    now = time.monotonic()
     dt = now - self.last_calculate_gps_time
-    #self.last_calculate_gps_time = now
-    self.vpPosPointLat, self.vpPosPointLon = self.estimate_position(float(self.vpPosPointLatNavi), float(self.vpPosPointLonNavi), v_ego, bearing_calculated, dt + self.gpsDelayTimeAdjust)
+    #print(f"dt = {dt:.1f}, {self.vpPosPointLatNavi}, {self.vpPosPointLonNavi}")
+    if dt > 5.0:
+      self.vpPosPointLat, self.vpPosPointLon = 0.0, 0.0
+    elif dt == 0:
+      self.vpPosPointLat, self.vpPosPointLon = self.vpPosPointLatNavi, self.vpPosPointLonNavi
+    else:
+      self.vpPosPointLat, self.vpPosPointLon = self.estimate_position(float(self.vpPosPointLatNavi), float(self.vpPosPointLonNavi), v_ego, bearing_calculated, dt + self.gpsDelayTimeAdjust)
 
     #self.debugText = " {} {:.1f},{:.1f}={:.1f}+{:.1f}".format(self.active_sdi_count, self.nPosAngle, bearing_calculated, bearing, self.bearing_offset)
     #print("nPosAngle = {:.1f},{:.1f} = {:.1f}+{:.1f}".format(self.nPosAngle, bearing_calculated, bearing, self.bearing_offset))
@@ -1397,7 +1410,7 @@ class CarrotServ:
 
     sdi_speed = 250
     hda_active = False
-    ### 과속카메라, 사고방지턱
+    ### 과속카메라, 사고방지턱    
     if self.xSpdDist > 0 and self.active_carrot > 0:
       safe_sec = self.autoNaviSpeedBumpTime if self.xSpdType == 22 else self.autoNaviSpeedCtrlEnd
       decel = self.autoNaviSpeedDecelRate
@@ -1510,7 +1523,6 @@ class CarrotServ:
 
 
     self._update_cmd()
-
     msg = messaging.new_message('carrotMan')
     msg.valid = True
     msg.carrotMan.activeCarrot = self.active_carrot
diff --git a/selfdrive/carrot_settings.json b/selfdrive/carrot_settings.json
index a045975..ff8a7a6 100644
--- a/selfdrive/carrot_settings.json
+++ b/selfdrive/carrot_settings.json
@@ -495,6 +495,19 @@
       "default": 20,
       "unit": 5
     },
+    {
+      "group": "주행튜닝",
+      "name": "VegoStopping",
+      "title": "정지출발민감도(5)x0.01",
+      "descr": "값을 올리면 늦게 출발함, 너무낮추면 추돌위험이 있을수 있음.",
+      "egroup": "LONG",
+      "etitle": "VegoStopping(5)x0.01",
+      "edescr": "",
+      "min": 1,
+      "max": 10,
+      "default": 20,
+      "unit": 5
+    },
     {
       "group": "주행튜닝",
       "name": "RadarReactionFactor",
@@ -1367,6 +1380,19 @@
       "default": 6,
       "unit": 1
     },
+    {
+      "group": "감속제어",
+      "name": "AutoNaviSpeedCtrlMode",
+      "title": "네비게이션감속모드(2)",
+      "descr": "0:감속안함,1:과속카메라,2:+사고방지턱,3:+이동식카메라",
+      "egroup": "SPEED",
+      "etitle": "NaviSpeedControlMode(2)",
+      "edescr": "",
+      "min": 0,
+      "max": 3,
+      "default": 2,
+      "unit": 1
+    },
     {
       "group": "감속제어",
       "name": "AutoNaviSpeedBumpTime",
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 31908d1..081ad4d 100644
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -217,10 +217,11 @@ class LongitudinalPlanner:
     longitudinalPlan.fcw = self.fcw
         
     longitudinalActuatorDelay = Params().get_float("LongActuatorDelay")*0.01
+    vegoStopping = Params().get_float("VegoStopping") * 0.01
     action_t =  longitudinalActuatorDelay + DT_MDL
 
