diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 00000000..237cf81f
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,50 @@
+FROM ubuntu:16.04
+
+WORKDIR /app
+
+# common packages
+RUN apt-get update && \
+    apt-get install -y \
+    ca-certificates curl file tar clang libclang-dev \
+    build-essential cmake libssl-dev zlib1g-dev \
+    ruby-dev libboost-dev git wget && \
+    rm -rf /var/lib/apt/lists/*
+
+# install cucumber package
+RUN gem install cucumber -v 2.0.0 --no-rdoc --no-ri
+
+# install rust toolchain
+env RUSTUP_HOME=/usr/local/rustup \
+    CARGO_HOME=/usr/local/cargo
+
+RUN curl https://sh.rustup.rs -sSf | \
+    sh -s -- --default-toolchain 1.20.0 -y
+
+env PATH=/usr/local/cargo/bin:${PATH}
+
+# install arduino toolchain
+RUN wget -nv http://arduino.cc/download.php?f=/arduino-1.8.5-linux64.tar.xz -O arduino-1.8.5.tar.xz
+
+RUN tar -xf arduino-1.8.5.tar.xz && \
+    cd arduino-1.8.5 && \
+    mkdir -p /usr/share/arduino && \
+    cp -R * /usr/share/arduino
+
+
+# Fetch and build cargo deps
+RUN mkdir src && echo "fn main() { }" >> build.rs && touch src/tests.rs
+
+COPY ./firmware/brake/kia_soul_ev_niro/tests/property/Cargo.toml .
+RUN cargo build
+
+COPY ./firmware/brake/kia_soul_petrol/tests/property/Cargo.toml .
+RUN cargo build
+
+COPY ./firmware/common/libs/pid/tests/property/Cargo.toml .
+RUN cargo build
+
+COPY ./firmware/steering/tests/property/Cargo.toml .
+RUN cargo build
+
+COPY ./firmware/throttle/tests/property/Cargo.toml .
+RUN cargo build
diff --git a/Jenkinsfile b/Jenkinsfile
index 5b6866dc..221c543d 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -1,60 +1,70 @@
 #!groovy
 
-def cleanCheckout() {
-  checkout([
-    $class: 'GitSCM',
-    branches: scm.branches,
-    extensions: scm.extensions + [[$class: 'CleanBeforeCheckout']],
-    userRemoteConfigs: scm.userRemoteConfigs
-  ])
-}
+node {
+    checkout scm
+
+    def image = docker.build("cmake-build:${env.BUILD_ID}")
+
+    def builds = [:]
+    def output = image.inside {
+        sh returnStdout: true, script: "cmake -LA ./firmware | grep 'VEHICLE_VALUES' | cut -d'=' -f 2"
+    }
+
+    def platforms = output.trim().tokenize(';')
+
+    for(int j=0; j<platforms.size(); j++) {
+        def platform_idx = j
+        def platform = platforms[platform_idx]
+        builds[platform] = {
+            node {
+                checkout scm
+
+                image = docker.build("cmake-build:${env.BUILD_ID}")
 
