dragonpilot 2022-08-19T01:11:48 for EON/C2

version: dragonpilot v0.8.16 beta for EON/C2 date: 2022-08-19T01:11:48 dp-dev(priv2) master commit: 4aee191bc9d1c5099913455ff9e5fa1c3a7a7903
3 years ago · 66006fe0e9
parent b437663252
commit 66006fe0e9
82 changed files with 2559 additions and 288 deletions
--- a/.gitignore
+++ b/.gitignore
@ -54,7 +54,6 @@ selfdrive/modeld/_dmonitoringmodeld
 /src/
 one
 /body/
 openpilot
 notebooks
 xx
--- a/CHANGELOGS.md
+++ b/CHANGELOGS.md
@ -1,5 +1,11 @@
 dragonpilot [latest] - EON/C2 Release
 ========================
 * NEW: Synced to openpilot master 2022.08.15 commits.
  * New driving model.
 * NEW: Added back honda eps mod toggle.
 dragonpilot 2022.08.17 - EON/C2 Release
 ========================
 * NEW: Synced to openpilot master 2022.08.07 commits.
 * NEW: Added back auto shutdown toggle.
 * NEW: Added back On-Road Dashcam toggle. (You should not replace this with your dashcam!!!)
--- a/RELEASES.md
+++ b/RELEASES.md
@ -1,5 +1,7 @@
 Version 0.8.16 (2022-XX-XX)
 ========================
 * Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
 * Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
 * Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
 * Subaru Outback 2020-22 support
--- a/cereal/.gitignore
+++ b/cereal/.gitignore
@ -0,0 +1,21 @@
 gen
 node_modules
 package-lock.json
 *.tmp
 *.pyc
 __pycache__
 .*.swp
 .*.swo
 *.os
 *.o
 *.a
 test_runner
 libmessaging.*
 libmessaging_shared.*
 services.h
 .sconsign.dblite
 libcereal_shared.*
 .mypy_cache/
 catch2/
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@ -587,7 +587,7 @@ struct CarParams {
    stellantis @25;
    faw @26;
    body @27;
-    hyundaiHDA2 @28;
+    hyundaiCanfd @28;
  }
  enum SteerControlType {
--- a/cereal/libcereal_shared.so
+++ b/cereal/libcereal_shared.so
--- a/cereal/visionipc/visionipc_pyx.so
+++ b/cereal/visionipc/visionipc_pyx.so
--- a/common/dp_conf.py
+++ b/common/dp_conf.py
@ -129,7 +129,7 @@ confs = [
  # # hyundai
  # {'name': 'dp_hkg_smart_mdps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  # # honda
-  # {'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  # {'name': 'dp_honda_kmh_display', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  # # volkswagen
  # # {'name': 'dp_vw_panda', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
--- a/common/params_pyx.so
+++ b/common/params_pyx.so
--- a/common/version.h
+++ b/common/version.h
@ -1 +1 @@
-#define COMMA_VERSION "2022.08.17"
+#define COMMA_VERSION "2022.08.19"
--- a/docs/CARS.md
+++ b/docs/CARS.md
@ -19,7 +19,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 - [![star](assets/icon-star-empty.svg)](##) - Limited ability to make tighter turns.
-# 199 Supported Cars
+# 201 Supported Cars
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
 |---|---|---|:---:|:---:|:---:|:---:|
@ -33,6 +33,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Audi|RS3 2018|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Audi|S3 2015-17|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Chevrolet|Bolt EUV 2022-23|Premier/Premier Redline Trim|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
@ -61,7 +62,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Honda|HR-V 2019-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
 |Honda|Insight 2019-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
 |Honda|Inspire 2018|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
-|Honda|Odyssey 2018-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Odyssey 2018-20|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
 |Honda|Passport 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
 |Honda|Pilot 2016-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
 |Honda|Ridgeline 2017-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
@ -69,6 +70,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Ioniq 5 2022|Highway Driving Assist II|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Ioniq Electric 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
@ -93,7 +95,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Kia|EV6 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|EV6 2022|Highway Driving Assist II|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|Forte 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Kia|K5 2021-22|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
@ -121,7 +123,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Lexus|NX Hybrid 2018-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|NX Hybrid 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|RC 2017-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Lexus|RX 2016-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|RX 2016-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|RX 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|RX Hybrid 2016-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Lexus|RX Hybrid 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
@ -145,7 +147,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Subaru|XV 2018-19|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
 |Subaru|XV 2020-21|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Škoda|Karoq 2019-21|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Karoq 2019-21[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Škoda|Kodiaq 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Škoda|Octavia 2015, 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Škoda|Octavia RS 2016|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
@ -190,7 +192,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Toyota|RAV4 Hybrid 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|RAV4 Hybrid 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Toyota|RAV4 Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
-|Toyota|Sienna 2018-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Sienna 2018-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Volkswagen|Arteon 2018-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Volkswagen|Arteon eHybrid 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Volkswagen|Arteon R 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
@ -229,8 +231,8 @@ A supported vehicle is one that just works when you install a comma device. Ever
 <sup>3</sup>When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>4</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
 <sup>5</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>6</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
+<sup>6</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>7</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard. <br />
+<sup>7</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). In the interim, if your car has a J533 connector CAN gateway inside the dashboard, choose "VW J533 Development" from the vehicle drop-down for a suitable harness. (Some newer models are also observed to not have a J533 connector.) <br />
 <sup>8</sup>Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.) <br />
 ## Community Maintained Cars
--- a/opendbc/cadillac_ct6_powertrain.dbc
+++ b/opendbc/cadillac_ct6_powertrain.dbc
@ -182,7 +182,7 @@ BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
 SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ACCSpeedSetpoint : 19|12@0+ (1,0) [0|0] "km/h"  NEO
+ SG_ ACCSpeedSetpoint : 19|12@0+ (0.0625,0) [0|255.9375] "km/h"  NEO
 SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] ""  NEO
 SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] ""  NEO
 SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] ""  NEO
--- a/opendbc/can/libdbc.so
+++ b/opendbc/can/libdbc.so
--- a/opendbc/generator/gm/gm_global_a_powertrain.dbc
+++ b/opendbc/generator/gm/gm_global_a_powertrain.dbc
@ -138,6 +138,8 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
 SG_ LKAButton : 23|1@0+ (1,0) [0|0] ""  NEO
 SG_ ACCButtons : 46|3@0+ (1,0) [0|0] ""  NEO
 SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO
 SG_ SteeringButtonChecksum : 43|12@0+ (1,0) [0|255] "" NEO
 BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
 SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg"  NEO
@ -211,7 +213,7 @@ BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
 SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ACCSpeedSetpoint : 19|12@0+ (1,0) [0|0] "km/h"  NEO
+ SG_ ACCSpeedSetpoint : 19|12@0+ (0.0625,0) [0|255.9375] "km/h"  NEO
 SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] ""  NEO
 SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] ""  NEO
 SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] ""  NEO
--- a/opendbc/gm_global_a_powertrain_generated.dbc
+++ b/opendbc/gm_global_a_powertrain_generated.dbc
@ -158,6 +158,8 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
 SG_ LKAButton : 23|1@0+ (1,0) [0|0] ""  NEO
 SG_ ACCButtons : 46|3@0+ (1,0) [0|0] ""  NEO
 SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO
 SG_ SteeringButtonChecksum : 43|12@0+ (1,0) [0|255] "" NEO
 BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
 SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg"  NEO
@ -231,7 +233,7 @@ BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
 SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ACCSpeedSetpoint : 19|12@0+ (1,0) [0|0] "km/h"  NEO
+ SG_ ACCSpeedSetpoint : 19|12@0+ (0.0625,0) [0|255.9375] "km/h"  NEO
 SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] ""  NEO
 SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] ""  NEO
 SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] ""  NEO
--- a/panda/board/obj/bootstub.panda.bin
+++ b/panda/board/obj/bootstub.panda.bin
--- a/panda/board/obj/panda.bin.signed
+++ b/panda/board/obj/panda.bin.signed
--- a/panda/board/obj/panda.bin.sspoof.signed
+++ b/panda/board/obj/panda.bin.sspoof.signed
--- a/panda/board/obj/panda.bin.testing.signed
+++ b/panda/board/obj/panda.bin.testing.signed
--- a/panda/board/obj/panda.bin.testing.sspoof.signed
+++ b/panda/board/obj/panda.bin.testing.sspoof.signed
--- a/panda/python/init.py
+++ b/panda/python/init.py
@ -150,7 +150,7 @@ class Panda:
  SAFETY_STELLANTIS = 25
  SAFETY_FAW = 26
  SAFETY_BODY = 27
-  SAFETY_HYUNDAI_HDA2 = 28
+  SAFETY_HYUNDAI_CANFD = 28
  SERIAL_DEBUG = 0
  SERIAL_ESP = 1
@ -200,10 +200,15 @@ class Panda:
  FLAG_TESLA_POWERTRAIN = 1
  FLAG_TESLA_LONG_CONTROL = 2
  FLAG_VOLKSWAGEN_LONG_CONTROL = 1
  FLAG_CHRYSLER_RAM_DT = 1
  FLAG_CHRYSLER_RAM_HD = 2
  FLAG_SUBARU_GEN2 = 1
  FLAG_GM_HW_CAM = 1
  def __init__(self, serial: Optional[str] = None, claim: bool = True):
    self._serial = serial
    self._handle = None
@ -335,9 +340,10 @@ class Panda:
    except Exception:
      pass
-  def flash(self, fn=DEFAULT_FW_FN, code=None, reconnect=True):
+  def flash(self, fn=None, code=None, reconnect=True):
-    if self._mcu_type == MCU_TYPE_H7 and fn == DEFAULT_FW_FN:
+    if not fn:
-      fn = DEFAULT_H7_FW_FN
+      fn = DEFAULT_H7_FW_FN if self._mcu_type == MCU_TYPE_H7 else DEFAULT_FW_FN
    assert os.path.isfile(fn)
    print("flash: main version is " + self.get_version())
    if not self.bootstub:
      self.reset(enter_bootstub=True)
@ -358,18 +364,16 @@ class Panda:
      self.reconnect()
  def recover(self, timeout: Optional[int] = None, reset: bool = True) -> bool:
    dfu_serial = PandaDFU.st_serial_to_dfu_serial(self._serial, self._mcu_type)
    if reset:
      self.reset(enter_bootstub=True)
      self.reset(enter_bootloader=True)
-    t_start = time.time()
+    if not self.wait_for_dfu(dfu_serial, timeout=timeout):
    while len(PandaDFU.list()) == 0:
      print("waiting for DFU...")