     a_target, should_stop, v_target, j_target = get_accel_from_plan(longitudinalPlan.speeds, longitudinalPlan.accels, longitudinalPlan.jerks,
-                                                action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
+                                                action_t=action_t, vEgoStopping=vegoStopping)
     longitudinalPlan.aTarget = float(a_target)
     longitudinalPlan.shouldStop = bool(should_stop)
     longitudinalPlan.allowBrake = True
diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc
index a8c3326..85bef39 100644
--- a/selfdrive/navd/map_renderer.cc
+++ b/selfdrive/navd/map_renderer.cc
@@ -24,7 +24,7 @@ const int PIXELS_PER_TILE = 256;
 const int MAP_OFFSET = 128;
 
 const bool TEST_MODE = getenv("MAP_RENDER_TEST_MODE");
-const int LLK_DECIMATION = TEST_MODE ? 1 : 10;
+//const int LLK_DECIMATION = TEST_MODE ? 1 : 10;
 
 float get_zoom_level_for_scale(float lat, float meters_per_pixel) {
   float meters_per_tile = meters_per_pixel * PIXELS_PER_TILE;
@@ -110,7 +110,7 @@ MapRenderer::MapRenderer(const QMapLibre::Settings &settings, bool online) : m_s
     vipc_server->start_listener();
 
     pm.reset(new PubMaster({"navThumbnail", "mapRenderState"}));
-    sm.reset(new SubMaster({"carrotMan", "liveLocationKalman", "navRoute"}, {"liveLocationKalman"}));
+    sm.reset(new SubMaster({"carrotMan", "navRoute"}));
 
     timer = new QTimer(this);
     timer->setSingleShot(true);
@@ -123,23 +123,11 @@ void MapRenderer::msgUpdate() {
   sm->update(1000);
 
   auto carrotMan = (*sm)["carrotMan"].getCarrotMan();
-  bool active_carrot_man = carrotMan.getActiveCarrot() > 1;
 
-  if (sm->updated("liveLocationKalman")) {
-    auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman();
-    auto pos = location.getPositionGeodetic();
-    auto orientation = location.getCalibratedOrientationNED();
-
-    if ((sm->rcv_frame("liveLocationKalman") % LLK_DECIMATION) == 0) {
-      float bearing = RAD2DEG(orientation.getValue()[2]);
-      float lat = pos.getValue()[0];
-      float lon = pos.getValue()[1];
-    
-      if (active_carrot_man) {
-        bearing = carrotMan.getXPosAngle();
-        lat = carrotMan.getXPosLat();
-        lon = carrotMan.getXPosLon();
-      }
+  if (sm->updated("carrotMan")) {
+      float bearing = carrotMan.getXPosAngle();
+      float lat = carrotMan.getXPosLat();
+      float lon = carrotMan.getXPosLon();
         
       updatePosition(get_point_along_line(lat, lon, bearing, MAP_OFFSET), bearing);
       // TODO: use the static rendering mode instead
@@ -158,7 +146,6 @@ void MapRenderer::msgUpdate() {
         publish(0, false);
         printf("blank frame\n");
       }
-    }
   }
 
   if (sm->updated("navRoute")) {
@@ -202,7 +189,7 @@ void MapRenderer::update() {
 
   if ((vipc_server != nullptr) && loaded()) {
     publish((end_t - start_t) / 1000.0, true);
-    last_llk_rendered = (*sm)["liveLocationKalman"].getLogMonoTime();
+    last_llk_rendered = (*sm)["carrotMan"].getLogMonoTime();
   }
 }
 