-node('worker'){
-  def builds = [:]
-  cleanCheckout()
-  def output = sh returnStdout: true, script: "cmake -LA ./firmware | grep 'VEHICLE_VALUES' | cut -d'=' -f 2"
-  def platforms = output.trim().tokenize(';')
-
-  for(int j=0; j<platforms.size(); j++) {
-    def platform_idx = j
-    def platform = platforms[platform_idx]
-    builds[platform] = {
-      node('arduino') {
-        try {
-          stage("Checkout") {
-            cleanCheckout()
-          }
-          stage("Build ${platform}") {
-            sh "cd firmware && mkdir build_${platform} && cd build_${platform} \
-            && cmake -DVEHICLE=${platform} -DCMAKE_BUILD_TYPE=Release .. && make"
-            echo "${platform}: Build Complete!"
-          }
-          stage("Test ${platform} unit tests") {
-            sh "cd firmware && mkdir build_${platform}_tests && \
-            cd build_${platform}_tests && cmake -DVEHICLE=${platform} \
-            -DTESTS=ON -DPORT_SUFFIX=${EXECUTOR_NUMBER}${platform_idx} \
-            -DCMAKE_BUILD_TYPE=Release .. && make run-unit-tests"
-            echo "${platform}: Unit Tests Complete!"
-          }
-          stage("Test ${platform} property-based tests") {
-            withEnv(["PATH+CARGO=$HOME/.cargo/bin"]) {
-              sh "cd firmware/build_${platform}_tests && make run-property-tests"
-              echo "${platform}: Property-Based Tests Complete!"
+                stage("Build ${platform}") {
+                    image.inside {
+                        sh "cd firmware && \
+                            rm -rf build_${platform} && \
+                            mkdir build_${platform} && \
+                            cd build_${platform} && \
+                            cmake -DVEHICLE=${platform} -DCMAKE_BUILD_TYPE=Release .. && \
+                            make"
+
+                        echo "${platform}: Build Complete!"
+                    }
+                }
+
+                stage("Test ${platform} unit tests") {
+                    image.inside {
+                        sh "cd firmware && \
+                            rm -rf build_${platform}_tests && \
+                            mkdir build_${platform}_tests && \
+                            cd build_${platform}_tests && \
+                            cmake -DVEHICLE=${platform} \
+                              -DTESTS=ON \
+                              -DPORT_SUFFIX=${EXECUTOR_NUMBER}${platform_idx} \
+                              -DCMAKE_BUILD_TYPE=Release \
+                              .. && \
+                            make run-unit-tests"
+                        echo "${platform}: Unit Tests Complete!"
+                    }
+                }
+
+                stage("Test ${platform} property-based tests") {
+                    image.inside("--user root:root") {
+                        sh "cd firmware/build_${platform}_tests && \
+                            make run-property-tests"
+                        echo "${platform}: Property-Based Tests Complete!"
+                    }
+                }
             }
-          }
-        }
-        finally {
-          deleteDir()
         }
-      }
     }
-  }
-
-  try {
-    parallel builds
-  }
-  finally {
-    deleteDir()
-  }
 
+    try {
+        parallel builds
+    }
+    finally {
+        deleteDir()
+    }
 }
diff --git a/api/include/can_protocols/oscc.dbc b/api/include/can_protocols/oscc.dbc
index 61613101..dbde5789 100644
--- a/api/include/can_protocols/oscc.dbc
+++ b/api/include/can_protocols/oscc.dbc
@@ -44,7 +44,7 @@ BO_ 113 BRAKE_DISABLE: 8 BRAKE
 
 BO_ 114 BRAKE_COMMAND: 8 BRAKE
  SG_ brake_command_magic : 0|16@1+ (1,0) [0|0] "" BRAKE
- SG_ brake_command_pedal_request : 16|32@1+ (1,0) [0|1] "" BRAKE
+ SG_ brake_command_pedal_request : 16|32@1- (1,0) [0|1] "" BRAKE
  SG_ brake_command_reserved : 48|16@1+ (1,0) [0|0] "" BRAKE
 
 BO_ 115 BRAKE_REPORT: 8 BRAKE
diff --git a/api/include/vehicles/kia_niro.h b/api/include/vehicles/kia_niro.h
index 74b58310..9fce660a 100644
--- a/api/include/vehicles/kia_niro.h
+++ b/api/include/vehicles/kia_niro.h
@@ -49,11 +49,17 @@
  */
 #define KIA_SOUL_OBD_BRAKE_PRESSURE_CAN_ID ( 0x220 )
 
+/*
+ * @brief ID of the Kia Niro's OBD throttle pressure CAN frame.
+ *
+ */
+#define KIA_SOUL_OBD_THROTTLE_PRESSURE_CAN_ID ( 0x371 )
+
 /*
  * @brief ID of the Kia Niro's OBD speed CAN frame.
  *
  */
-#define KIA_SOUL_OBD_SPEED_CAN_ID ( 0x371 )
+#define KIA_SOUL_OBD_SPEED_CAN_ID ( 0x52A )
 
 /*
  * @brief Factor to scale OBD steering angle to degrees
@@ -233,10 +239,10 @@ typedef struct
     BRAKE_SPOOF_HIGH_SIGNAL_VOLTAGE_MIN  )
 
