diff --git a/opendbc b/opendbc
index 526e21da6..b3dc56999 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 526e21da666aeeabcf2369c66903a5675fdf933b
+Subproject commit b3dc569994fd10e4de04afd650980c51ddfce5e1
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index c703ef6cb..16530ed98 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -241,6 +241,7 @@ FW_VERSIONS = {
       b'68334977AH',
       b'68504022AB',
       b'68530686AB',
+      b'68504022AC',
     ],
     (Ecu.fwdRadar, 0x753, None): [
       b'04672895AB',
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index c884f586a..e397f0283 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -220,23 +220,17 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
       tire_stiffness_factor = 0.677
 
-    elif candidate == CAR.ODYSSEY:
-      ret.mass = 4471. * CV.LB_TO_KG + STD_CARGO_KG
+    elif candidate in (CAR.ODYSSEY, CAR.ODYSSEY_CHN):
+      ret.mass = 1900. + STD_CARGO_KG
       ret.wheelbase = 3.00
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 14.35  # as spec
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      tire_stiffness_factor = 0.82
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
-
-    elif candidate == CAR.ODYSSEY_CHN:
-      ret.mass = 1849.2 + STD_CARGO_KG  # mean of 4 models in kg
-      ret.wheelbase = 2.90
-      ret.centerToFront = ret.wheelbase * 0.41  # from CAR.ODYSSEY
-      ret.steerRatio = 14.35
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.82
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
+      if candidate == CAR.ODYSSEY_CHN:
+        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]]  # TODO: determine if there is a dead zone at the top end
+      else:
+        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
 
     elif candidate in (CAR.PILOT, CAR.PASSPORT):
       ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG  # average weight
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index e0810e0bb..2510f2e1f 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -1031,6 +1031,23 @@ FW_VERSIONS = {
       b'54008-THR-A020\x00\x00',
     ],
   },
+  CAR.ODYSSEY_CHN: {
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-T6D-H220\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-T6A-J010\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-T6A-F310\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-T6A-P040\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-T6A-P110\x00\x00',
+    ],
+  },
   CAR.PILOT: {
     (Ecu.shiftByWire, 0x18da0bf1, None): [
       b'54008-TG7-A520\x00\x00',
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 913f683e2..2f944edc0 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -49,6 +49,7 @@ class CarController:
     self.angle_limit_counter = 0
     self.frame = 0
 
+    self.accel_last = 0
     self.apply_steer_last = 0
     self.car_fingerprint = CP.carFingerprint
     self.last_button_frame = 0
@@ -123,8 +124,9 @@ class CarController:
       if self.CP.openpilotLongitudinalControl:
         can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.frame))
         if self.frame % 2 == 0:
-          can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CP, CC.enabled, accel, stopping, CC.cruiseControl.override,
+          can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CP, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
                                                            set_speed_in_units))
+          self.accel_last = accel
       else:
         # button presses
         if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 2e4cb0d25..3cce58186 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -196,10 +196,10 @@ class CarState(CarStateBase):
     if not self.CP.openpilotLongitudinalControl:
       speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
       cp_cruise_info = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
-      ret.cruiseState.speed = cp_cruise_info.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor
-      ret.cruiseState.standstill = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1
-      ret.cruiseState.enabled = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STATUS"] != 0
-      self.cruise_info = copy.copy(cp_cruise_info.vl["CRUISE_INFO"])
+      ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
+      ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1
+      ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2)
+      self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"])
 
     cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
     self.prev_cruise_buttons = self.cruise_buttons[-1]
@@ -464,12 +464,12 @@ class CarState(CarStateBase):
 
     if CP.flags & HyundaiFlags.CANFD_HDA2 and not CP.openpilotLongitudinalControl:
       signals += [
-        ("CRUISE_STATUS", "CRUISE_INFO"),
-        ("SET_SPEED", "CRUISE_INFO"),
-        ("CRUISE_STANDSTILL", "CRUISE_INFO"),
+        ("ACCMode", "SCC_CONTROL"),
+        ("VSetDis", "SCC_CONTROL"),
+        ("CRUISE_STANDSTILL", "SCC_CONTROL"),
       ]
       checks += [
-        ("CRUISE_INFO", 50),
+        ("SCC_CONTROL", 50),
       ]
 