@@ -219,17 +206,13 @@ void MapRenderer::publish(const double render_time, const bool loaded) {
   QImage cap = fbo->toImage().convertToFormat(QImage::Format_RGB888, Qt::AutoColor);
 
   auto carrotMan = (*sm)["carrotMan"].getCarrotMan();
-  auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman();
-  bool valid = loaded && ((carrotMan.getActiveCarrot() > 1) || ((location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && location.getPositionGeodetic().getValid()));
-  if (!valid) {
-    printf("loaded %d, active_carrot %d, status %d, valid %d\n", loaded, carrotMan.getActiveCarrot(), (int)location.getStatus(), location.getPositionGeodetic().getValid());
-  }
+  bool valid = loaded && (carrotMan.getXPosLat() > 0.0);
   ever_loaded = ever_loaded || loaded;
   uint64_t ts = nanos_since_boot();
   VisionBuf* buf = vipc_server->get_buffer(VisionStreamType::VISION_STREAM_MAP);
   VisionIpcBufExtra extra = {
     .frame_id = frame_id,
-    .timestamp_sof = (*sm)["liveLocationKalman"].getLogMonoTime(),
+    .timestamp_sof = (*sm)["carrotMan"].getLogMonoTime(),
     .timestamp_eof = ts,
     .valid = valid,
   };
@@ -278,7 +261,7 @@ void MapRenderer::publish(const double render_time, const bool loaded) {
   auto evt = msg.initEvent();
   auto state = evt.initMapRenderState();
   evt.setValid(valid);
-  state.setLocationMonoTime((*sm)["liveLocationKalman"].getLogMonoTime());
+  state.setLocationMonoTime((*sm)["carrotMan"].getLogMonoTime());
   state.setRenderTime(render_time);
   state.setFrameId(frame_id);
   pm->send("mapRenderState", msg);
diff --git a/selfdrive/navd/map_renderer.h b/selfdrive/navd/map_renderer.h
index ef29bb9..6053819 100644
--- a/selfdrive/navd/map_renderer.h
+++ b/selfdrive/navd/map_renderer.h
@@ -46,7 +46,7 @@ private:
   uint32_t frame_id = 0;
   uint64_t last_llk_rendered = 0;
   bool rendered() {
-    return last_llk_rendered == (*sm)["liveLocationKalman"].getLogMonoTime();
+    return last_llk_rendered == (*sm)["carrotMan"].getLogMonoTime();
   }
 
   QTimer* timer;
diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py
index 91ab566..dea9cd7 100644
--- a/selfdrive/navd/navd.py
+++ b/selfdrive/navd/navd.py
@@ -94,19 +94,14 @@ class RouteEngine:
       cloudlog.exception("navd.failed_to_compute")
 
   def update_location(self):
-    location = self.sm['liveLocationKalman']
-    self.gps_ok = location.gpsOK
-
-    self.localizer_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid
 
     carrot_man = self.sm['carrotMan']
-    if carrot_man.activeCarrot > 1:
+    if carrot_man.xPosLat > 0.0:
       self.last_bearing = carrot_man.xPosAngle;
       self.last_position = Coordinate(carrot_man.xPosLat, carrot_man.xPosLon)
-      self.gps_ok = True
-    elif self.localizer_valid:
-      self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2])
-      self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1])
+      self.localizer_valid = self.gps_ok = True
+    else:
+      self.localizer_valid = self.gps_ok = False
       self.carrot_route_active = False
 
   def recompute_route(self):
@@ -119,10 +114,10 @@ class RouteEngine:
       self.reset_recompute_limits()
       return
     #print(f"new_destination: {new_destination} nav_destination: {self.nav_destination}")
-    should_recompute = self.should_recompute()
+    should_recompute = self.should_recompute() and place_name != "External Navi"
     if new_destination != self.nav_destination and place_name != "External Navi":
       cloudlog.warning(f"Got new destination from NavDestination param {new_destination}")
-      print(f"Got new destination from NavDestination param {new_destination} {self.nav_destination}")
+      print(f"Got new destination from NavDestination param {new_destination} {self.nav_destination} {place_name}")
       should_recompute = True
 
