diff --git a/.gitattributes b/.gitattributes
index d00208ba8..8781a7371 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -1,18 +1,24 @@
* text=auto
+# to move existing files into LFS:
+# git add --renormalize .
*.dlc filter=lfs diff=lfs merge=lfs -text
*.onnx filter=lfs diff=lfs merge=lfs -text
+*.svg filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.ttf filter=lfs diff=lfs merge=lfs -text
+*.wav filter=lfs diff=lfs merge=lfs -text
+
selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
-selfdrive/assets/fonts/*.ttf filter=lfs diff=lfs merge=lfs -text
-selfdrive/assets/training/*.png filter=lfs diff=lfs merge=lfs -text
system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
selfdrive/ui/qt/spinner_larch64 filter=lfs diff=lfs merge=lfs -text
selfdrive/ui/qt/text_larch64 filter=lfs diff=lfs merge=lfs -text
third_party/**/*.a filter=lfs diff=lfs merge=lfs -text
third_party/**/*.so filter=lfs diff=lfs merge=lfs -text
+third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text
third_party/**/*.dylib filter=lfs diff=lfs merge=lfs -text
third_party/acados/*/t_renderer filter=lfs diff=lfs merge=lfs -text
-third_party/bootstrap/bootstrap-icons.svg filter=lfs diff=lfs merge=lfs -text
third_party/qt5/larch64/bin/lrelease filter=lfs diff=lfs merge=lfs -text
third_party/qt5/larch64/bin/lupdate filter=lfs diff=lfs merge=lfs -text
third_party/catch2/include/catch2/catch.hpp filter=lfs diff=lfs merge=lfs -text
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 342b05bfc..9f1ba1ab9 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -19,8 +19,9 @@ repos:
- id: check-executables-have-shebangs
- id: check-shebang-scripts-are-executable
- id: check-added-large-files
+ exclude: '(docs/CARS.md)|(poetry.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
args:
- - --maxkb=500
+ - --maxkb=120
- --enforce-all
- repo: https://github.com/codespell-project/codespell
rev: v2.2.6
@@ -95,4 +96,4 @@ repos:
# name: format-fingerprints
# entry: selfdrive/debug/format_fingerprints.py
# language: system
-# types: [python]
\ No newline at end of file
+# types: [python]
diff --git a/docs/_static/logo.png b/docs/_static/logo.png
index 269956508..0e7577dae 100644
Binary files a/docs/_static/logo.png and b/docs/_static/logo.png differ
diff --git a/docs/assets/icon-star-empty.svg b/docs/assets/icon-star-empty.svg
index 5d3c32d67..448b20b93 100644
--- a/docs/assets/icon-star-empty.svg
+++ b/docs/assets/icon-star-empty.svg
@@ -1,56 +1,3 @@
-
-
+version https://git-lfs.github.com/spec/v1
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+size 1947
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index 294db2b7f..0e0bf52cd 100644
--- a/docs/assets/icon-star-full.svg
+++ b/docs/assets/icon-star-full.svg
@@ -1,56 +1,3 @@
-
-
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fdcc85f3d8c9d0c2fb76b98ddd9f118c0e4a12c859a4281a04a0870d5de12c8
+size 1950
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index ab905fddc..11398fa6f 100644
--- a/docs/assets/icon-star-half.svg
+++ b/docs/assets/icon-star-half.svg
@@ -1,66 +1,3 @@
-
-
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdf5e7ae57626f4cda35973873a4696252babbbe473913fe0aafdd8ba39d7fc3
+size 2508
diff --git a/docs/assets/icon-youtube.svg b/docs/assets/icon-youtube.svg
index 4e2c9fdfa..f738dca10 100644
--- a/docs/assets/icon-youtube.svg
+++ b/docs/assets/icon-youtube.svg
@@ -1,12 +1,3 @@
-
-
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+version https://git-lfs.github.com/spec/v1
+oid sha256:6cb64f9da10b818c56763a7c48347f6043da20a2a77fb14f6d60d9457c575b6b
+size 1278
diff --git a/selfdrive/assets/body/awake.gif b/selfdrive/assets/body/awake.gif
index 7ec67055d..cc22fd9b1 100644
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diff --git a/selfdrive/assets/body/sleep.gif b/selfdrive/assets/body/sleep.gif
index 469cc8033..fcc0b4ed5 100644
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diff --git a/selfdrive/assets/icons/close.svg b/selfdrive/assets/icons/close.svg
index b1e6d3b86..33f68f02b 100644
--- a/selfdrive/assets/icons/close.svg
+++ b/selfdrive/assets/icons/close.svg
@@ -1,4 +1,3 @@
-
-
+version https://git-lfs.github.com/spec/v1
+oid sha256:84c6b23bd3245954b86f80278511186fca4ddfa70d87c8b25e8f9fb76f9af758
+size 379
diff --git a/selfdrive/assets/images/button_flag.png b/selfdrive/assets/images/button_flag.png
index cac4db6d4..745c8d576 100644
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diff --git a/selfdrive/assets/images/button_home.png b/selfdrive/assets/images/button_home.png
