diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 36dea1f7ff1fbb..1d4ade57bcc74f 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -102,23 +102,6 @@ def get_can_signals(CP):
       ("SCM_BUTTONS", 25),
   ]
 
-  if CP.radarOffCan:
-    # Civic is only bosch to use the same brake message as other hondas.
-    if CP.carFingerprint != CAR.CIVIC_HATCH:
-      signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
-      checks += [("BRAKE_MODULE", 50)]
-    signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
-                ("MAIN_ON", "SCM_FEEDBACK", 0),
-                ("EPB_STATE", "EPB_STATUS", 0),
-                ("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0),
-                ("CRUISE_SPEED", "ACC_HUD", 0)]
-    checks += [("GAS_PEDAL_2", 100)]
-  else:
-    # Nidec signals.
-    signals += [("CRUISE_SPEED_PCM", "CRUISE", 0),
-                ("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS", 0)]
-    checks += [("CRUISE_PARAMS", 50)]
-
   if CP.carFingerprint == CAR.ACCORD:
     signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
   else:
@@ -129,29 +112,33 @@ def get_can_signals(CP):
                 ("WHEELS_MOVING", "STANDSTILL", 1)]
     checks += [("DOORS_STATUS", 3)]
 
-  if CP.carFingerprint == CAR.CIVIC:
-    signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
-                ("MAIN_ON", "SCM_FEEDBACK", 0),
-                ("EPB_STATE", "EPB_STATUS", 0),
-                ("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)]
-  elif CP.carFingerprint == CAR.ACURA_ILX:
-    signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
-                ("MAIN_ON", "SCM_BUTTONS", 0)]
-  elif CP.carFingerprint == CAR.CRV:
-    signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
-  elif CP.carFingerprint == CAR.ACURA_RDX:
-    signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
-  elif CP.carFingerprint == CAR.ODYSSEY:
+  # use main on and parking brake signals common to bosch dbc
+  if CP.radarOffCan or CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY):
     signals += [("MAIN_ON", "SCM_FEEDBACK", 0),
                 ("EPB_STATE", "EPB_STATUS", 0),
                 ("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)]
     checks += [("EPB_STATUS", 50)]
-  elif CP.carFingerprint == CAR.PILOT:
-    signals += [("MAIN_ON", "SCM_BUTTONS", 0),
-                ("CAR_GAS", "GAS_PEDAL_2", 0)]
-  elif CP.carFingerprint == CAR.RIDGELINE:
+  else:
     signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
 
+  # use gas signals common to bosch dbc
+  if CP.radarOffCan or CP.carFingerprint in (CAR.ACURA_ILX, CAR.CIVIC, CAR.PILOT):
+    signals += [("CAR_GAS", "GAS_PEDAL_2", 0)]
+    checks += [("GAS_PEDAL_2", 100)]
+
+  # bosch cruise signals
+  if CP.radarOffCan:
+    signals += [("CRUISE_SPEED", "ACC_HUD", 0)]
+  else:
+    signals += [("CRUISE_SPEED_PCM", "CRUISE", 0),
+                ("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS", 0)]
+    checks += [("CRUISE_PARAMS", 50)]
+
+  # bosch brake signals
+  if CP.radarOffCan and CP.carFingerprint != CAR.CIVIC_HATCH:
+    signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
+    checks += [("BRAKE_MODULE", 50)]
+
   # add gas interceptor reading if we are using it
   if CP.enableGasInterceptor:
     signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
@@ -219,6 +206,7 @@ def update(self, cp):
       self.standstill = not cp.vl["STANDSTILL"]['WHEELS_MOVING']
       self.door_all_closed = not any([cp.vl["DOORS_STATUS"]['DOOR_OPEN_FL'], cp.vl["DOORS_STATUS"]['DOOR_OPEN_FR'],
                                       cp.vl["DOORS_STATUS"]['DOOR_OPEN_RL'], cp.vl["DOORS_STATUS"]['DOOR_OPEN_RR']])
+
     self.seatbelt = not cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LAMP'] and cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LATCHED']
 
     # 2 = temporary; 3 = TBD; 4 = temporary, hit a bump; 5 = (permanent); 6 = temporary; 7 = (permanent)
@@ -234,7 +222,7 @@ def update(self, cp):
     self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS
     self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS
     self.v_wheel_rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS
-    self.v_wheel = (self.v_wheel_fl+self.v_wheel_fr+self.v_wheel_rl+self.v_wheel_rr)/4.
+    self.v_wheel = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr) / 4.
 