     # Don't recompute when GPS drifts in tunnels
@@ -381,7 +376,7 @@ class RouteEngine:
 
 def main():
   pm = messaging.PubMaster(['navInstruction', 'navRouteNavd'])
-  sm = messaging.SubMaster(['liveLocationKalman', 'managerState', 'carrotMan'])
+  sm = messaging.SubMaster(['managerState', 'carrotMan'])
 
   rk = Ratekeeper(1.0)
   route_engine = RouteEngine(sm, pm)
diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
index 08c294f..6489cdc 100644
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@@ -182,34 +182,14 @@ void MapWindow::updateState(const UIState &s) {
   bool gps_updated = false;
 
   auto carrotMan = sm["carrotMan"].getCarrotMan();
-  bool active_carrot_man = carrotMan.getActiveCarrot() > 1;
+  //bool active_carrot_man = carrotMan.getActiveCarrot() > 1;
 
-  if (!active_carrot_man && sm.updated("liveLocationKalman")) {
-    auto locationd_location = sm["liveLocationKalman"].getLiveLocationKalman();
-    auto locationd_pos = locationd_location.getPositionGeodetic();
-    auto locationd_orientation = locationd_location.getCalibratedOrientationNED();
-    auto locationd_velocity = locationd_location.getVelocityCalibrated();
-    auto locationd_ecef = locationd_location.getPositionECEF();
-
-    locationd_valid = (locationd_pos.getValid() && locationd_orientation.getValid() && locationd_velocity.getValid() && locationd_ecef.getValid());
-    if (locationd_valid) {
-      // Check std norm
-      auto pos_ecef_std = locationd_ecef.getStd();
-      bool pos_accurate_enough = sqrt(pow(pos_ecef_std[0], 2) + pow(pos_ecef_std[1], 2) + pow(pos_ecef_std[2], 2)) < 100;
-      locationd_valid = pos_accurate_enough;
-    }
-    lat = locationd_pos.getValue()[0];
-    lon = locationd_pos.getValue()[1];
-    bearing = RAD2DEG(locationd_orientation.getValue()[2]);
-    velocity = locationd_velocity.getValue()[0];
-    gps_updated = true;
-  }
-
-  if (active_carrot_man && sm.updated("carrotMan")) {
+  //printf("CarrotMan: %f %f %f %f\n", carrotMan.getXPosLat(), carrotMan.getXPosLon(), carrotMan.getXPosAngle(), carrotMan.getXPosSpeed());
+  if (carrotMan.getXPosLat() > 0.0) {
     lat = carrotMan.getXPosLat();
     lon = carrotMan.getXPosLon();
     bearing = carrotMan.getXPosAngle();
-    velocity = carrotMan.getXPosSpeed()/3.6;
+    velocity = carrotMan.getXPosSpeed() / 3.6;
     gps_updated = true;
     locationd_valid = true;
   }
@@ -249,7 +229,7 @@ void MapWindow::updateState(const UIState &s) {
   initLayers();
 
   if (!locationd_valid) {
-    setError(tr("Waiting for APN"));
+    setError(tr("Waiting for GPS(APN)"));
   } else if (routing_problem) {
     setError(tr("Waiting for route"));
   } else {
@@ -284,7 +264,7 @@ void MapWindow::updateState(const UIState &s) {
     // - API exception/no internet
     // - route response is empty
     // - any time navd is waiting for recompute_countdown
-    routing_problem = !sm.valid("navInstruction") && coordinate_from_param("NavDestination").has_value();
+    routing_problem = !(sm.valid("navInstruction") || sm.valid("navInstructionCarrot")) && coordinate_from_param("NavDestination").has_value();
 