     if CP.carFingerprint in EV_CAR:
@@ -497,20 +497,20 @@ class CarState(CarStateBase):
       checks = [("CAM_0x2a4", 20)]
     else:
       signals = [
-        ("COUNTER", "CRUISE_INFO"),
-        ("NEW_SIGNAL_1", "CRUISE_INFO"),
-        ("CRUISE_MAIN", "CRUISE_INFO"),
-        ("CRUISE_STATUS", "CRUISE_INFO"),
-        ("CRUISE_INACTIVE", "CRUISE_INFO"),
-        ("ZEROS_9", "CRUISE_INFO"),
-        ("CRUISE_STANDSTILL", "CRUISE_INFO"),
-        ("ZEROS_5", "CRUISE_INFO"),
-        ("DISTANCE_SETTING", "CRUISE_INFO"),
-        ("SET_SPEED", "CRUISE_INFO"),
+        ("COUNTER", "SCC_CONTROL"),
+        ("NEW_SIGNAL_1", "SCC_CONTROL"),
+        ("MainMode_ACC", "SCC_CONTROL"),
+        ("ACCMode", "SCC_CONTROL"),
+        ("CRUISE_INACTIVE", "SCC_CONTROL"),
+        ("ZEROS_9", "SCC_CONTROL"),
+        ("CRUISE_STANDSTILL", "SCC_CONTROL"),
+        ("ZEROS_5", "SCC_CONTROL"),
+        ("DISTANCE_SETTING", "SCC_CONTROL"),
+        ("VSetDis", "SCC_CONTROL"),
       ]
 
       checks = [
-        ("CRUISE_INFO", 50),
+        ("SCC_CONTROL", 50),
       ]
 
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6)
diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
index e1478e6f1..8b53e7c37 100644
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -1,3 +1,4 @@
+from common.numpy_fast import clip
 from selfdrive.car.hyundai.values import HyundaiFlags
 
 
@@ -52,10 +53,9 @@ def create_buttons(packer, CP, cnt, btn):
 def create_acc_cancel(packer, CP, cruise_info_copy):
   values = cruise_info_copy
   values.update({
-    "CRUISE_STATUS": 0,
-    "CRUISE_INACTIVE": 1,
+    "ACCMode": 4,
   })
-  return packer.make_can_msg("CRUISE_INFO", get_e_can_bus(CP), values)
+  return packer.make_can_msg("SCC_CONTROL", get_e_can_bus(CP), values)
 
 def create_lfahda_cluster(packer, CP, enabled):
   values = {
@@ -65,33 +65,37 @@ def create_lfahda_cluster(packer, CP, enabled):
   return packer.make_can_msg("LFAHDA_CLUSTER", get_e_can_bus(CP), values)
 
 
-def create_acc_control(packer, CP, enabled, accel, stopping, gas_override, set_speed):
-  cruise_status = 0 if not enabled else (4 if gas_override else 2)
+def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_override, set_speed):
+  jerk = 5
+  jn = jerk / 50
   if not enabled or gas_override:
-    accel = 0
+    a_val, a_raw = 0, 0
+  else:
+    a_raw = accel
+    a_val = clip(accel, accel_last - jn, accel_last + jn)
+    if stopping:
+      a_raw = 0
+
   values = {
-    "CRUISE_STATUS": cruise_status,
-    "CRUISE_INACTIVE": 0 if enabled else 1,
-    "CRUISE_MAIN": 1,
-    "CRUISE_STANDSTILL": 0,
-    "STOP_REQ": 1 if stopping else 0,
-    "ACCEL_REQ": accel,
-    "ACCEL_REQ2": accel,
-    "SET_SPEED": set_speed,
-    "DISTANCE_SETTING": 4,
+    "ACCMode": 0 if not enabled else (2 if gas_override else 1),
+    "MainMode_ACC": 1,
+    "StopReq": 1 if stopping else 0,
+    "aReqValue": a_val,
+    "aReqRaw": a_raw,
+    "VSetDis": set_speed,
+    "JerkLowerLimit": jerk if enabled else 1,
 
     "ACC_ObjDist": 1,
-    "ObjValid": 1,
+    "ObjValid": 0,
     "OBJ_STATUS": 2,
-    "SET_ME_2": 0x2,
+    "SET_ME_2": 0x4,
     "SET_ME_3": 0x3,
     "SET_ME_TMP_64": 0x64,
-
-    "NEW_SIGNAL_9": 2,
     "NEW_SIGNAL_10": 4,
+    "DISTANCE_SETTING": 4,
   }
 
-  return packer.make_can_msg("CRUISE_INFO", get_e_can_bus(CP), values)
+  return packer.make_can_msg("SCC_CONTROL", get_e_can_bus(CP), values)
 
 
 