      time.sleep(0.1)
      if timeout is not None and (time.time() - t_start) > timeout:
      return False
-    dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial, self._mcu_type))
+    dfu = PandaDFU(dfu_serial)
    dfu.recover()
    # reflash after recover
@ -377,6 +381,16 @@ class Panda:
    self.flash()
    return True
  @staticmethod
  def wait_for_dfu(dfu_serial: str, timeout: Optional[int] = None) -> bool:
    t_start = time.monotonic()
    while dfu_serial not in PandaDFU.list():
      print("waiting for DFU...")
      time.sleep(0.1)
      if timeout is not None and (time.monotonic() - t_start) > timeout:
        return False
    return True
  @staticmethod
  def list():
    context = usb1.USBContext()
--- a/rednose/helpers/ekf_sym_pyx.so
+++ b/rednose/helpers/ekf_sym_pyx.so
--- a/selfdrive/boardd/boardd
+++ b/selfdrive/boardd/boardd
--- a/selfdrive/boardd/boardd_api_impl.so
+++ b/selfdrive/boardd/boardd_api_impl.so
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@ -2,7 +2,7 @@
 from cereal import car
 from panda import Panda
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
-from selfdrive.car.chrysler.values import CAR, DBC, RAM_CARS
+from selfdrive.car.chrysler.values import CAR, DBC, RAM_HD, RAM_DT
 from selfdrive.car.interfaces import CarInterfaceBase
@ -12,14 +12,20 @@ class CarInterface(CarInterfaceBase):
    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
    ret.carName = "chrysler"
-    ret.radarOffCan = DBC[candidate]['radar'] is None
+    ret.dashcamOnly = candidate in RAM_HD
-    param = Panda.FLAG_CHRYSLER_RAM_DT if candidate in RAM_CARS else None
+    ret.radarOffCan = DBC[candidate]['radar'] is None
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler, param)]
    ret.steerActuatorDelay = 0.1
    ret.steerLimitTimer = 0.4
    # safety config
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)]
    if candidate in RAM_HD:
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_HD
    elif candidate in RAM_DT:
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT
    ret.minSteerSpeed = 3.8  # m/s
    if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
      # TODO: allow 2019 cars to steer down to 13 m/s if already engaged.
@ -47,18 +53,24 @@ class CarInterface(CarInterfaceBase):
    # Ram
    elif candidate == CAR.RAM_1500:
      ret.steerActuatorDelay = 0.2
      ret.wheelbase = 3.88
      ret.steerRatio = 16.3
      ret.mass = 2493. + STD_CARGO_KG
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
      ret.minSteerSpeed = 14.5
      if car_fw is not None:
        for fw in car_fw:
          if fw.ecu == 'eps' and fw.fwVersion in (b"68312176AE", b"68312176AG", b"68273275AG"):
            ret.minSteerSpeed = 0.
    elif candidate == CAR.RAM_HD:
      ret.steerActuatorDelay = 0.2
      ret.wheelbase = 3.785
      ret.steerRatio = 15.61
      ret.mass = 3405. + STD_CARGO_KG
      ret.minSteerSpeed = 16
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
    else:
      raise ValueError(f"Unsupported car: {candidate}")
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@ -22,23 +22,30 @@ class CAR:
  # Ram
  RAM_1500 = "RAM 1500 5TH GEN"
  RAM_HD = "RAM HD 5TH GEN"
 class CarControllerParams:
  def __init__(self, CP):
    self.STEER_MAX = 261  # higher than this faults the EPS on Chrysler/Jeep. Ram DT allows more
    self.STEER_ERROR_MAX = 80
-
+    if CP.carFingerprint in RAM_HD:
-    if CP.carFingerprint in RAM_CARS:
+      self.STEER_DELTA_UP = 14
      self.STEER_DELTA_DOWN = 14
      self.STEER_MAX = 361  # higher than this faults the EPS
    elif CP.carFingerprint in RAM_DT:
      self.STEER_DELTA_UP = 6
      self.STEER_DELTA_DOWN = 6
      self.STEER_MAX = 261  # EPS allows more, up to 350?
    else:
      self.STEER_DELTA_UP = 3
      self.STEER_DELTA_DOWN = 3
      self.STEER_MAX = 261  # higher than this faults the EPS
 STEER_THRESHOLD = 120
-RAM_CARS = {CAR.RAM_1500, }
+RAM_DT = {CAR.RAM_1500, }
 RAM_HD = {CAR.RAM_HD, }
 RAM_CARS = RAM_DT | RAM_HD
@dataclass
 class ChryslerCarInfo(CarInfo):
@ -57,6 +64,10 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
  CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
  CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22", harness=Harness.ram),
  CAR.RAM_HD: [
    ChryslerCarInfo("Ram 2500 2020-22", harness=Harness.ram),
    ChryslerCarInfo("Ram 3500 2020-22", harness=Harness.ram),
  ],
 }
 # Unique CAN messages:
@ -177,6 +188,41 @@ FW_VERSIONS = {
      b'68500483AB',
    ],
  },
  CAR.RAM_HD: {
    (Ecu.combinationMeter, 0x742, None): [
      b'68361606AH',
      b'68492693AD',
    ],
    (Ecu.srs, 0x744, None): [
      b'68399794AC',
      b'68428503AA',
      b'68428505AA',
    ],
    (Ecu.esp, 0x747, None): [
      b'68334977AH',
      b'68504022AB',
      b'68530686AB',
    ],
    (Ecu.fwdRadar, 0x753, None): [
      b'04672895AB',
      b'56029827AG',
      b'68484694AE',
    ],
    (Ecu.eps, 0x761, None): [
      b'68421036AC',
      b'68507906AB',
    ],
    (Ecu.engine, 0x7e0, None): [
      b'52421132AF',
      b'M2370131MB',
      b'M2421132MB',
    ],
    (Ecu.gateway, 0x18DACBF1, None): [
      b'68488419AB',
      b'68535476AB',
    ],
  },
 }
 DBC = {
@ -188,4 +234,5 @@ DBC = {
  CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
  CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
  CAR.RAM_1500: dbc_dict('chrysler_ram_dt_generated', None),
  CAR.RAM_HD: dbc_dict('chrysler_ram_hd_generated', None),
 }
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@ -10,6 +10,10 @@ from common.conversions import Conversions as CV
 GOOD_TORQUE_THRESHOLD = 1.0  # m/s^2
 MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)"
 # Makes that lack auto-resume with stock long, and auto resume in any configuration
 NO_AUTO_RESUME_STOCK_LONG = {"toyota", "gm"}
 NO_AUTO_RESUME = NO_AUTO_RESUME_STOCK_LONG | {"nissan", "subaru"}
 class Tier(Enum):
  GOLD = 0
@ -147,11 +151,11 @@ class CarInfo:
      else:
        alc = ""
-      # Exception for Nissan, Subaru, and stock long Toyota which do not auto-resume yet
+      # Exception for cars which do not auto-resume yet
      acc = ""
      if self.min_enable_speed > 0:
        acc = f" <strong>while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph</strong>"
-      elif CP.carName not in ("nissan", "subaru", "toyota") or (CP.carName == "toyota" and CP.openpilotLongitudinalControl):
+      elif CP.carName not in NO_AUTO_RESUME or (CP.carName in NO_AUTO_RESUME_STOCK_LONG and CP.openpilotLongitudinalControl):
        acc = " <strong>that automatically resumes from a stop</strong>"
      if self.row[Column.STEERING_TORQUE] != Star.FULL:
@ -186,7 +190,8 @@ class Harness(Enum):
  bosch_a = "Honda Bosch A"
  bosch_b = "Honda Bosch B"
  toyota = "Toyota"
-  subaru = "Subaru"
+  subaru_a = "Subaru A"
  subaru_b = "Subaru B"
  fca = "FCA"
  ram = "Ram"
  vw = "VW"
@ -209,6 +214,7 @@ class Harness(Enum):
  hyundai_p = "Hyundai P"
  custom = "Developer"
  obd_ii = "OBD-II"
  gm = "GM"
  nissan_a = "Nissan A"
  nissan_b = "Nissan B"
  mazda = "Mazda"
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@ -337,16 +337,20 @@ def match_fw_to_car_exact(fw_versions_dict):
  return set(candidates.keys()) - set(invalid)
-def match_fw_to_car(fw_versions, allow_fuzzy=True):
+def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True):
  # Try exact matching first
  exact_matches = []
  if allow_exact:
    exact_matches = [(True, match_fw_to_car_exact)]
  if allow_fuzzy:
    exact_matches.append((False, match_fw_to_car_fuzzy))
  brands = get_interface_attr('FW_VERSIONS', ignore_none=True).keys()
  for exact_match, match_func in exact_matches:
-    # TODO: For each brand, attempt to fingerprint using only FW returned from its queries
+    # For each brand, attempt to fingerprint using all FW returned from its queries
    matches = set()
-    fw_versions_dict = build_fw_dict(fw_versions, filter_brand=None)
+    for brand in brands:
      fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
      matches |= match_func(fw_versions_dict)
    if len(matches):
@ -416,9 +420,8 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa
  for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True):
    car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, debug=debug, progress=progress)
    all_car_fw.extend(car_fw)
-
+    # Try to match using FW returned from this brand only
-    # TODO: Until erroneous FW versions are removed, try to fingerprint on all possible combinations so far
+    matches = match_fw_to_car_exact(build_fw_dict(car_fw))
    _, matches = match_fw_to_car(all_car_fw, allow_fuzzy=False)
    if len(matches) == 1:
      break
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@ -5,7 +5,7 @@ from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.gm import gmcan
-from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, EV_CAR
+from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, EV_CAR
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 NetworkLocation = car.CarParams.NetworkLocation
@ -19,6 +19,7 @@ class CarController:
    self.apply_gas = 0
    self.apply_brake = 0
    self.frame = 0
    self.last_button_frame = 0
    self.lka_steering_cmd_counter_last = -1
    self.lka_icon_status_last = (False, False)
@ -46,8 +47,7 @@ class CarController:
    if CS.lka_steering_cmd_counter != self.lka_steering_cmd_counter_last:
      self.lka_steering_cmd_counter_last = CS.lka_steering_cmd_counter
    elif (self.frame % self.params.STEER_STEP) == 0:
-      lkas_enabled = CC.latActive and CS.out.vEgo > self.params.MIN_STEER_SPEED
+      if CC.latActive:
      if lkas_enabled:
        new_steer = int(round(actuators.steer * self.params.STEER_MAX))
        apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
      else:
@ -58,7 +58,7 @@ class CarController:
      # moment of disengaging, increment the counter based on the last message known to pass Panda safety checks.
      idx = (CS.lka_steering_cmd_counter + 1) % 4
-      can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
+      can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive))
    if self.CP.openpilotLongitudinalControl:
      # Gas/regen, brakes, and UI commands - all at 25Hz
@ -107,6 +107,13 @@ class CarController:
      if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
        can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
    else:
      # Stock longitudinal, integrated at camera
      if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
        if CC.cruiseControl.cancel:
          self.last_button_frame = self.frame
          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CruiseButtons.CANCEL))