 /*
- * @brief Value of the accelerator position that indicates operator override. [steps]
+ * @brief Value of the brake position that indicates operator override. [steps]
  *
  */
-#define BRAKE_PEDAL_OVERRIDE_THRESHOLD ( 200 )
+#define BRAKE_PEDAL_OVERRIDE_THRESHOLD ( 130 )
 
 /*
  * @brief Minimum value of the high spoof signal that activates the brake lights. [steps]
@@ -366,7 +372,7 @@ typedef struct
  *        override.
  *
  */
-#define TORQUE_DIFFERENCE_OVERRIDE_THRESHOLD ( 1600 )
+#define TORQUE_DIFFERENCE_OVERRIDE_THRESHOLD ( 2000 )
 
 
 
diff --git a/api/include/vehicles/kia_soul_ev.h b/api/include/vehicles/kia_soul_ev.h
index 7af5d5f8..7d3ad783 100644
--- a/api/include/vehicles/kia_soul_ev.h
+++ b/api/include/vehicles/kia_soul_ev.h
@@ -49,6 +49,18 @@
  */
 #define KIA_SOUL_OBD_BRAKE_PRESSURE_CAN_ID ( 0x220 )
 
+/*
+ * @brief ID of the Kia Soul's OBD throttle pressure CAN frame.
+ *
+ */
+#define KIA_SOUL_OBD_THROTTLE_PRESSURE_CAN_ID ( 0x200 )
+
+/*
+ * @brief ID of the Kia Niro's OBD speed CAN frame.
+ *
+ */
+#define KIA_SOUL_OBD_SPEED_CAN_ID ( 0x524 )
+
 /*
  * @brief Factor to scale OBD steering angle to degrees
  *
@@ -339,7 +351,7 @@ typedef struct
  *        override.
  *
  */
-#define TORQUE_DIFFERENCE_OVERRIDE_THRESHOLD ( 1600 )
+#define TORQUE_DIFFERENCE_OVERRIDE_THRESHOLD ( 2000 )
 
 
 
diff --git a/api/include/vehicles/kia_soul_petrol.h b/api/include/vehicles/kia_soul_petrol.h
index 3bffdc17..60e4929d 100644
--- a/api/include/vehicles/kia_soul_petrol.h
+++ b/api/include/vehicles/kia_soul_petrol.h
@@ -407,7 +407,7 @@ typedef struct
  *        override.
  *
  */
-#define TORQUE_DIFFERENCE_OVERRIDE_THRESHOLD ( 1600 )
+#define TORQUE_DIFFERENCE_OVERRIDE_THRESHOLD ( 2000 )
 
 
 
diff --git a/api/src/oscc.c b/api/src/oscc.c
index 237d8ca7..db6ece12 100644
--- a/api/src/oscc.c
+++ b/api/src/oscc.c
@@ -529,10 +529,7 @@ void oscc_update_status( int sig, siginfo_t *siginfo, void *context )
 
         while( vehicle_can_bytes > 0 )
         {
-            if ( obd_frame_callback != NULL &&
-                 ( rx_frame.can_id == KIA_SOUL_OBD_WHEEL_SPEED_CAN_ID ||
-                   rx_frame.can_id == KIA_SOUL_OBD_BRAKE_PRESSURE_CAN_ID ||
-                   rx_frame.can_id == KIA_SOUL_OBD_STEERING_WHEEL_ANGLE_CAN_ID ) )
+            if ( obd_frame_callback != NULL )
             {
                 obd_frame_callback( &rx_frame );
             }
diff --git a/firmware/throttle/src/throttle_control.cpp b/firmware/throttle/src/throttle_control.cpp
index 3745a0e8..4c15b5b3 100644
--- a/firmware/throttle/src/throttle_control.cpp
+++ b/firmware/throttle/src/throttle_control.cpp
@@ -61,8 +61,7 @@ void check_for_faults( void )
 
             DEBUG_PRINTLN( "Bad value read from accelerator position sensor" );
         }
-        else if ( operator_overridden == true
-          && g_throttle_control_state.operator_override == false )
+        else if ( operator_overridden == true )
         {
             disable_control( );