diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
index 812b51d3602520..e23dc7372ad89d 100644
--- a/board/safety/safety_hyundai.h
+++ b/board/safety/safety_hyundai.h
@@ -4,7 +4,7 @@ int hyundai_giraffe_switch_1 = 0;          // is giraffe switch 1 high?
 static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   int bus = (to_push->RDTR >> 4) & 0xF;
-  // 832 is lkas cmd. If it is on bus 0, then giraffe switch 1 is high
+  // 832 is lkas cmd. If it is on bus 0, then giraffe switch 1 is high and we want stock
   if ((to_push->RIR>>21) == 832 && (bus == 0)) {
     hyundai_giraffe_switch_1 = 1;
   }
@@ -17,10 +17,10 @@ static void hyundai_init(int16_t param) {
 
 static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
 
-  // forward cam to radar and viceversa if car is dsu-less, except lkas cmd and hud
+  // forward camera to car and viceversa, excpet for lkas11 and mdps12
   if ((bus_num == 0 || bus_num == 2) && !hyundai_giraffe_switch_1) {
     int addr = to_fwd->RIR>>21;
-    bool is_lkas_msg = (addr == 832 || addr == 1342) && bus_num == 2;
+    bool is_lkas_msg = (addr == 832 && bus_num == 2) || (addr == 593 && bus_num == 0);
     return is_lkas_msg? -1 : (uint8_t)(~bus_num & 0x2);
   }
   return -1;