    # Show green icon when LKA torque is applied, and
    # alarming orange icon when approaching torque limit.
    # If not sent again, LKA icon disappears in about 5 seconds.
@ -114,6 +121,8 @@ class CarController:
    lka_active = CS.lkas_status == 1
    lka_critical = lka_active and abs(actuators.steer) > 0.9
    lka_icon_status = (lka_active, lka_critical)
    # SW_GMLAN not yet on cam harness, no HUD alerts
    if self.CP.networkLocation != NetworkLocation.fwdCamera and (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last):
      steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
      can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@ -1,4 +1,5 @@
 from cereal import car
 from common.conversions import Conversions as CV
 from common.numpy_fast import mean
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
@ -6,6 +7,7 @@ from selfdrive.car.interfaces import CarStateBase
 from selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
 class CarState(CarStateBase):
@ -15,7 +17,7 @@ class CarState(CarStateBase):
    self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
    self.lka_steering_cmd_counter = 0
-  def update(self, pt_cp, loopback_cp):
+  def update(self, pt_cp, cam_cp, loopback_cp):
    ret = car.CarState.new_message()
    self.prev_cruise_buttons = self.cruise_buttons
@ -77,9 +79,21 @@ class CarState(CarStateBase):
    ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
    ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
    if self.CP.networkLocation == NetworkLocation.fwdCamera:
      ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
    return ret
  @staticmethod
  def get_cam_can_parser(CP):
    signals = []
    checks = []
    if CP.networkLocation == NetworkLocation.fwdCamera:
      signals.append(("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"))
      checks.append(("ASCMActiveCruiseControlStatus", 25))
    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.CAMERA)
  @staticmethod
  def get_can_parser(CP):
    signals = [
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@ -1,5 +1,9 @@
 from selfdrive.car import make_can_msg
 def create_buttons(packer, bus, button):
  values = {"ACCButtons": button}
  return packer.make_can_msg("ASCMSteeringButton", bus, values)
 def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
  values = {
@ -59,8 +63,7 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_f
  return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
 def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lead_car_in_sight, fcw):
-  # Not a bit shift, dash can round up based on low 4 bits.
+  target_speed = min(target_speed_kph, 255)
  target_speed = int(target_speed_kph * 16) & 0xfff
  values = {
    "ACCAlwaysOne" : 1,
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@ -1,10 +1,11 @@
 #!/usr/bin/env python3
 from cereal import car
 from math import fabs
 from panda import Panda
 from common.conversions import Conversions as CV
 from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
-from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams
+from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR
 from selfdrive.car.interfaces import CarInterfaceBase
 ButtonType = car.CarState.ButtonEvent.Type
@ -48,29 +49,36 @@ class CarInterface(CarInterfaceBase):
    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
    ret.carName = "gm"
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
-    ret.pcmCruise = False  # For ASCM, stock non-adaptive cruise control is kept off
+
-    ret.radarOffCan = False  # For ASCM, radar exists
+    if candidate in EV_CAR:
      ret.transmissionType = TransmissionType.direct
    else:
      ret.transmissionType = TransmissionType.automatic
-    # NetworkLocation.gateway: OBD-II harness (typically ASCM), NetworkLocation.fwdCamera: non-ASCM
+
    if candidate in CAMERA_ACC_CAR:
      ret.openpilotLongitudinalControl = False
      ret.networkLocation = NetworkLocation.fwdCamera
      ret.radarOffCan = True  # no radar
      ret.pcmCruise = True
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
    else:  # ASCM, OBD-II harness
      ret.openpilotLongitudinalControl = True
      ret.networkLocation = NetworkLocation.gateway
      ret.radarOffCan = False
      ret.pcmCruise = False  # stock non-adaptive cruise control is kept off
    # These cars have been put into dashcam only due to both a lack of users and test coverage.
    # These cars likely still work fine. Once a user confirms each car works and a test route is
    # added to selfdrive/car/tests/routes.py, we can remove it from this list.
    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL}
    # Presence of a camera on the object bus is ok.
    # Have to go to read_only if ASCM is online (ACC-enabled cars),
    # or camera is on powertrain bus (LKA cars without ACC).
    ret.openpilotLongitudinalControl = True
    tire_stiffness_factor = 0.444  # not optimized yet
    # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
    ret.minSteerSpeed = 7 * CV.MPH_TO_MS
    ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
    ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
    ret.lateralTuning.pid.kf = 0.00004   # full torque for 20 deg at 80mph means 0.00007818594
    ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
    tire_stiffness_factor = 0.444  # not optimized yet
    ret.longitudinalTuning.kpBP = [5., 35.]
    ret.longitudinalTuning.kpV = [2.4, 1.5]
@ -84,7 +92,6 @@ class CarInterface(CarInterfaceBase):
    ret.minEnableSpeed = 18 * CV.MPH_TO_MS
    if candidate == CAR.VOLT:
      ret.transmissionType = TransmissionType.direct
      ret.mass = 1607. + STD_CARGO_KG
      ret.wheelbase = 2.69
      ret.steerRatio = 17.7  # Stock 15.7, LiveParameters
@ -143,6 +150,16 @@ class CarInterface(CarInterfaceBase):
      ret.lateralTuning.pid.kf = 0.000045
      tire_stiffness_factor = 1.0
    elif candidate == CAR.BOLT_EUV:
      ret.minEnableSpeed = -1
      ret.mass = 1669. + STD_CARGO_KG
      ret.wheelbase = 2.675
      ret.steerRatio = 16.8
      ret.centerToFront = ret.wheelbase * 0.4
      tire_stiffness_factor = 1.0
      ret.steerActuatorDelay = 0.2
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
    # TODO: get actual value, for now starting with reasonable value for
    # civic and scaling by mass and wheelbase
    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
@ -156,7 +173,7 @@ class CarInterface(CarInterfaceBase):
  # returns a car.CarState
  def _update(self, c):
-    ret = self.CS.update(self.cp, self.cp_loopback)
+    ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
    ret.cruiseState.enabled, ret.cruiseState.available = self.dp_atl_mode(ret)
    if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT:
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@ -14,7 +14,6 @@ class CarControllerParams:
  STEER_STEP = 2  # Control frames per command (50hz)
  STEER_DELTA_UP = 7  # Delta rates require review due to observed EPS weakness
  STEER_DELTA_DOWN = 17
  MIN_STEER_SPEED = 3.  # m/s
  STEER_DRIVER_ALLOWANCE = 50
  STEER_DRIVER_MULTIPLIER = 4
  STEER_DRIVER_FACTOR = 100
@ -59,10 +58,7 @@ class CAR:
  ACADIA = "GMC ACADIA DENALI 2018"
  BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
  ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
-
+  BOLT_EUV = "CHEVROLET BOLT EUV 2022"
 EV_CAR = {CAR.VOLT}
 STEER_THRESHOLD = 1.0
 class Footnote(Enum):
@ -87,6 +83,7 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
  CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
  CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
  CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
  CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier/Premier Redline Trim", video_link="https://youtu.be/xvwzGMUA210", footnotes=[], harness=Harness.gm),
 }
@ -107,6 +104,7 @@ class AccState:
 class CanBus:
  POWERTRAIN = 0
  OBSTACLE = 1
  CAMERA = 2
  CHASSIS = 2
  SW_GMLAN = 3
  LOOPBACK = 128
@ -155,6 +153,17 @@ FINGERPRINTS = {
  {
    309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8
  }],
  CAR.BOLT_EUV: [
  {
    189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
  }],
 }
 DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
 EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
 CAMERA_ACC_CAR = {CAR.BOLT_EUV}
 STEER_THRESHOLD = 1.0
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@ -329,6 +329,23 @@ class CarInterface(CarInterfaceBase):
    ret.steerActuatorDelay = 0.1
    ret.steerLimitTimer = 0.8
    if Params().get_bool('dp_honda_eps_mod'):
      if candidate == CAR.CIVIC:
        # tuned by a-tao
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096, 8000], [0, 4096, 4096]]
      elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL):
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2564, 8000], [0, 2564, 3840]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]] #2.5 default mod #Tuned by TMG
      elif candidate in (CAR.ACCORD, CAR.ACCORDH):
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
      elif candidate == CAR.CRV_5G:
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]] #tuned by Titanminer (8000)
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
      elif candidate == CAR.CRV_HYBRID:
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0x0, 0xB5, 0x161, 0x2D6, 0x4C0, 0x70D, 0xC42, 0x1058, 0x2C00], [0x0, 0x160, 0x1F0, 0x2E0, 0x378, 0x4A0, 0x5F0, 0x804, 0xF00]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]] #still needs to finish tuning for the new car
        ret.lateralTuning.pid.kf = 0.00004
    CarInterfaceBase.configure_lqr_tune(ret.lateralTuning)
    return ret
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@ -131,7 +131,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
  CAR.FIT: HondaCarInfo("Honda Fit 2018-20", harness=Harness.nidec),
  CAR.FREED: HondaCarInfo("Honda Freed 2020", harness=Harness.nidec),
  CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", harness=Harness.nidec),
-  CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-22", min_steer_speed=0., harness=Harness.nidec),
+  CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", min_steer_speed=0., harness=Harness.nidec),
  CAR.ODYSSEY_CHN: None,  # Chinese version of Odyssey
  CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", harness=Harness.nidec),
  CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@ -4,8 +4,8 @@ from common.numpy_fast import clip, interp
 from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
-from selfdrive.car.hyundai import hda2can, hyundaican
+from selfdrive.car.hyundai import hyundaicanfd, hyundaican
-from selfdrive.car.hyundai.values import Buttons, CarControllerParams, HDA2_CAR, CAR
+from selfdrive.car.hyundai.values import Buttons, CarControllerParams, CANFD_CAR, CAR
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@ -69,23 +69,23 @@ class CarController:
    can_sends = []
-    if self.CP.carFingerprint in HDA2_CAR:
+    if self.CP.carFingerprint in CANFD_CAR:
      # steering control
-      can_sends.append(hda2can.create_lkas(self.packer, CC.enabled, CC.latActive, apply_steer))
+      can_sends.append(hyundaicanfd.create_lkas(self.packer, CC.enabled, CC.latActive, apply_steer))
      if self.frame % 5 == 0:
-        can_sends.append(hda2can.create_cam_0x2a4(self.packer, CS.cam_0x2a4))
+        can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, CS.cam_0x2a4))
      # cruise cancel
      if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
        if CC.cruiseControl.cancel:
          for _ in range(20):
-            can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL))
+            can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL))
          self.last_button_frame = self.frame
        # cruise standstill resume
        elif CC.cruiseControl.resume:
-          can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
+          can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
          self.last_button_frame = self.frame
    else:
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@ -5,7 +5,7 @@ from cereal import car
 from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.car.hyundai.values import DBC, FEATURES, CAMERA_SCC_CAR, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
 from selfdrive.car.interfaces import CarStateBase
 PREV_BUTTON_SAMPLES = 8
@ -19,7 +19,7 @@ class CarState(CarStateBase):
    self.cruise_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
    self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
-    if CP.carFingerprint in HDA2_CAR:
+    if CP.carFingerprint in CANFD_CAR:
      self.shifter_values = can_define.dv["ACCELERATOR"]["GEAR"]
    elif self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
      self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
@ -35,8 +35,8 @@ class CarState(CarStateBase):
    self.params = CarControllerParams(CP)
  def update(self, cp, cp_cam):
-    if self.CP.carFingerprint in HDA2_CAR:
+    if self.CP.carFingerprint in CANFD_CAR:
-      return self.update_hda2(cp, cp_cam)
+      return self.update_canfd(cp, cp_cam)
    ret = car.CarState.new_message()
@ -133,7 +133,7 @@ class CarState(CarStateBase):
    return ret
-  def update_hda2(self, cp, cp_cam):
+  def update_canfd(self, cp, cp_cam):
    ret = car.CarState.new_message()
    ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255.