     if (sm.valid("navInstruction") || sm.valid("navInstructionCarrot")) {
       //auto i = sm["navInstruction"].getNavInstruction();
@@ -316,7 +296,9 @@ void MapWindow::updateState(const UIState &s) {
   }
   if (loaded_once && (sm.rcv_frame("modelV2") != model_rcv_frame)) {
     auto locationd_location = sm["liveLocationKalman"].getLiveLocationKalman();
-    auto model_path = model_to_collection(locationd_location.getCalibratedOrientationECEF(), locationd_location.getPositionECEF(), sm["modelV2"].getModelV2().getPosition(), last_position->first, last_position->second);
+    //auto carrot_man = sm["carrotMan"].getCarrotMan();
+    auto model_path = model_to_collection(locationd_location.getCalibratedOrientationECEF(), locationd_location.getPositionECEF(), sm["modelV2"].getModelV2().getPosition(), carrotMan.getXPosLat(), carrotMan.getXPosLon());
+    //auto model_path = model_to_collection(sm["modelV2"].getModelV2().getPosition(), carrotMan.getXPosLat(), carrotMan.getXPosLon(), carrotMan.getXPosAngle());
     QMapLibre::Feature model_path_feature(QMapLibre::Feature::LineStringType, model_path, {}, {});
     QVariantMap modelV2Path;
     modelV2Path["type"] =  "geojson";
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index e70984e..56bbe4e 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -663,6 +663,7 @@ CarrotPanel::CarrotPanel(QWidget* parent) : QWidget(parent) {
   latLongToggles->addItem(new CValueControl("LongTuningKiV", "LONG: I Gain(200)", "", "../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("VegoStopping", "LONG: VEgoStopping(5)", "Stopping factor", "../assets/offroad/icon_logic.png", 1, 10, 1));
   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));
   //latLongToggles->addItem(new CValueControl("StopAccelApply", "LONG: StoppingAccel -2.0x(0)%", "정지유지시 브레이크압을 조정합니다. 0: 사용안함. ", "../assets/offroad/icon_road.png", 0, 100, 10));
@@ -801,6 +802,7 @@ CarrotPanel::CarrotPanel(QWidget* parent) : QWidget(parent) {
   speedToggles->addItem(new CValueControl("AutoCurveSpeedFactor", "CURVE: Auto Control ratio(100%)", "", "../assets/offroad/icon_road.png", 50, 300, 1));
   speedToggles->addItem(new CValueControl("AutoCurveSpeedAggressiveness", "CURVE: Aggressiveness (100%)", "", "../assets/offroad/icon_road.png", 50, 300, 1));
   speedToggles->addItem(new CValueControl("AutoNaviSpeedCtrlEnd", "SpeedCameraDecelEnd(6s)", "감속완료시점을 설정합니다.값이 크면 카메라에서 멀리 감속 완료", "../assets/offroad/icon_road.png", 3, 20, 1));
+  speedToggles->addItem(new CValueControl("AutoNaviSpeedCtrlMode", "0:감속안함,1:과속카메라,2:+사고방지턱,3:+이동식카메라", "../assets/offroad/icon_road.png", 0, 3, 1));
   speedToggles->addItem(new CValueControl("AutoNaviSpeedDecelRate", "SpeedCameraDecelRatex0.01m/s^2(80)", "낮으면 멀리서부터 감속함", "../assets/offroad/icon_road.png", 10, 200, 10));
   speedToggles->addItem(new CValueControl("AutoNaviSpeedSafetyFactor", "SpeedCameraSafetyFactor(105%)", "", "../assets/offroad/icon_road.png", 80, 120, 1));
   speedToggles->addItem(new CValueControl("AutoNaviSpeedBumpTime", "SpeedBumpTimeDistance(1s)", "", "../assets/offroad/icon_road.png", 1, 50, 1));
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 8beb64c..7929e4d 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -73,6 +73,7 @@ def get_default_params():
     ("AutoTurnMapChange", "0"),
 
     ("AutoNaviSpeedCtrlEnd", "7"),
+    ("AutoNaviSpeedCtrlMode", "2"),
     ("AutoNaviSpeedBumpTime", "1"),
     ("AutoNaviSpeedBumpSpeed", "35"),
     ("AutoNaviSpeedSafetyFactor", "105"),
@@ -101,6 +102,7 @@ def get_default_params():
     ("LongTuningKiV", "0"),
     ("LongTuningKf", "100"),
     ("LongActuatorDelay", "20"),
+    ("VegoStopping", "5"),
     ("RadarReactionFactor", "10"),
     ("EnableRadarTracks", "0"),
     ("HyundaiCameraSCC", "0"),