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 6a1d741de..4b4d51f3f 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -202,14 +202,10 @@ class CarInterface(CarInterfaceBase):
     if candidate in CANFD_CAR:
       ret.longitudinalTuning.kpV = [0.1]
       ret.longitudinalTuning.kiV = [0.0]
-      ret.longitudinalActuatorDelayLowerBound = 0.15
-      ret.longitudinalActuatorDelayUpperBound = 0.5
       ret.experimentalLongitudinalAvailable = bool(ret.flags & HyundaiFlags.CANFD_HDA2)
     else:
       ret.longitudinalTuning.kpV = [0.5]
       ret.longitudinalTuning.kiV = [0.0]
-      ret.longitudinalActuatorDelayLowerBound = 0.5
-      ret.longitudinalActuatorDelayUpperBound = 0.5
       ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR)
     ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
     ret.pcmCruise = not ret.openpilotLongitudinalControl
@@ -218,6 +214,8 @@ class CarInterface(CarInterfaceBase):
     ret.startingState = True
     ret.vEgoStarting = 0.1
     ret.startAccel = 2.0
+    ret.longitudinalActuatorDelayLowerBound = 0.5
+    ret.longitudinalActuatorDelayUpperBound = 0.5
 
     # *** feature detection ***
     if candidate in CANFD_CAR:
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 98cb72293..c760c724a 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -1232,6 +1232,7 @@ FW_VERSIONS = {
       b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x00CN7 MDPS C 1.00 1.06 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4CNDC106',
       b'\xf1\x8756310/AA070\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106',
       b'\xf1\x8756310AA050\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106',
+      b'\xf1\x8756310AA050\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106\xf1\xa01.06',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.00 99210-AB000 200819',
@@ -1244,6 +1245,7 @@ FW_VERSIONS = {
       b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 104 \x08\x03 58910-AA800',
       b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800',
       b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 105 \x10\x03 58910-AA800',
+      b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800\xf1\xa01.01',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py
index a5ca23711..d6b6d17d5 100644
--- a/selfdrive/car/nissan/carstate.py
+++ b/selfdrive/car/nissan/carstate.py
@@ -44,7 +44,7 @@ class CarState(CarStateBase):
     ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
 
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = ret.vEgoRaw < 0.01
+    ret.standstill = cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RL"] == 0.0 and cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RR"] == 0.0
 
     if self.CP.carFingerprint == CAR.ALTIMA:
       ret.cruiseState.enabled = bool(cp.vl["CRUISE_STATE"]["CRUISE_ENABLED"])
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 5838c315a..d83320342 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -25,6 +25,7 @@ non_tested_cars = [
   GM.BOLT_EV,
   HYUNDAI.GENESIS_G90,
   HYUNDAI.KIA_OPTIMA_H,
+  HONDA.ODYSSEY_CHN,
 ]
 
 CarTestRoute = namedtuple('CarTestRoute', ['route', 'car_model', 'segment'], defaults=(None,))
@@ -61,7 +62,6 @@ routes = [
   CarTestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.FREED),
   CarTestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HRV),
   CarTestRoute("917b074700869333|2021-05-24--20-40-20", HONDA.ACURA_ILX),
-  CarTestRoute("81722949a62ea724|2019-04-06--15-19-25", HONDA.ODYSSEY_CHN),
   CarTestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD),  # 1.5T
   CarTestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.ACCORD),  # 2.0T
   CarTestRoute("085ac1d942c35910|2021-03-25--20-11-15", HONDA.ACCORD),  # 2021 with new style HUD msgs
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index e4e141153..ee25b8205 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -9,7 +9,7 @@ from parameterized import parameterized_class
 
 from cereal import log, car
 from common.realtime import DT_CTRL
-from selfdrive.boardd.boardd import can_capnp_to_can_list, can_list_to_can_capnp
+from selfdrive.boardd.boardd import can_capnp_to_can_list
 from selfdrive.car.fingerprints import all_known_cars
 from selfdrive.car.car_helpers import interfaces
 from selfdrive.car.gm.values import CAR as GM
@@ -109,6 +109,10 @@ class TestCarModelBase(unittest.TestCase):
     assert cls.CP
     assert cls.CP.carFingerprint == cls.car_model
 
+  @classmethod
+  def tearDownClass(cls):
+    del cls.can_msgs
+
   def setUp(self):
     self.CI = self.CarInterface(self.CP, self.CarController, self.CarState)
     assert self.CI
@@ -210,18 +214,15 @@ class TestCarModelBase(unittest.TestCase):
 