index 9f52faf9e..dd3f97f44 100644
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diff --git a/selfdrive/assets/images/button_settings.png b/selfdrive/assets/images/button_settings.png
index e04262b88..4bbfe581e 100644
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diff --git a/selfdrive/assets/images/triangle.svg b/selfdrive/assets/images/triangle.svg
index 9320269bd..f3a8db44b 100644
--- a/selfdrive/assets/images/triangle.svg
+++ b/selfdrive/assets/images/triangle.svg
@@ -1,56 +1,3 @@
-
-
+version https://git-lfs.github.com/spec/v1
+oid sha256:aaf9a1967365f2c641bf7b54a409e32842cee0bfded7ebb01b1a95c4ac9f0154
+size 2163
diff --git a/selfdrive/assets/img_chffr_wheel.png b/selfdrive/assets/img_chffr_wheel.png
index 3f09a35a7..570ba4ee8 100644
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diff --git a/selfdrive/assets/img_circled_check.svg b/selfdrive/assets/img_circled_check.svg
index 27c37395b..1852ba947 100644
--- a/selfdrive/assets/img_circled_check.svg
+++ b/selfdrive/assets/img_circled_check.svg
@@ -1,4 +1,3 @@
-
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5687faf4cb22bece0405893671651eb13e8eda393987610f493ee5e05eac61d
+size 439
diff --git a/selfdrive/assets/img_circled_slash.svg b/selfdrive/assets/img_circled_slash.svg
index b10a3938d..6c77030d1 100644
--- a/selfdrive/assets/img_circled_slash.svg
+++ b/selfdrive/assets/img_circled_slash.svg
@@ -1,4 +1,3 @@
-
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbec38447732a443c304042c3c3d362c94e11e794e7cc7dc86aa1c7bba16c6b6
+size 328
diff --git a/selfdrive/assets/img_continue_triangle.svg b/selfdrive/assets/img_continue_triangle.svg
index 20f9e45dc..ee9db369a 100644
--- a/selfdrive/assets/img_continue_triangle.svg
+++ b/selfdrive/assets/img_continue_triangle.svg
@@ -1,3 +1,3 @@
-
+version https://git-lfs.github.com/spec/v1
+oid sha256:1764c0c93703481b2ced63bc35c5a23a6c12388ca690ce4cf577b3b478a08b69
+size 197
diff --git a/selfdrive/assets/img_couch.svg b/selfdrive/assets/img_couch.svg
index 2e8601280..7c5851520 100644
--- a/selfdrive/assets/img_couch.svg
+++ b/selfdrive/assets/img_couch.svg
@@ -1,4 +1,3 @@
-
-
+version https://git-lfs.github.com/spec/v1
+oid sha256:a428d2561198ebdc853ba6fb25a8b9c5a58064d000413694e1535adc06633c0a
+size 2649
diff --git a/selfdrive/assets/img_driver_face.png b/selfdrive/assets/img_driver_face.png
index e2d943e53..8b6f515b1 100644
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diff --git a/selfdrive/assets/img_driver_face_static.png b/selfdrive/assets/img_driver_face_static.png
index d8bc5f137..5d5ebf679 100644
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diff --git a/selfdrive/assets/img_experimental.svg b/selfdrive/assets/img_experimental.svg
index 0eaec3b3c..3c31caa07 100644
--- a/selfdrive/assets/img_experimental.svg
+++ b/selfdrive/assets/img_experimental.svg
@@ -1,10 +1,3 @@
-
+version https://git-lfs.github.com/spec/v1
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+size 2193
diff --git a/selfdrive/assets/img_experimental_grey.svg b/selfdrive/assets/img_experimental_grey.svg
index dc87105ac..8ba6c87bd 100644
--- a/selfdrive/assets/img_experimental_grey.svg
+++ b/selfdrive/assets/img_experimental_grey.svg
@@ -1,4 +1,3 @@
-
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ae28a53171567c8a0d52eec75cc49004cb8dd19dcab9a360784718ab8ec7c02
+size 1931
diff --git a/selfdrive/assets/img_experimental_white.svg b/selfdrive/assets/img_experimental_white.svg
index ae4f18fde..9714fe0c0 100644
--- a/selfdrive/assets/img_experimental_white.svg
+++ b/selfdrive/assets/img_experimental_white.svg
@@ -1,4 +1,3 @@
-
+version https://git-lfs.github.com/spec/v1
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diff --git a/selfdrive/assets/img_eye_closed.svg b/selfdrive/assets/img_eye_closed.svg
index 91b229e91..fcef6e8a3 100644
--- a/selfdrive/assets/img_eye_closed.svg
+++ b/selfdrive/assets/img_eye_closed.svg
@@ -1,5 +1,3 @@
-
+version https://git-lfs.github.com/spec/v1
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+size 1490
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index ea6e41ac5..7289c4a57 100644
--- a/selfdrive/assets/img_eye_open.svg
+++ b/selfdrive/assets/img_eye_open.svg
@@ -1,4 +1,3 @@
-
+version https://git-lfs.github.com/spec/v1
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+size 775
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index 43d5290a9..4b11ee762 100644
--- a/selfdrive/assets/navigation/default_marker.svg
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