@ -184,8 +184,8 @@ class CarState(CarStateBase):
  @staticmethod
  def get_can_parser(CP):
-    if CP.carFingerprint in HDA2_CAR:
+    if CP.carFingerprint in CANFD_CAR:
-      return CarState.get_can_parser_hda2(CP)
+      return CarState.get_can_parser_canfd(CP)
    signals = [
      # signal_name, signal_address
@ -319,7 +319,7 @@ class CarState(CarStateBase):
  @staticmethod
  def get_cam_can_parser(CP):
-    if CP.carFingerprint in HDA2_CAR:
+    if CP.carFingerprint in CANFD_CAR:
      signals = [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)]
      checks = [("CAM_0x2a4", 20)]
      return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6)
@ -374,7 +374,7 @@ class CarState(CarStateBase):
    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
  @staticmethod
-  def get_can_parser_hda2(CP):
+  def get_can_parser_canfd(CP):
    signals = [
      ("WHEEL_SPEED_1", "WHEEL_SPEEDS"),
      ("WHEEL_SPEED_2", "WHEEL_SPEEDS"),
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@ -2,7 +2,7 @@
 from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
-from selfdrive.car.hyundai.values import CAR, DBC, CAMERA_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
@ -26,7 +26,6 @@ class CarInterface(CarInterfaceBase):
    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
    ret.carName = "hyundai"
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
    ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
    # WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB)
@ -239,8 +238,12 @@ class CarInterface(CarInterfaceBase):
      ret.mass = 2055 + STD_CARGO_KG
      ret.wheelbase = 2.9
      ret.steerRatio = 16.
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
+      tire_stiffness_factor = 0.65
-                           get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2)]
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
    elif candidate == CAR.IONIQ_5:
      ret.mass = 2012 + STD_CARGO_KG
      ret.wheelbase = 3.0
      ret.steerRatio = 16.
      tire_stiffness_factor = 0.65
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
@ -280,9 +283,16 @@ class CarInterface(CarInterfaceBase):
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
-    # these cars require a special panda safety mode due to missing counters and checksums in the messages
+    # panda safety config
    if candidate in CANFD_CAR:
      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
                           get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd)]
    else:
      if candidate in LEGACY_SAFETY_MODE_CAR:
        # these cars require a special panda safety mode due to missing counters and checksums in the messages
        ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
      else:
        ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
      # set appropriate safety param for gas signal
      if candidate in HYBRID_CAR:
@ -290,6 +300,12 @@ class CarInterface(CarInterfaceBase):
      elif candidate in EV_CAR:
        ret.safetyConfigs[0].safetyParam = 1
      if ret.openpilotLongitudinalControl:
        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG
      if candidate in CAMERA_SCC_CAR:
        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
    ret.centerToFront = ret.wheelbase * 0.4
    # TODO: get actual value, for now starting with reasonable value for
@ -306,12 +322,6 @@ class CarInterface(CarInterfaceBase):
    if int(Params().get("dp_atl").decode('utf-8')) == 1:
      ret.openpilotLongitudinalControl = False
    if ret.openpilotLongitudinalControl:
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG
    if candidate in CAMERA_SCC_CAR:
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
    CarInterfaceBase.configure_lqr_tune(ret.lateralTuning)
    return ret
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@ -20,7 +20,7 @@ class CarControllerParams:
    self.STEER_DRIVER_FACTOR = 1
    self.STEER_THRESHOLD = 150
-    if CP.carFingerprint in HDA2_CAR:
+    if CP.carFingerprint in CANFD_CAR:
      self.STEER_MAX = 270
      self.STEER_DRIVER_ALLOWANCE = 250
      self.STEER_DRIVER_MULTIPLIER = 2
@ -65,6 +65,7 @@ class CAR:
  PALISADE = "HYUNDAI PALISADE 2020"
  VELOSTER = "HYUNDAI VELOSTER 2019"
  SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
  IONIQ_5 = "HYUNDAI IONIQ 5 2022"
  # Kia
  KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
@ -126,6 +127,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
  ],
  CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", "Smart Cruise Control (SCC)", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e),
  CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness=Harness.hyundai_a),
  CAR.IONIQ_5: HyundaiCarInfo("Hyundai Ioniq 5 2022", "Highway Driving Assist II", harness=Harness.none),
  # Kia
  CAR.KIA_FORTE: [
@ -156,7 +158,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
  ],
  CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
  CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e),
-  CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.hyundai_p),
+  CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "Highway Driving Assist II", harness=Harness.hyundai_p),
  # Genesis
  CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f),
@ -1263,6 +1265,23 @@ FW_VERSIONS = {
      b'\xf1\x00CV1 MFC  AT USA LHD 1.00 1.05 99210-CV000 211027',
    ],
  },
  CAR.IONIQ_5: {
    (Ecu.esp, 0x7d1, None): [
      b'\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010',
      b'\xf1\x8758520GI010\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010',
    ],
    (Ecu.eps, 0x7d4, None): [
      b'\xf1\x00NE  MDPS R 1.00 1.06 57700GI000  4NEDR106',
      b'\xf1\x8757700GI000 \xf1\x00NE  MDPS R 1.00 1.06 57700GI000  4NEDR106',
    ],
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00NE1_ RDR -----      1.00 1.00 99110-GI000         ',
      b'\xf1\x8799110GI000\xf1\x00NE1_ RDR -----      1.00 1.00 99110-GI000         ',
    ],
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.02 99211-GI010 211206',
    ],
  },
 }
 CHECKSUM = {
@ -1280,7 +1299,7 @@ FEATURES = {
  "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022},
 }
-HDA2_CAR = {CAR.KIA_EV6, }
+CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5}
 # The camera does SCC on these cars, rather than the radar
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
@ -1335,4 +1354,5 @@ DBC = {
  CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None),
  CAR.KIA_EV6: dbc_dict('kia_ev6', None),
  CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
  CAR.IONIQ_5: dbc_dict('kia_ev6', None),
 }
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@ -135,6 +135,7 @@ class IsoTpParallelQuery:
            if self.debug:
              cloudlog.warning(f"iso-tp query response pending: {tx_addr}")
          else:
            response_timeouts[tx_addr] = 0
            request_done[tx_addr] = True
            cloudlog.warning(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@ -67,6 +67,7 @@ FW_VERSIONS = {
      b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x764, None): [
      b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -80,6 +81,7 @@ FW_VERSIONS = {
    (Ecu.transmission, 0x7e1, None): [
      b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
  },
  CAR.CX5: {
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@ -46,12 +46,12 @@ class CAR:
@dataclass
 class SubaruCarInfo(CarInfo):
  package: str = "EyeSight Driver Assistance"
-  harness: Enum = Harness.subaru
+  harness: Enum = Harness.subaru_a
 CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
  CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"),
-  CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", harness=Harness.none),
+  CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", harness=Harness.subaru_b),
  CAR.IMPREZA: [
    SubaruCarInfo("Subaru Impreza 2017-19"),
    SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
@ -99,7 +99,6 @@ FW_VERSIONS = {
      b'\x00\xfe\xf7\x00\x00',
      b'\001\xfe\xf9\000\000',
      b'\x01\xfe\xf7\x00\x00',
      b'\xf1\x00\xa4\x10@',
    ],
  },
  CAR.IMPREZA: {
@ -116,6 +115,7 @@ FW_VERSIONS = {
      b'z\x94\x08\x90\x00',
      b'z\x84\x19\x90\x00',
      b'\xf1\x00\xb2\x06\x04',
      b'z\x94\x0c\x90\x00',
    ],
    (Ecu.eps, 0x746, None): [
      b'\x7a\xc0\x0c\x00',
@ -139,6 +139,7 @@ FW_VERSIONS = {
      b'\x00\x00c\xf4\x00\x00\x00\x00',
      b'\x00\x00d\xdc\x00\x00\x00\x00',
      b'\x00\x00dd\x00\x00\x00\x00',
      b'\x00\x00c\xf4\x1f@ \x07',
    ],
    (Ecu.engine, 0x7e0, None): [
      b'\xaa\x61\x66\x73\x07',
@ -148,7 +149,6 @@ FW_VERSIONS = {
      b'\xaa!`u\a',
      b'\xaa!dq\a',
      b'\xaa!dt\a',
      b'\xf1\x00\xa2\x10\t',
      b'\xc5!ar\a',
      b'\xbe!as\a',
      b'\xc5!ds\a',
@ -158,6 +158,7 @@ FW_VERSIONS = {
      b'\xaa\x00Bu\x07',
      b'\xc5!dr\x07',
      b'\xaa!aw\x07',
      b'\xaa!av\x07',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'\xe3\xe5\x46\x31\x00',
@ -173,7 +174,6 @@ FW_VERSIONS = {
      b'\xe4\xf5\002\000\000',
      b'\xe3\xd0\x081\x00',
      b'\xe3\xf5\x06\x00\x00',
      b'\xf1\x00\xa4\x10@',
    ],
  },
  CAR.IMPREZA_2020: {
@ -202,7 +202,6 @@ FW_VERSIONS = {
      b'\xca!`0\a',
      b'\xcc\"f0\a',
      b'\xcc!fp\a',
      b'\xf1\x00\xa2\x10\t',
      b'\xca!f@\x07',
      b'\xca!fp\x07',
    ],
@ -247,7 +246,6 @@ FW_VERSIONS = {
      b'\x1a\xf6F`\x00',
      b'\032\xf6b`\000',
      b'\x1a\xf6B`\x00',
      b'\xf1\x00\xa4\x10@',
      b'\x1a\xf6b0\x00',
    ],
  },
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@ -22,7 +22,9 @@ COMMA BODY: [.nan, 1000, .nan]
 # Totally new cars
 KIA EV6 2022: [3.5, 2.5, 0.0]
 RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
 RAM HD 5TH GEN: [1.4, 1.4, 0.0]
 SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
 CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]
--- a/selfdrive/car/torque_data/substitute.yaml
+++ b/selfdrive/car/torque_data/substitute.yaml
@ -29,6 +29,7 @@ HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019
 HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019
 HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019
 HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019
 HYUNDAI IONIQ 5 2022: KIA EV6 2022
 HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019
 HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019
 HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@ -32,10 +32,12 @@ class CarController:
    # dp
    self.dp_toyota_sng = False
    self.dp_atl = 0
  def update(self, CC, CS, dragonconf):
    if dragonconf is not None:
      self.dp_toyota_sng = dragonconf.dpToyotaSng
      self.dp_atl = dragonconf.dpAtl
    actuators = CC.actuators
    hud_control = CC.hudControl
    pcm_cancel_cmd = CC.cruiseControl.cancel
@ -79,6 +81,11 @@ class CarController:
      apply_steer_req = 0
      self.steer_rate_counter = 0
    # dp - try to avoid steering fault
    if self.dp_atl > 0 and abs(CS.out.steeringAngleDeg) > 500:
      apply_steer = 0
      apply_steer_req = 0
    # TODO: probably can delete this. CS.pcm_acc_status uses a different signal
    # than CS.cruiseState.enabled. confirm they're not meaningfully different
    if not CC.enabled and CS.pcm_acc_status:
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@ -158,7 +158,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
  CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),
  CAR.RAV4H_TSS2_2022: ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
  CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"),
-  CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", footnotes=[Footnote.DSU]),
+  CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", footnotes=[Footnote.DSU], min_enable_speed=MIN_ACC_SPEED),
  # Lexus
  CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+", footnotes=[Footnote.DSU]),
@ -171,7 +171,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
  CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"),
  CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
  CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2017-20"),
-  CAR.LEXUS_RX: ToyotaCarInfo("Lexus RX 2016-18", footnotes=[Footnote.DSU]),
+  CAR.LEXUS_RX: ToyotaCarInfo("Lexus RX 2016-19", footnotes=[Footnote.DSU]),
  CAR.LEXUS_RXH: ToyotaCarInfo("Lexus RX Hybrid 2016-19", footnotes=[Footnote.DSU]),
  CAR.LEXUS_RX_TSS2: ToyotaCarInfo("Lexus RX 2020-22"),
  CAR.LEXUS_RXH_TSS2: ToyotaCarInfo("Lexus RX Hybrid 2020-21"),
@ -1825,15 +1825,18 @@ FW_VERSIONS = {
      b'\x02348Y3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
      b'\x0234D14000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
      b'\x0234D16000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
      b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.esp, 0x7b0, None): [
      b'F152648831\x00\x00\x00\x00\x00\x00',
      b'F152648891\x00\x00\x00\x00\x00\x00',
      b'F152648D00\x00\x00\x00\x00\x00\x00',
      b'F152648D60\x00\x00\x00\x00\x00\x00',
      b'F152648811\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.eps, 0x7a1, None): [
      b'8965B48271\x00\x00\x00\x00\x00\x00',
      b'8965B48261\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [
      b'\x018821F3301400\x00\x00\x00\x00',
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@ -1,8 +1,8 @@
 from cereal import car
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
-from selfdrive.car.volkswagen import volkswagencan
+from selfdrive.car.volkswagen import mqbcan
-from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, MQB_LDW_MESSAGES, CarControllerParams as P
+from selfdrive.car.volkswagen.values import CANBUS, CarControllerParams
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@ -10,11 +10,12 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
 class CarController:
  def __init__(self, dbc_name, CP, VM):
    self.CP = CP
    self.CCP = CarControllerParams(CP)
    self.CCS = mqbcan
    self.packer_pt = CANPacker(dbc_name)
    self.apply_steer_last = 0
    self.frame = 0
    self.packer_pt = CANPacker(DBC_FILES.mqb)
    self.hcaSameTorqueCount = 0
    self.hcaEnabledFrameCount = 0
@ -26,7 +27,7 @@ class CarController:
    # **** Steering Controls ************************************************ #
-    if self.frame % P.HCA_STEP == 0:
+    if self.frame % self.CCP.HCA_STEP == 0:
      # Logic to avoid HCA state 4 "refused":
      #   * Don't steer unless HCA is in state 3 "ready" or 5 "active"
      #   * Don't steer at standstill
@ -38,21 +39,21 @@ class CarController:
      # when exceeding ~1/3 the 360 second timer.
      if CC.latActive:
-        new_steer = int(round(actuators.steer * P.STEER_MAX))
+        new_steer = int(round(actuators.steer * self.CCP.STEER_MAX))
-        apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P)
+        apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.CCP)
        if apply_steer == 0:
          hcaEnabled = False
          self.hcaEnabledFrameCount = 0
        else:
          self.hcaEnabledFrameCount += 1
-          if self.hcaEnabledFrameCount >= 118 * (100 / P.HCA_STEP):  # 118s
+          if self.hcaEnabledFrameCount >= 118 * (100 / self.CCP.HCA_STEP):  # 118s
            hcaEnabled = False
            self.hcaEnabledFrameCount = 0
          else:
            hcaEnabled = True
            if self.apply_steer_last == apply_steer:
              self.hcaSameTorqueCount += 1
-              if self.hcaSameTorqueCount > 1.9 * (100 / P.HCA_STEP):  # 1.9s
+              if self.hcaSameTorqueCount > 1.9 * (100 / self.CCP.HCA_STEP):  # 1.9s
                apply_steer -= (1, -1)[apply_steer < 0]
                self.hcaSameTorqueCount = 0
            else:
@ -62,32 +63,28 @@ class CarController:
        apply_steer = 0
      self.apply_steer_last = apply_steer
-      can_sends.append(volkswagencan.create_mqb_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hcaEnabled))
+      can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hcaEnabled))
    # **** HUD Controls ***************************************************** #
-    if self.frame % P.LDW_STEP == 0:
+    if self.frame % self.CCP.LDW_STEP == 0:
      hud_alert = 0
      if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw):
-        hud_alert = MQB_LDW_MESSAGES["laneAssistTakeOverSilent"]
+        hud_alert = self.CCP.LDW_MESSAGES["laneAssistTakeOver"]
-      else:
+      can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, CANBUS.pt, CS.ldw_stock_values, CC.enabled,
-        hud_alert = MQB_LDW_MESSAGES["none"]
+                                                       CS.out.steeringPressed, hud_alert, hud_control))
      can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, CC.enabled,
                                                            CS.out.steeringPressed, hud_alert, hud_control.leftLaneVisible,
                                                            hud_control.rightLaneVisible, CS.ldw_stock_values,
                                                            hud_control.leftLaneDepart, hud_control.rightLaneDepart))
-    # **** ACC Button Controls ********************************************** #
+    # **** Stock ACC Button Controls **************************************** #
-    if self.CP.pcmCruise and self.frame % P.GRA_ACC_STEP == 0:
+    if self.CP.pcmCruise and self.frame % self.CCP.GRA_ACC_STEP == 0:
      idx = (CS.gra_stock_values["COUNTER"] + 1) % 16
      if CC.cruiseControl.cancel:
-        can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, cancel=True))
+        can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, cancel=True))
      elif CC.cruiseControl.resume:
-        can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, resume=True))
+        can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, resume=True))
    new_actuators = actuators.copy()
-    new_actuators.steer = self.apply_steer_last / P.STEER_MAX
+    new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX
    self.frame += 1
    return new_actuators, can_sends
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@ -3,20 +3,29 @@ from cereal import car
 from common.conversions import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
-from opendbc.can.can_define import CANDefine
+from selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
-from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
+                                            CarControllerParams
-                                            CarControllerParams, MQB_BUTTONS
+
 class CarState(CarStateBase):
  def __init__(self, CP):
    super().__init__(CP)
-    self.button_states = {button.event_type: False for button in MQB_BUTTONS}
+    self.CCP = CarControllerParams(CP)
-    can_define = CANDefine(DBC_FILES.mqb)
+    self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
-    if CP.transmissionType == TransmissionType.automatic:
+
-      self.shifter_values = can_define.dv["Getriebe_11"]["GE_Fahrstufe"]
+  def create_button_events(self, pt_cp, buttons):
-    elif CP.transmissionType == TransmissionType.direct:
+    button_events = []
-      self.shifter_values = can_define.dv["EV_Gearshift"]["GearPosition"]
+
-    self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"]
+    for button in buttons:
      state = pt_cp.vl[button.can_addr][button.can_msg] in button.values
      if self.button_states[button.event_type] != state:
        event = car.CarState.ButtonEvent.new_message()
        event.type = button.event_type
        event.pressed = state
        button_events.append(event)
      self.button_states[button.event_type] = state
    return button_events
  def update(self, pt_cp, cam_cp, ext_cp, trans_type):
    ret = car.CarState.new_message()
@ -37,11 +46,11 @@ class CarState(CarStateBase):
    ret.steeringAngleDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradwinkel"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradwinkel"])]
    ret.steeringRateDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradw_Geschw"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradw_Geschw"])]
    ret.steeringTorque = pt_cp.vl["LH_EPS_03"]["EPS_Lenkmoment"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_Lenkmoment"])]
-    ret.steeringPressed = abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE
+    ret.steeringPressed = abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE
    ret.yawRate = pt_cp.vl["ESP_02"]["ESP_Gierrate"] * (1, -1)[int(pt_cp.vl["ESP_02"]["ESP_VZ_Gierrate"])] * CV.DEG_TO_RAD
    # Verify EPS readiness to accept steering commands
-    hca_status = self.hca_status_values.get(pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"])
+    hca_status = self.CCP.hca_status_values.get(pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"])
    ret.steerFaultPermanent = hca_status in ("DISABLED", "FAULT")
    ret.steerFaultTemporary = hca_status in ("INITIALIZING", "REJECTED")
@ -54,9 +63,9 @@ class CarState(CarStateBase):
    # Update gear and/or clutch position data.
    if trans_type == TransmissionType.automatic:
-      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["Getriebe_11"]["GE_Fahrstufe"], None))
+      ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_11"]["GE_Fahrstufe"], None))
    elif trans_type == TransmissionType.direct:
-      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["EV_Gearshift"]["GearPosition"], None))
+      ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["EV_Gearshift"]["GearPosition"], None))
    elif trans_type == TransmissionType.manual:
      ret.clutchPressed = not pt_cp.vl["Motor_14"]["MO_Kuppl_schalter"]
      if bool(pt_cp.vl["Gateway_72"]["BCM1_Rueckfahrlicht_Schalter"]):
@ -118,17 +127,8 @@ class CarState(CarStateBase):
    # Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough
    ret.leftBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Left"])
    ret.rightBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Right"])
    ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
    self.gra_stock_values = pt_cp.vl["GRA_ACC_01"]
    buttonEvents = []
    for button in MQB_BUTTONS:
      state = pt_cp.vl[button.can_addr][button.can_msg] in button.values
      if self.button_states[button.event_type] != state:
        event = car.CarState.ButtonEvent.new_message()
        event.type = button.event_type
        event.pressed = state
        buttonEvents.append(event)
      self.button_states[button.event_type] = state
    ret.buttonEvents = buttonEvents
    # Additional safety checks performed in CarInterface.
    ret.espDisabled = pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"] != 0
@ -219,7 +219,7 @@ class CarState(CarStateBase):
        signals += MqbExtraSignals.bsm_radar_signals
        checks += MqbExtraSignals.bsm_radar_checks
-    return CANParser(DBC_FILES.mqb, signals, checks, CANBUS.pt)
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.pt)
  @staticmethod
  def get_cam_can_parser(CP):
@ -247,7 +247,7 @@ class CarState(CarStateBase):
        signals += MqbExtraSignals.bsm_radar_signals
        checks += MqbExtraSignals.bsm_radar_checks
-    return CANParser(DBC_FILES.mqb, signals, checks, CANBUS.cam)
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.cam)
 class MqbExtraSignals:
  # Additional signal and message lists for optional or bus-portable controllers
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@ -1,7 +1,9 @@
 from cereal import car
-from selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, GearShifter
+from selfdrive.car import STD_CARGO_KG, create_button_enable_events, scale_rot_inertia, scale_tire_stiffness, \
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+                          gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, GearShifter
 EventName = car.CarEvent.EventName
@ -52,6 +54,13 @@ class CarInterface(CarInterfaceBase):
    ret.lateralTuning.pid.kpV = [0.6]
    ret.lateralTuning.pid.kiV = [0.2]
    # Global longitudinal tuning defaults, can be overridden per-vehicle
    ret.pcmCruise = not ret.openpilotLongitudinalControl
    ret.longitudinalActuatorDelayUpperBound = 0.5  # s
    ret.longitudinalTuning.kpV = [0.1]
    ret.longitudinalTuning.kiV = [0.0]
    # Per-chassis tuning values, override tuning defaults here if desired
    if candidate == CAR.ARTEON_MK1:
@ -162,7 +171,8 @@ class CarInterface(CarInterfaceBase):
    ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
    ret.cruiseState.enabled, ret.cruiseState.available = self.dp_atl_mode(ret)
-    events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic])
+    events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
                                       pcm_enable=not self.CS.CP.openpilotLongitudinalControl)
    events = self.dp_atl_warning(ret, events)
    # Low speed steer alert hysteresis logic
@ -173,6 +183,13 @@ class CarInterface(CarInterfaceBase):
    if self.low_speed_alert:
      events.add(EventName.belowSteerSpeed)
    if self.CS.CP.openpilotLongitudinalControl:
      if ret.vEgo < self.CP.minEnableSpeed + 2.:
        events.add(EventName.belowEngageSpeed)
      if c.enabled and ret.vEgo < self.CP.minEnableSpeed:
        events.add(EventName.speedTooLow)
    events.events.extend(create_button_enable_events(ret.buttonEvents, pcm_cruise=self.CP.pcmCruise))
    ret.events = events.to_msg()
    return ret
--- a/selfdrive/car/volkswagen/mqbcan.py
+++ b/selfdrive/car/volkswagen/mqbcan.py
@ -0,0 +1,38 @@
 def create_steering_control(packer, bus, apply_steer, lkas_enabled):
  values = {
    "SET_ME_0X3": 0x3,
    "Assist_Torque": abs(apply_steer),
    "Assist_Requested": lkas_enabled,
    "Assist_VZ": 1 if apply_steer < 0 else 0,
    "HCA_Available": 1,
    "HCA_Standby": not lkas_enabled,
    "HCA_Active": lkas_enabled,
    "SET_ME_0XFE": 0xFE,
    "SET_ME_0X07": 0x07,
  }
  return packer.make_can_msg("HCA_01", bus, values)
 def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control):
  values = ldw_stock_values.copy()
  values.update({
    "LDW_Status_LED_gelb": 1 if enabled and steering_pressed else 0,
    "LDW_Status_LED_gruen": 1 if enabled and not steering_pressed else 0,
    "LDW_Lernmodus_links": 3 if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible,
    "LDW_Lernmodus_rechts": 3 if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible,
    "LDW_Texte": hud_alert,
  })
  return packer.make_can_msg("LDW_02", bus, values)
 def create_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False, resume=False):
  values = gra_stock_values.copy()
  values.update({
    "COUNTER": idx,
    "GRA_Abbrechen": cancel,
    "GRA_Tip_Wiederaufnahme": resume,
  })
  return packer.make_can_msg("GRA_ACC_01", bus, values)
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@ -4,6 +4,7 @@ from enum import Enum
 from typing import Dict, List, Union
 from cereal import car
 from opendbc.can.can_define import CANDefine
 from selfdrive.car import dbc_dict
 from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
@ -15,34 +16,32 @@ Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
 class CarControllerParams:
-  HCA_STEP = 2                   # HCA_01 message frequency 50Hz
+  HCA_STEP = 2                            # HCA_01/HCA_1 message frequency 50Hz
-  LDW_STEP = 10                  # LDW_02 message frequency 10Hz
+  GRA_ACC_STEP = 3                        # GRA_ACC_01/GRA_Neu message frequency 33Hz
  GRA_ACC_STEP = 3               # GRA_ACC_01 message frequency 33Hz
-  # Observed documented MQB limits: 3.00 Nm max, rate of change 5.00 Nm/sec.
+  def __init__(self, CP):
-  # Limiting rate-of-change based on real-world testing and Comma's safety
+    # Documented lateral limits: 3.00 Nm max, rate of change 5.00 Nm/sec.
-  # requirements for minimum time to lane departure.
+    # MQB vs PQ maximums are shared, but rate-of-change limited differently
-  STEER_MAX = 300                # Max heading control assist torque 3.00 Nm
+    # based on safety requirements driven by lateral accel testing.
-  STEER_DELTA_UP = 4             # Max HCA reached in 1.50s (STEER_MAX / (50Hz * 1.50))
+    self.STEER_MAX = 300                  # Max heading control assist torque 3.00 Nm
-  STEER_DELTA_DOWN = 10          # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
+    self.STEER_DRIVER_MULTIPLIER = 3      # weight driver torque heavily
-  STEER_DRIVER_ALLOWANCE = 80
+    self.STEER_DRIVER_FACTOR = 1          # from dbc
  STEER_DRIVER_MULTIPLIER = 3    # weight driver torque heavily
  STEER_DRIVER_FACTOR = 1        # from dbc
    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
-class CANBUS:
+    if True:  # pylint: disable=using-constant-test
-  pt = 0
+      self.LDW_STEP = 10                  # LDW_02 message frequency 10Hz
-  cam = 2
+      self.STEER_DRIVER_ALLOWANCE = 80    # Driver intervention threshold 0.8 Nm
-
+      self.STEER_DELTA_UP = 4             # Max HCA reached in 1.50s (STEER_MAX / (50Hz * 1.50))
      self.STEER_DELTA_DOWN = 10          # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
-class DBC_FILES:
+      if CP.transmissionType == TransmissionType.automatic:
-  mqb = "vw_mqb_2010"  # Used for all cars with MQB-style CAN messaging
+        self.shifter_values = can_define.dv["Getriebe_11"]["GE_Fahrstufe"]
      elif CP.transmissionType == TransmissionType.direct:
        self.shifter_values = can_define.dv["EV_Gearshift"]["GearPosition"]
      self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"]
-
+      self.BUTTONS = [
 DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict(DBC_FILES.mqb, None))
 MQB_BUTTONS = [
        Button(car.CarState.ButtonEvent.Type.setCruise, "GRA_ACC_01", "GRA_Tip_Setzen", [1]),
        Button(car.CarState.ButtonEvent.Type.resumeCruise, "GRA_ACC_01", "GRA_Tip_Wiederaufnahme", [1]),
        Button(car.CarState.ButtonEvent.Type.accelCruise, "GRA_ACC_01", "GRA_Tip_Hoch", [1]),
@ -51,20 +50,24 @@ MQB_BUTTONS = [
        Button(car.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_ACC_01", "GRA_Verstellung_Zeitluecke", [1]),
      ]
-
+      self.LDW_MESSAGES = {
 MQB_LDW_MESSAGES = {
        "none": 0,                            # Nothing to display
        "laneAssistUnavailChime": 1,          # "Lane Assist currently not available." with chime
        "laneAssistUnavailNoSensorChime": 3,  # "Lane Assist not available. No sensor view." with chime
        "laneAssistTakeOverUrgent": 4,        # "Lane Assist: Please Take Over Steering" with urgent beep
        "emergencyAssistUrgent": 6,           # "Emergency Assist: Please Take Over Steering" with urgent beep
        "laneAssistTakeOverChime": 7,         # "Lane Assist: Please Take Over Steering" with chime
-  "laneAssistTakeOverSilent": 8,        # "Lane Assist: Please Take Over Steering" silent
+        "laneAssistTakeOver": 8,              # "Lane Assist: Please Take Over Steering" silent
        "emergencyAssistChangingLanes": 9,    # "Emergency Assist: Changing lanes..." with urgent beep
        "laneAssistDeactivated": 10,          # "Lane Assist deactivated." silent with persistent icon afterward
      }
 class CANBUS:
  pt = 0
  cam = 2
 # Check the 7th and 8th characters of the VIN before adding a new CAR. If the
 # chassis code is already listed below, don't add a new CAR, just add to the
 # FW_VERSIONS for that existing CAR.
@ -96,18 +99,22 @@ class CAR:
  SKODA_OCTAVIA_MK3 = "SKODA OCTAVIA 3RD GEN"       # Chassis NE, Mk3 Skoda Octavia and variants
 DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("vw_mqb_2010", None))
 class Footnote(Enum):
  KAMIQ = CarFootnote(
    "Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.",
    Column.MODEL)
  PASSAT = CarFootnote(
-    "Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform.",
+    "Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.",
    Column.MODEL)
  VW_HARNESS = CarFootnote(
    "Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma " +
    "store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black " +
-    "(older design) or light brown (newer design). For the newer design, in the interim, choose \"VW J533 Development\" " +
+    "(older design) or light brown (newer design). In the interim, if your car has a J533 connector CAN gateway " +
-    "from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.",
+    "inside the dashboard, choose \"VW J533 Development\" from the vehicle drop-down for a suitable harness. " +
    "(Some newer models are also observed to not have a J533 connector.)",
    Column.MODEL)
  VW_VARIANT = CarFootnote(
    "Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.)",
@ -177,7 +184,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
  CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"),
  CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"),
  CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.KAMIQ]),
-  CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"),
+  CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21", footnotes=[Footnote.VW_HARNESS]),
  CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2018-19"),
  CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020"),
  CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-18"),
--- a/selfdrive/car/volkswagen/volkswagencan.py
+++ b/selfdrive/car/volkswagen/volkswagencan.py
@ -1,42 +0,0 @@
 # CAN controls for MQB platform Volkswagen, Audi, Skoda, and SEAT.
 # PQ35/PQ46/NMS, and any future MLB, to come later.
 def create_mqb_steering_control(packer, bus, apply_steer, lkas_enabled):
  values = {
    "SET_ME_0X3": 0x3,
    "Assist_Torque": abs(apply_steer),
    "Assist_Requested": lkas_enabled,
    "Assist_VZ": 1 if apply_steer < 0 else 0,
    "HCA_Available": 1,
    "HCA_Standby": not lkas_enabled,
    "HCA_Active": lkas_enabled,
    "SET_ME_0XFE": 0xFE,
    "SET_ME_0X07": 0x07,
  }
  return packer.make_can_msg("HCA_01", bus, values)
 def create_mqb_hud_control(packer, bus, enabled, steering_pressed, hud_alert, left_lane_visible, right_lane_visible,
                           ldw_stock_values, left_lane_depart, right_lane_depart):
  # Lane color reference:
  # 0 (LKAS disabled) - off
  # 1 (LKAS enabled, no lane detected) - dark gray
  # 2 (LKAS enabled, lane detected) - light gray on VW, green or white on Audi depending on year or virtual cockpit.  On a color MFD on a 2015 A3 TDI it is white, virtual cockpit on a 2018 A3 e-Tron its green.
  # 3 (LKAS enabled, lane departure detected) - white on VW, red on Audi
  values = ldw_stock_values.copy()
  values.update({
    "LDW_Status_LED_gelb": 1 if enabled and steering_pressed else 0,
    "LDW_Status_LED_gruen": 1 if enabled and not steering_pressed else 0,
    "LDW_Lernmodus_links": 3 if left_lane_depart else 1 + left_lane_visible,
    "LDW_Lernmodus_rechts": 3 if right_lane_depart else 1 + right_lane_visible,
    "LDW_Texte": hud_alert,
  })
  return packer.make_can_msg("LDW_02", bus, values)
 def create_mqb_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False, resume=False):
  values = gra_stock_values.copy()
  values["COUNTER"] = idx
  values["GRA_Abbrechen"] = cancel
  values["GRA_Tip_Wiederaufnahme"] = resume
  return packer.make_can_msg("GRA_ACC_01", bus, values)
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -645,8 +645,13 @@ class Controls:
      if len(dpath_points):
        # Check if we deviated from the path
        # TODO use desired vs actual curvature
-        left_deviation = actuators.steer > 0 and dpath_points[0] < -0.20
+        if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
-        right_deviation = actuators.steer < 0 and dpath_points[0] > 0.20
+          steering_value = actuators.steeringAngleDeg
        else:
          steering_value = actuators.steer
        left_deviation = steering_value > 0 and dpath_points[0] < -0.20
        right_deviation = steering_value < 0 and dpath_points[0] > 0.20
        if left_deviation or right_deviation:
          self.events.add(EventName.steerSaturated)
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@ -48,7 +48,7 @@ class DesireHelper:
    self.dp_lc_auto_min_mph = LANE_CHANGE_SPEED_MIN + 10
    self.dp_lc_auto_delay = 3 # secs
-  def update(self, carstate, active, lane_change_prob, dragonconf):
+  def update(self, carstate, lateral_active, lane_change_prob, dragonconf):
    # dp - sync with dragonConf
    self.dp_lateral_mode = dragonconf.dpLateralMode
    self.dp_lc_min_mph = dragonconf.dpLcMinMph * CV.MPH_TO_MS
@ -61,7 +61,7 @@ class DesireHelper:
    below_lane_change_speed = v_ego < self.dp_lc_min_mph
    below_alc_speed = v_ego < self.dp_lc_auto_min_mph
-    if not active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
+    if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
      self.lane_change_state = LaneChangeState.off
      self.lane_change_direction = LaneChangeDirection.none
    else:
--- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
+++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
@ -89,7 +89,7 @@ def gen_lat_ocp():
  # TODO hacky weights to keep behavior the same
  ocp.model.cost_y_expr = vertcat(y_ego,
                                  ((v_ego +5.0) * psi_ego),
-                                  ((v_ego +5.0) * 4 * curv_rate))
+                                  ((v_ego + 5.0) * 4.0 * curv_rate))
  ocp.model.cost_y_expr_e = vertcat(y_ego,
                                    ((v_ego +5.0) * psi_ego))
@ -147,7 +147,7 @@ class LateralMpc():
    #TODO hacky weights to keep behavior the same
    self.solver.cost_set(N, 'W', (3/20.)*W[:2,:2])
-  def run(self, x0, p, y_pts, heading_pts):
+  def run(self, x0, p, y_pts, heading_pts, curv_rate_pts):
    x0_cp = np.copy(x0)
    p_cp = np.copy(p)
    self.solver.constraints_set(0, "lbx", x0_cp)
@ -156,6 +156,7 @@ class LateralMpc():
    v_ego = p_cp[0]
    # rotation_radius = p_cp[1]
    self.yref[:,1] = heading_pts*(v_ego+5.0)
    self.yref[:,2] = curv_rate_pts * (v_ego+5.0) * 4.0
    for i in range(N):
      self.solver.cost_set(i, "yref", self.yref[i])
      self.solver.set(i, "p", p_cp)
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@ -3,7 +3,7 @@ from common.realtime import sec_since_boot, DT_MDL
 from common.numpy_fast import interp
 from system.swaglog import cloudlog
 from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
-from selfdrive.controls.lib.drive_helpers import CONTROL_N, MPC_COST_LAT, LAT_MPC_N, CAR_ROTATION_RADIUS
+from selfdrive.controls.lib.drive_helpers import CONTROL_N, MPC_COST_LAT, LAT_MPC_N
 from selfdrive.controls.lib.lane_planner import LanePlanner, TRAJECTORY_SIZE
 from selfdrive.controls.lib.desire_helper import DesireHelper
 import cereal.messaging as messaging
@ -11,17 +11,21 @@ from cereal import log
 class LateralPlanner:
-  def __init__(self, use_lanelines=True, wide_camera=False):
+  def __init__(self, CP, use_lanelines=True, wide_camera=False):
    self.use_lanelines = use_lanelines
    self.LP = LanePlanner(wide_camera)
    self.DH = DesireHelper()
    # Vehicle model parameters used to calculate lateral movement of car
    self.factor1 = CP.wheelbase - CP.centerToFront
    self.factor2 = (CP.centerToFront * CP.mass) / (CP.wheelbase * CP.tireStiffnessRear)
    self.last_cloudlog_t = 0
    self.solution_invalid_cnt = 0
    self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3))
    self.path_xyz_stds = np.ones((TRAJECTORY_SIZE, 3))
    self.plan_yaw = np.zeros((TRAJECTORY_SIZE,))
    self.plan_curv_rate = np.zeros((TRAJECTORY_SIZE,))
    self.t_idxs = np.arange(TRAJECTORY_SIZE)
    self.y_pts = np.zeros(TRAJECTORY_SIZE)
    self.d_path_w_lines_xyz = np.zeros((TRAJECTORY_SIZE, 3))
@ -45,13 +49,13 @@ class LateralPlanner:
    if len(md.position.x) == TRAJECTORY_SIZE and len(md.orientation.x) == TRAJECTORY_SIZE:
      self.path_xyz = np.column_stack([md.position.x, md.position.y, md.position.z])
      self.t_idxs = np.array(md.position.t)
-      self.plan_yaw = list(md.orientation.z)
+      self.plan_yaw = np.array(md.orientation.z)
    if len(md.position.xStd) == TRAJECTORY_SIZE:
      self.path_xyz_stds = np.column_stack([md.position.xStd, md.position.yStd, md.position.zStd])
    # Lane change logic
    lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob
-    self.DH.update(sm['carState'], sm['controlsState'].active, lane_change_prob, sm['dragonConf'])
+    self.DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, sm['dragonConf'])
    # Turn off lanes during lane change
    if self.DH.desire == log.LateralPlan.Desire.laneChangeRight or self.DH.desire == log.LateralPlan.Desire.laneChangeLeft:
@ -78,16 +82,19 @@ class LateralPlanner:
    y_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:, 1])
    heading_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw)
    curv_rate_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_curv_rate)
    self.y_pts = y_pts
    assert len(y_pts) == LAT_MPC_N + 1
    assert len(heading_pts) == LAT_MPC_N + 1
-    # self.x0[4] = v_ego
+    assert len(curv_rate_pts) == LAT_MPC_N + 1
-    p = np.array([v_ego, CAR_ROTATION_RADIUS])
+    lateral_factor = max(0, self.factor1 - (self.factor2 * v_ego**2))
    p = np.array([v_ego, lateral_factor])
    self.lat_mpc.run(self.x0,
                     p,
                     y_pts,
-                     heading_pts)
+                     heading_pts,
                     curv_rate_pts)
    # init state for next
    # mpc.u_sol is the desired curvature rate given x0 curv state.
    # with x0[3] = measured_curvature, this would be the actual desired rate.
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@ -23,10 +23,10 @@ def plannerd_thread(sm=None, pm=None):
  cloudlog.event("e2e mode", on=use_lanelines)
  longitudinal_planner = Planner(CP)
-  lateral_planner = LateralPlanner(use_lanelines=use_lanelines, wide_camera=wide_camera)
+  lateral_planner = LateralPlanner(CP, use_lanelines=use_lanelines, wide_camera=wide_camera)
  if sm is None:
-    sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'modelV2', 'dragonConf', 'lateralPlan', 'navInstruction', 'liveMapData'],
+    sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'dragonConf', 'lateralPlan', 'navInstruction', 'liveMapData'],
                             poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
  if pm is None:
--- a/selfdrive/locationd/locationd
+++ b/selfdrive/locationd/locationd
--- a/selfdrive/locationd/ubloxd
+++ b/selfdrive/locationd/ubloxd
--- a/selfdrive/mapd/lib/Route.py
+++ b/selfdrive/mapd/lib/Route.py
@ -86,9 +86,17 @@ class Route():
      b = np.arctan2(v[:, 0], v[:, 1])
      # - Find index of las_wr section and calculate deltas of bearings to the other sections.
      # dp - force re init if last_wr_idx return ValueError?
      try:
        last_wr_idx = way_relations.index(last_wr)
        b_ref = b[last_wr_idx]
        delta = b - b_ref
      except ValueError:
        self.way_collection_id = way_collection_id
        self._ordered_way_relations = []
        self._nodes_data = None
        self._reset()
        return
      # - Update the direction of the possible route continuation ways as starting from last_node_id.
      # Make sure to exclude any ways already included in the ordered list as to not modify direction when there
--- a/selfdrive/modeld/_modeld
+++ b/selfdrive/modeld/_modeld
--- a/selfdrive/modeld/models/supercombo.thneed
+++ b/selfdrive/modeld/models/supercombo.thneed
--- a/selfdrive/modeld/thneed/compile
+++ b/selfdrive/modeld/thneed/compile
--- a/selfdrive/sensord/_sensord
+++ b/selfdrive/sensord/_sensord
--- a/selfdrive/ui/_ui
+++ b/selfdrive/ui/_ui
--- a/selfdrive/ui/qt/spinner
+++ b/selfdrive/ui/qt/spinner
--- a/selfdrive/ui/qt/text
+++ b/selfdrive/ui/qt/text
--- a/selfdrive/ui/soundd/_soundd
+++ b/selfdrive/ui/soundd/_soundd
--- a/selfdrive/ui/translations/languages.json
+++ b/selfdrive/ui/translations/languages.json
@ -1,5 +1,6 @@
 {
  "English": "main_en",
  "Português": "main_pt",
  "中文（繁體）": "main_zh-CHT",
  "中文（简体）": "main_zh-CHS",
  "한국어": "main_ko",
--- a/selfdrive/ui/translations/main_ja.qm
+++ b/selfdrive/ui/translations/main_ja.qm
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@ -164,6 +164,22 @@ Reboot required.</source>
        <location filename="../qt/offroad/settings_dp.cc" line="415"/>
        <source>Enable this to link Accel Mode (AM) control to the physical button (TSS2).
 ONLY WORK ON SOME OF TSS1 VEHICLES.
 Reboot required.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings_dp.cc" line="428"/>
        <source>Honda</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings_dp.cc" line="430"/>
        <source>Enable EPS Mod Mode</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings_dp.cc" line="430"/>
        <source>Enable this will increase steering, USE IT ONLY if you have a modded EPS firmware.
 Reboot required.</source>
        <translation type="unfinished"></translation>
    </message>
@ -1631,23 +1647,23 @@ location set</source>
    <message>
        <location filename="../qt/offroad/settings.cc" line="305"/>
        <source>Switch Branch</source>
-        <translation type="unfinished"></translation>
+        <translation>ブランチの切り替え</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="305"/>
        <source>ENTER</source>
-        <translation type="unfinished"></translation>
+        <translation>切替</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="305"/>
        <location filename="../qt/offroad/settings.cc" line="307"/>
        <source>The new branch will be pulled the next time the updater runs.</source>
-        <translation type="unfinished"></translation>
+        <translation>updater を実行する時にブランチを切り替えます。</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="307"/>
        <source>Enter branch name</source>
-        <translation type="unfinished"></translation>
+        <translation>ブランチ名を入力</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="318"/>
@ -1820,7 +1836,7 @@ location set</source>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="116"/>
-        <source>Show ETA in 24h format</source>
+        <source>Show ETA in 24h Format</source>
        <translation>24時間表示</translation>
    </message>
    <message>
--- a/selfdrive/ui/translations/main_ko.qm
+++ b/selfdrive/ui/translations/main_ko.qm
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@ -164,6 +164,22 @@ Reboot required.</source>
        <location filename="../qt/offroad/settings_dp.cc" line="415"/>
        <source>Enable this to link Accel Mode (AM) control to the physical button (TSS2).
 ONLY WORK ON SOME OF TSS1 VEHICLES.
 Reboot required.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings_dp.cc" line="428"/>
        <source>Honda</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings_dp.cc" line="430"/>
        <source>Enable EPS Mod Mode</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings_dp.cc" line="430"/>
        <source>Enable this will increase steering, USE IT ONLY if you have a modded EPS firmware.
 Reboot required.</source>
        <translation type="unfinished"></translation>
    </message>
@ -1820,7 +1836,7 @@ location set</source>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="116"/>
-        <source>Show ETA in 24h format</source>
+        <source>Show ETA in 24h Format</source>
        <translation>24시간 형식으로 도착예정시간 표시</translation>
    </message>
    <message>
--- a/selfdrive/ui/translations/main_pt.qm
+++ b/selfdrive/ui/translations/main_pt.qm
--- a/selfdrive/ui/translations/main_pt.ts
+++ b/selfdrive/ui/translations/main_pt.ts
--- a/selfdrive/ui/translations/main_zh-CHS.qm
+++ b/selfdrive/ui/translations/main_zh-CHS.qm
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@ -164,6 +164,22 @@ Reboot required.</source>
        <location filename="../qt/offroad/settings_dp.cc" line="415"/>
        <source>Enable this to link Accel Mode (AM) control to the physical button (TSS2).
 ONLY WORK ON SOME OF TSS1 VEHICLES.
 Reboot required.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings_dp.cc" line="428"/>
        <source>Honda</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings_dp.cc" line="430"/>
        <source>Enable EPS Mod Mode</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings_dp.cc" line="430"/>
        <source>Enable this will increase steering, USE IT ONLY if you have a modded EPS firmware.
 Reboot required.</source>
        <translation type="unfinished"></translation>
    </message>
@ -1818,7 +1834,7 @@ location set</source>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="116"/>
-        <source>Show ETA in 24h format</source>
+        <source>Show ETA in 24h Format</source>
        <translation>以24小时格式显示预计到达时间</translation>
    </message>
    <message>
--- a/selfdrive/ui/translations/main_zh-CHT.qm
+++ b/selfdrive/ui/translations/main_zh-CHT.qm
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@ -171,6 +171,22 @@ Reboot required.</source>
 在某些TSS1車型上也可以使用。
 需重新啟動。</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings_dp.cc" line="428"/>
        <source>Honda</source>
        <translation></translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings_dp.cc" line="430"/>
        <source>Enable EPS Mod Mode</source>
        <translation></translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings_dp.cc" line="430"/>
        <source>Enable this will increase steering, USE IT ONLY if you have a modded EPS firmware.
 Reboot required.</source>
        <translation></translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings_dp.cc" line="448"/>
        <source>Mazda</source>
@ -1852,7 +1868,7 @@ location set</source>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="116"/>
-        <source>Show ETA in 24h format</source>
+        <source>Show ETA in 24h Format</source>
        <translation>預計到達時間單位改用 24 小時制</translation>
    </message>
    <message>
--- a/system/camerad/camerad
+++ b/system/camerad/camerad
--- a/system/clocksd/clocksd
+++ b/system/clocksd/clocksd
`@ -1 +1 @@`
	`#define COMMA_VERSION "2022.08.17"`	`#define COMMA_VERSION "2022.08.19"`