     # warm up pass, as initial states may be different
     for can in self.can_msgs[:300]:
+      self.CI.update(CC, (can.as_builder().to_bytes(), ))
       for msg in can_capnp_to_can_list(can.can, src_filter=range(64)):
         to_send = package_can_msg(msg)
         self.safety.safety_rx_hook(to_send)
-        self.CI.update(CC, (can_list_to_can_capnp([msg, ]), ))
-
-    if not self.CP.pcmCruise:
-      self.safety.set_controls_allowed(0)
 
     controls_allowed_prev = False
     CS_prev = car.CarState.new_message()
     checks = defaultdict(lambda: 0)
-    for can in self.can_msgs:
+    for idx, can in enumerate(self.can_msgs):
       CS = self.CI.update(CC, (can.as_builder().to_bytes(), ))
       for msg in can_capnp_to_can_list(can.can, src_filter=range(64)):
         msg = list(msg)
@@ -230,10 +231,17 @@ class TestCarModelBase(unittest.TestCase):
         ret = self.safety.safety_rx_hook(to_send)
         self.assertEqual(1, ret, f"safety rx failed ({ret=}): {to_send}")
 
+      # Skip first frame so CS_prev is properly initialized
+      if idx == 0:
+        CS_prev = CS
+        # Button may be left pressed in warm up period
+        if not self.CP.pcmCruise:
+          self.safety.set_controls_allowed(0)
+        continue
+
       # TODO: check rest of panda's carstate (steering, ACC main on, etc.)
 
       checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
-      checks['cruiseState'] += CS.cruiseState.enabled and not CS.cruiseState.available
       if self.CP.carName not in ("hyundai", "volkswagen", "body"):
         # TODO: fix standstill mismatches for other makes
         checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index c7d81c349..0e4ac9478 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-e56c5a6ac5b87ee6083c9f92921e7198591f7b5d
+fc3a044c567a8702ed1500d745170c365dd6b3d4
\ No newline at end of file
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 346cb3ab9..d3bc931b6 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -227,14 +227,6 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
     setProperty("dmActive", sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode());
     setProperty("rightHandDM", sm["driverMonitoringState"].getDriverMonitoringState().getIsRHD());
   }
-
-  setStreamType(s.scene.wide_cam ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
-  if (s.scene.calibration_valid) {
-    auto calib = s.scene.wide_cam ? s.scene.view_from_wide_calib : s.scene.view_from_calib;
-    CameraWidget::updateCalibration(calib);
-  } else {
-    CameraWidget::updateCalibration(DEFAULT_CALIBRATION);
-  }
 }
 
 void AnnotatedCameraWidget::drawHud(QPainter &p) {
@@ -545,18 +537,62 @@ void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::ModelDataV
 }
 
 void AnnotatedCameraWidget::paintGL() {
+  UIState *s = uiState();
+  SubMaster &sm = *(s->sm);
   const double start_draw_t = millis_since_boot();
+  const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2();
 
-  UIState *s = uiState();
-  const cereal::ModelDataV2::Reader &model = (*s->sm)["modelV2"].getModelV2();
-  CameraWidget::setFrameId(model.getFrameId());
-  CameraWidget::paintGL();
+  // draw camera frame
+  {
+    std::lock_guard lk(frame_lock);
+
+    if (frames.empty()) {
+      if (skip_frame_count > 0) {
+        skip_frame_count--;
+        qDebug() << "skipping frame, not ready";
+        return;
+      }
+    } else {
+      // skip drawing up to this many frames if we're
+      // missing camera frames. this smooths out the
+      // transitions from the narrow and wide cameras
+      skip_frame_count = 5;
+    }
+
+    // Wide or narrow cam dependent on speed
+    float v_ego = sm["carState"].getCarState().getVEgo();
+    if ((v_ego < 10) || s->wide_cam_only) {
+      wide_cam_requested = true;
+    } else if (v_ego > 15) {
+      wide_cam_requested = false;
+    }
+    // TODO: also detect when ecam vision stream isn't available
+    // for replay of old routes, never go to widecam
+    wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid;
+    CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
+
+    s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD;
+    if (s->scene.calibration_valid) {
+      auto calib = s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib;
+      CameraWidget::updateCalibration(calib);
+    } else {
+      CameraWidget::updateCalibration(DEFAULT_CALIBRATION);
+    }
+    CameraWidget::setFrameId(model.getFrameId());
+    CameraWidget::paintGL();
+  }
 
   QPainter painter(this);
   painter.setRenderHint(QPainter::Antialiasing);
   painter.setPen(Qt::NoPen);
 
   if (s->worldObjectsVisible()) {
+    if (sm.rcv_frame("modelV2") > s->scene.started_frame) {
+      update_model(s, sm["modelV2"].getModelV2());
+      if (sm.rcv_frame("radarState") > s->scene.started_frame) {
+        update_leads(s, sm["radarState"].getRadarState(), sm["modelV2"].getModelV2().getPosition());
+      }
+    }
 
     drawLaneLines(painter, s);
 
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 2a663185f..7edca6b3d 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -70,6 +70,9 @@ private:
   int status = STATUS_DISENGAGED;
   std::unique_ptr<PubMaster> pm;
 
+  int skip_frame_count = 0;
+  bool wide_cam_requested = false;
+
 protected:
   void paintGL() override;
   void initializeGL() override;
diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index d7591633c..a606d6893 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -94,7 +94,7 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio)
 } // namespace
 
 CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) :
-                                   stream_name(stream_name), stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) {
+                          stream_name(stream_name), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) {
   setAttribute(Qt::WA_OpaquePaintEvent);
   QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection);
   QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection);
@@ -124,7 +124,7 @@ void CameraWidget::initializeGL() {
   GLint frame_pos_loc = program->attributeLocation("aPosition");
   GLint frame_texcoord_loc = program->attributeLocation("aTexCoord");
 
-  auto [x1, x2, y1, y2] = stream_type == VISION_STREAM_DRIVER ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f);
+  auto [x1, x2, y1, y2] = requested_stream_type == VISION_STREAM_DRIVER ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f);
   const uint8_t frame_indicies[] = {0, 1, 2, 0, 2, 3};
   const float frame_coords[4][4] = {
     {-1.0, -1.0, x2, y1}, // bl
@@ -163,36 +163,26 @@ void CameraWidget::initializeGL() {
 
 void CameraWidget::showEvent(QShowEvent *event) {
   if (!vipc_thread) {
+    clearFrames();
     vipc_thread = new QThread();
     connect(vipc_thread, &QThread::started, [=]() { vipcThread(); });
     connect(vipc_thread, &QThread::finished, vipc_thread, &QObject::deleteLater);
     vipc_thread->start();
   }
-  clearFrames();
-}
-
-void CameraWidget::hideEvent(QHideEvent *event) {
-  if (vipc_thread) {
-    vipc_thread->requestInterruption();
-    vipc_thread->quit();
-    vipc_thread->wait();
-    vipc_thread = nullptr;
-  }
-  clearFrames();
 }
 
 void CameraWidget::updateFrameMat() {
   int w = width(), h = height();
 
   if (zoomed_view) {
-    if (stream_type == VISION_STREAM_DRIVER) {
+    if (active_stream_type == VISION_STREAM_DRIVER) {
       frame_mat = get_driver_view_transform(w, h, stream_width, stream_height);
     } else {
       // Project point at "infinity" to compute x and y offsets
       // to ensure this ends up in the middle of the screen
       // for narrow come and a little lower for wide cam.
       // TODO: use proper perspective transform?
-      if (stream_type == VISION_STREAM_WIDE_ROAD) {
+      if (active_stream_type == VISION_STREAM_WIDE_ROAD) {
         intrinsic_matrix = ecam_intrinsic_matrix;
         zoom = 2.0;
       } else {
@@ -212,11 +202,11 @@ void CameraWidget::updateFrameMat() {
       x_offset = std::clamp(x_offset_, -max_x_offset, max_x_offset);
       y_offset = std::clamp(y_offset_, -max_y_offset, max_y_offset);
 
-      float zx = zoom * 2 * intrinsic_matrix.v[2] / width();
-      float zy = zoom * 2 * intrinsic_matrix.v[5] / height();
+      float zx = zoom * 2 * intrinsic_matrix.v[2] / w;
+      float zy = zoom * 2 * intrinsic_matrix.v[5] / h;
       const mat4 frame_transform = {{
-        zx, 0.0, 0.0, -x_offset / width() * 2,
-        0.0, zy, 0.0, y_offset / height() * 2,
+        zx, 0.0, 0.0, -x_offset / w * 2,
+        0.0, zy, 0.0, y_offset / h * 2,
         0.0, 0.0, 1.0, 0.0,
         0.0, 0.0, 0.0, 1.0,
       }};
@@ -224,7 +214,7 @@ void CameraWidget::updateFrameMat() {
     }
   } else if (stream_width > 0 && stream_height > 0) {
     // fit frame to widget size
-    float widget_aspect_ratio = (float)width() / height();
+    float widget_aspect_ratio = (float)w / h;
     float frame_aspect_ratio = (float)stream_width  / stream_height;
     frame_mat = get_fit_view_transform(widget_aspect_ratio, frame_aspect_ratio);
   }
@@ -232,7 +222,6 @@ void CameraWidget::updateFrameMat() {
 
 void CameraWidget::updateCalibration(const mat3 &calib) {
   calibration = calib;
-  updateFrameMat();
 }
 
 void CameraWidget::paintGL() {
@@ -240,13 +229,26 @@ void CameraWidget::paintGL() {
   glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
 
   std::lock_guard lk(frame_lock);
+  if (frames.empty()) return;
+
+  int frame_idx = frames.size() - 1;
+
+  // Always draw latest frame until sync logic is more stable
+  // for (frame_idx = 0; frame_idx < frames.size() - 1; frame_idx++) {
+  //   if (frames[frame_idx].first == draw_frame_id) break;
+  // }
 
-  // use previous texture if update() is called without new frame.
-  VisionBuf *frame = nullptr;
-  if (!frames.empty()) {
-    frame = frames.front().second;
-    frames.pop_front();
+  // Log duplicate/dropped frames
+  if (frames[frame_idx].first == prev_frame_id) {
+    qDebug() << "Drawing same frame twice" << frames[frame_idx].first;
+  } else if (frames[frame_idx].first != prev_frame_id + 1) {
+    qDebug() << "Skipped frame" << frames[frame_idx].first;
   }
+  prev_frame_id = frames[frame_idx].first;
+  VisionBuf *frame = frames[frame_idx].second;
+  assert(frame != nullptr);
+
+  updateFrameMat();
 
   glViewport(0, 0, width(), height());
   glBindVertexArray(frame_vao);
@@ -254,22 +256,22 @@ void CameraWidget::paintGL() {
   glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
 
 #ifdef QCOM2
+  // no frame copy
   glActiveTexture(GL_TEXTURE0);
-  if (frame) {
-    glEGLImageTargetTexture2DOES(GL_TEXTURE_EXTERNAL_OES, egl_images[frame->idx]);
-    assert(glGetError() == GL_NO_ERROR);
-  }
+  glEGLImageTargetTexture2DOES(GL_TEXTURE_EXTERNAL_OES, egl_images[frame->idx]);
+  assert(glGetError() == GL_NO_ERROR);
 #else
+  // fallback to copy
   glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride);
   glActiveTexture(GL_TEXTURE0);
   glBindTexture(GL_TEXTURE_2D, textures[0]);
-  if (frame) glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width, stream_height, GL_RED, GL_UNSIGNED_BYTE, frame->y);
+  glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width, stream_height, GL_RED, GL_UNSIGNED_BYTE, frame->y);
   assert(glGetError() == GL_NO_ERROR);
 
   glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride/2);
   glActiveTexture(GL_TEXTURE0 + 1);
   glBindTexture(GL_TEXTURE_2D, textures[1]);
-  if (frame) glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width/2, stream_height/2, GL_RG, GL_UNSIGNED_BYTE, frame->uv);
+  glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width/2, stream_height/2, GL_RG, GL_UNSIGNED_BYTE, frame->uv);
   assert(glGetError() == GL_NO_ERROR);
 #endif
 
@@ -332,8 +334,6 @@ void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) {
   glTexImage2D(GL_TEXTURE_2D, 0, GL_RG8, stream_width/2, stream_height/2, 0, GL_RG, GL_UNSIGNED_BYTE, nullptr);
   assert(glGetError() == GL_NO_ERROR);
 #endif
-
-  updateFrameMat();
 }
 
 void CameraWidget::vipcFrameReceived() {
@@ -341,16 +341,18 @@ void CameraWidget::vipcFrameReceived() {
 }
 
 void CameraWidget::vipcThread() {
-  VisionStreamType cur_stream_type = stream_type;
+  VisionStreamType cur_stream = requested_stream_type;
   std::unique_ptr<VisionIpcClient> vipc_client;
   VisionIpcBufExtra meta_main = {0};
 
   while (!QThread::currentThread()->isInterruptionRequested()) {
-    if (!vipc_client || cur_stream_type != stream_type) {
+    if (!vipc_client || cur_stream != requested_stream_type) {
       clearFrames();
-      cur_stream_type = stream_type;
-      vipc_client.reset(new VisionIpcClient(stream_name, cur_stream_type, false));
+      qDebug() << "connecting to stream " << requested_stream_type << ", was connected to " << cur_stream;
+      cur_stream = requested_stream_type;;
+      vipc_client.reset(new VisionIpcClient(stream_name, cur_stream, false));
     }
+    active_stream_type = cur_stream;
 
     if (!vipc_client->connected) {
       clearFrames();
@@ -366,7 +368,6 @@ void CameraWidget::vipcThread() {
         std::lock_guard lk(frame_lock);
         frames.push_back(std::make_pair(meta_main.frame_id, buf));
         while (frames.size() > FRAME_BUFFER_SIZE) {
-          qDebug() << "Skipped frame" << frames.front().first;
           frames.pop_front();
         }
       }
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index aff3abc83..0698d1fb9 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -31,9 +31,10 @@ public:
   using QOpenGLWidget::QOpenGLWidget;
   explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr);
   ~CameraWidget();
-  void setStreamType(VisionStreamType type) { stream_type = type; }
   void setBackgroundColor(const QColor &color) { bg = color; }
   void setFrameId(int frame_id) { draw_frame_id = frame_id; }
+  void setStreamType(VisionStreamType type) { requested_stream_type = type; }
+  VisionStreamType getStreamType() { return active_stream_type; }
 
 signals:
   void clicked();
@@ -45,7 +46,6 @@ protected:
   void initializeGL() override;
   void resizeGL(int w, int h) override { updateFrameMat(); }
   void showEvent(QShowEvent *event) override;
-  void hideEvent(QHideEvent *event) override;
   void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); }
   virtual void updateFrameMat();
   void updateCalibration(const mat3 &calib);
@@ -68,7 +68,8 @@ protected:
   int stream_width = 0;
   int stream_height = 0;
   int stream_stride = 0;
-  std::atomic<VisionStreamType> stream_type;
+  std::atomic<VisionStreamType> active_stream_type;
+  std::atomic<VisionStreamType> requested_stream_type;
   QThread *vipc_thread = nullptr;
 
   // Calibration
@@ -78,9 +79,10 @@ protected:
   mat3 calibration = DEFAULT_CALIBRATION;
   mat3 intrinsic_matrix = fcam_intrinsic_matrix;
 
-  std::mutex frame_lock;
+  std::recursive_mutex frame_lock;
   std::deque<std::pair<uint32_t, VisionBuf*>> frames;
   uint32_t draw_frame_id = 0;
+  uint32_t prev_frame_id = 0;
 
 protected slots:
   void vipcConnected(VisionIpcClient *vipc_client);
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index d1d72b4da..821064f81 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -35,7 +35,7 @@ static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y,
   return false;
 }
 
-static int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line, const float path_height) {
+int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line, const float path_height) {
   const auto line_x = line.getX();
   int max_idx = 0;
   for (int i = 1; i < TRAJECTORY_SIZE && line_x[i] <= path_height; ++i) {
@@ -44,7 +44,7 @@ static int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line
   return max_idx;
 }
 
-static void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::ModelDataV2::XYZTData::Reader &line) {
+void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::ModelDataV2::XYZTData::Reader &line) {
   for (int i = 0; i < 2; ++i) {
     auto lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo();
     if (lead_data.getStatus()) {
@@ -54,7 +54,7 @@ static void update_leads(UIState *s, const cereal::RadarState::Reader &radar_sta
   }
 }
 
-static void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Reader &line,
+void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Reader &line,
                              float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert=true) {
   const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ();
 
@@ -78,7 +78,7 @@ static void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTDa
   *pvd = left_points + right_points;
 }
 
-static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
+void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
   UIScene &scene = s->scene;
   auto model_position = model.getPosition();
   float max_distance = std::clamp(model_position.getX()[TRAJECTORY_SIZE - 1],
@@ -141,14 +141,7 @@ static void update_state(UIState *s) {
       }
     }
     scene.calibration_valid = sm["liveCalibration"].getLiveCalibration().getCalStatus() == 1;
-  }
-  if (s->worldObjectsVisible()) {
-    if (sm.updated("modelV2")) {
-      update_model(s, sm["modelV2"].getModelV2());
-    }
-    if (sm.updated("radarState") && sm.rcv_frame("modelV2") > s->scene.started_frame) {
-      update_leads(s, sm["radarState"].getRadarState(), sm["modelV2"].getModelV2().getPosition());
-    }
+    scene.calibration_wide_valid = wfde_list.size() == 3;
   }
   if (sm.updated("pandaStates")) {
     auto pandaStates = sm["pandaStates"].getPandaStates();
@@ -173,17 +166,6 @@ static void update_state(UIState *s) {
     scene.light_sensor = std::max(100.0f - scale * sm["wideRoadCameraState"].getWideRoadCameraState().getExposureValPercent(), 0.0f);
   }
   scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition;
-
-  if (sm.updated("carState")) {
-    float v_ego = sm["carState"].getCarState().getVEgo();
-    // TODO: support replays without ecam by using fcam
-    // Wide or narrow cam dependent on speed
-    if ((v_ego < 10) || s->wide_cam_only) {
-      scene.wide_cam = true;
-    } else if (v_ego > 15) {
-      scene.wide_cam = false;
-    }
-  }
 }
 
 void ui_update_params(UIState *s) {
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 5a51dda8f..e550afd5f 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -87,6 +87,7 @@ const QColor bg_colors [] = {
 
 typedef struct UIScene {
   bool calibration_valid = false;
+  bool calibration_wide_valid  = false;
   bool wide_cam = true;
   mat3 view_from_calib = DEFAULT_CALIBRATION;
   mat3 view_from_wide_calib = DEFAULT_CALIBRATION;
@@ -181,3 +182,8 @@ public slots:
 };
 
 void ui_update_params(UIState *s);
+int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line, const float path_height);
+void update_model(UIState *s, const cereal::ModelDataV2::Reader &model);
+void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::ModelDataV2::XYZTData::Reader &line);
+void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Reader &line,
+                      float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert);
diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc
index 21fd71b8e..56346c6d6 100644
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chartswidget.cc
@@ -402,10 +402,13 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) {
       // zoom in if selected range is greater than 0.5s
       emit zoomIn(min, max);
     }
+    event->accept();
   } else if (event->button() == Qt::RightButton) {
     emit zoomReset();
+    event->accept();
+  } else {
+    QGraphicsView::mouseReleaseEvent(event);
   }
-  event->accept();
 }
 
 void ChartView::mouseMoveEvent(QMouseEvent *ev) {
diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc
index 479b14afe..0ab67dd30 100644
--- a/tools/cabana/dbcmanager.cc
+++ b/tools/cabana/dbcmanager.cc
@@ -1,5 +1,6 @@
 #include "tools/cabana/dbcmanager.h"
 
+#include <limits>
 #include <sstream>
 #include <QVector>
 
@@ -41,8 +42,8 @@ QString DBCManager::generateDBC() {
                         .arg(sig.size)
                         .arg(sig.is_little_endian ? '1' : '0')
                         .arg(sig.is_signed ? '-' : '+')
-                        .arg(sig.factor, 0, 'g', 20)
-                        .arg(sig.offset);
+                        .arg(sig.factor, 0, 'g', std::numeric_limits<double>::digits10)
+                        .arg(sig.offset, 0, 'g', std::numeric_limits<double>::digits10);
     }
     dbc_string += "\n";
   }
diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index 4d97bba58..205e5347c 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -98,6 +98,7 @@ void MessagesWidget::loadDBCFromPaste() {
   if (dlg.exec()) {
     dbc()->open("from paste", dlg.dbc_edit->toPlainText());
     dbc_combo->setCurrentText("loaded from paste");
+    model->updateState(true);
   }
 }
 
diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index b7c32d9bf..1e592da3b 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -89,7 +89,7 @@ def juggle_route(route_or_segment_name, segment_count, qlog, can, layout, dbc=No
     query = parse_qs(urlparse(route_or_segment_name).query)
     route_or_segment_name = query["route"][0]
 
-  if route_or_segment_name.startswith(("http://", "https://")) or os.path.isfile(route_or_segment_name):
+  if route_or_segment_name.startswith(("http://", "https://", "cd:/")) or os.path.isfile(route_or_segment_name):
     logs = [route_or_segment_name]
   elif ci:
     route_or_segment_name = SegmentName(route_or_segment_name, allow_route_name=True)
diff --git a/tools/sim/start_openpilot_docker.sh b/tools/sim/start_openpilot_docker.sh
index e48e63574..dba89b8b7 100755
--- a/tools/sim/start_openpilot_docker.sh
+++ b/tools/sim/start_openpilot_docker.sh
@@ -20,6 +20,7 @@ else
   EXTRA_ARGS="${EXTRA_ARGS} -it"
 fi
 
+docker kill openpilot_client || true
 docker run --net=host\
   --name openpilot_client \
   --rm \