     # blend in transmission speed at low speed, since it has more low speed accuracy
     self.v_weight = interp(self.v_wheel, v_weight_bp, v_weight_v)
@@ -254,7 +242,6 @@ def update(self, cp):
       self.user_gas = cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS']
       self.user_gas_pressed = self.user_gas > 0 # this works because interceptor read < 0 when pedal position is 0. Once calibrated, this will change
 
-    can_gear_shifter = cp.vl["GEARBOX"]['GEAR_SHIFTER']
     self.gear = 0 if self.CP.carFingerprint == CAR.CIVIC else cp.vl["GEARBOX"]['GEAR']
     self.angle_steers = cp.vl["STEERING_SENSORS"]['STEER_ANGLE']
     self.angle_steers_rate = cp.vl["STEERING_SENSORS"]['STEER_ANGLE_RATE']
@@ -266,23 +253,24 @@ def update(self, cp):
     self.left_blinker_on = cp.vl["SCM_FEEDBACK"]['LEFT_BLINKER']
     self.right_blinker_on = cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER']
 
-    if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.CIVIC_HATCH):
+    if self.CP.radarOffCan or self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY):
+      self.main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON']
       self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
       self.brake_hold = cp.vl["VSA_STATUS"]['BRAKE_HOLD_ACTIVE']
-      self.main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON']
     else:
+      self.main_on = cp.vl["SCM_BUTTONS"]['MAIN_ON']
       self.park_brake = 0  # TODO
       self.brake_hold = 0  # TODO
-      self.main_on = cp.vl["SCM_BUTTONS"]['MAIN_ON']
 
+    can_gear_shifter = cp.vl["GEARBOX"]['GEAR_SHIFTER']
     self.gear_shifter = parse_gear_shifter(can_gear_shifter, self.CP.carFingerprint)
 
     self.pedal_gas = cp.vl["POWERTRAIN_DATA"]['PEDAL_GAS']
-    # crv doesn't include cruise control
-    if self.CP.carFingerprint in (CAR.CRV, CAR.ODYSSEY, CAR.ACURA_RDX, CAR.RIDGELINE):
-      self.car_gas = self.pedal_gas
-    else:
+
+    if self.CP.radarOffCan or self.CP.carFingerprint in (CAR.ACURA_ILX, CAR.CIVIC, CAR.PILOT):
       self.car_gas = cp.vl["GAS_PEDAL_2"]['CAR_GAS']
+    else:
+      self.car_gas = self.pedal_gas
 
     #rdx has different steer override threshold
     steer_thrsld = 400 if self.CP.carFingerprint == CAR.ACURA_RDX else 1200
@@ -291,30 +279,26 @@ def update(self, cp):
 
     self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
 
+    #Bosch cruise
     if self.CP.radarOffCan:
       self.stopped = cp.vl["ACC_HUD"]['CRUISE_SPEED'] == 252.
       self.cruise_speed_offset = calc_cruise_offset(0, self.v_ego)
-      if self.CP.carFingerprint == CAR.CIVIC_HATCH:
-        self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
-        self.brake_pressed = cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or \
-                          (self.brake_switch and self.brake_switch_prev and \
-                          cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != self.brake_switch_ts)
-        self.brake_switch_prev = self.brake_switch
-        self.brake_switch_ts = cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH']
-      else:
-        self.brake_pressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED']
       # On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this.
       self.v_cruise_pcm = self.v_cruise_pcm_prev if cp.vl["ACC_HUD"]['CRUISE_SPEED'] > 160.0 else cp.vl["ACC_HUD"]['CRUISE_SPEED']
       self.v_cruise_pcm_prev = self.v_cruise_pcm
     else:
-      self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
       self.cruise_speed_offset = calc_cruise_offset(cp.vl["CRUISE_PARAMS"]['CRUISE_SPEED_OFFSET'], self.v_ego)
       self.v_cruise_pcm = cp.vl["CRUISE"]['CRUISE_SPEED_PCM']
+
+    #Bosch brake: exclude Civic Hatch
+    if self.CP.radarOffCan and self.CP.carFingerprint != CAR.CIVIC_HATCH:
+      self.brake_pressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED']
+    else:
       # brake switch has shown some single time step noise, so only considered when
       # switch is on for at least 2 consecutive CAN samples
-      self.brake_pressed = cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or \
-                         (self.brake_switch and self.brake_switch_prev and \
-                         cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != self.brake_switch_ts)
+      self.brake_pressed = (cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or \
+                           (self.brake_switch and self.brake_switch_prev and \
+                           cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != self.brake_switch_ts))
       self.brake_switch_prev = self.brake_switch
       self.brake_switch_ts = cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH']