diff --git a/cereal b/cereal
index 2335f98bb..bd2f7fa56 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 2335f98bbe628ec6fde92c8d929ecaf373b125af
+Subproject commit bd2f7fa56706bcec3c9906bd57c2ec46f0666ac5
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 1276c8518..7998e65c2 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -12,6 +12,14 @@ ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
 
 
+def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float:
+  if val > val_steady + hyst_gap:
+    val_steady = val - hyst_gap
+  elif val < val_steady - hyst_gap:
+    val_steady = val + hyst_gap
+  return val_steady
+
+
 def create_button_event(cur_but: int, prev_but: int, buttons_dict: Dict[int, capnp.lib.capnp._EnumModule],
                         unpressed: int = 0) -> capnp.lib.capnp._DynamicStructBuilder:
   if cur_but != unpressed:
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 4696bec82..a37667fd3 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -24,6 +24,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
     ("MOTOR_TORQUE", "STEER_MOTOR_TORQUE"),
     ("STEER_TORQUE_SENSOR", "STEER_STATUS"),
     ("IMPERIAL_UNIT", "CAR_SPEED"),
+    ("ROUGH_CAR_SPEED_2", "CAR_SPEED"),
     ("LEFT_BLINKER", "SCM_FEEDBACK"),
     ("RIGHT_BLINKER", "SCM_FEEDBACK"),
     ("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS"),
@@ -150,6 +151,10 @@ class CarState(CarStateBase):
     self.cruise_setting = 0
     self.v_cruise_pcm_prev = 0
 
+    # When available we use cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] to populate vEgoCluster
+    # However, on cars without a digital speedometer this is not always present (HRV, FIT, CRV 2016, ILX and RDX)
+    self.dash_speed_seen = False
+
   def update(self, cp, cp_cam, cp_body):
     ret = car.CarState.new_message()
 
@@ -203,6 +208,11 @@ class CarState(CarStateBase):
     ret.vEgoRaw = (1. - v_weight) * cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] * CV.KPH_TO_MS * self.CP.wheelSpeedFactor + v_weight * v_wheel
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
 
+    self.dash_speed_seen = self.dash_speed_seen or cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] > 1e-3
+    if self.dash_speed_seen:
+      conversion = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
+      ret.vEgoCluster = cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] * conversion
+
     ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE"]
     ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE_RATE"]
 
@@ -237,9 +247,9 @@ class CarState(CarStateBase):
         ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252.
 
         # on certain cars, CRUISE_SPEED changes to imperial with car's unit setting
-        conversion_factor = CV.MPH_TO_MS if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and not self.is_metric else CV.KPH_TO_MS
+        conversion = CV.MPH_TO_MS if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and not self.is_metric else CV.KPH_TO_MS
         # On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this.
-        ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion_factor
+        ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion
         self.v_cruise_pcm_prev = ret.cruiseState.speed
     else:
       ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index d02db2673..8164ac66d 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -9,7 +9,7 @@ from common.basedir import BASEDIR
 from common.conversions import Conversions as CV
 from common.kalman.simple_kalman import KF1D
 from common.realtime import DT_CTRL
-from selfdrive.car import create_button_enable_events, gen_empty_fingerprint
+from selfdrive.car import apply_hysteresis, create_button_enable_events, gen_empty_fingerprint
 from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 from selfdrive.controls.lib.events import Events
 from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -172,6 +172,12 @@ class CarInterfaceBase(ABC):
     else:
       self.v_ego_cluster_seen = True
 
+    # Many cars apply hysteresis to the ego dash speed
+    if self.CS is not None:
+      ret.vEgoCluster = apply_hysteresis(ret.vEgoCluster, self.CS.out.vEgoCluster, self.CS.cluster_speed_hyst_gap)
+      if abs(ret.vEgo) < self.CS.cluster_min_speed:
+        ret.vEgoCluster = 0.0
+
     if ret.cruiseState.speedCluster == 0:
       ret.cruiseState.speedCluster = ret.cruiseState.speed
 
@@ -217,6 +223,8 @@ class CarInterfaceBase(ABC):
       events.add(EventName.parkBrake)
     if cs_out.accFaulted:
       events.add(EventName.accFaulted)
+    if cs_out.steeringPressed:
+      events.add(EventName.steerOverride)
 
     # Handle button presses
     events.events.extend(create_button_enable_events(cs_out.buttonEvents, enable_buttons, pcm_cruise=self.CP.pcmCruise))
@@ -272,6 +280,8 @@ class CarStateBase(ABC):
     self.right_blinker_cnt = 0
     self.left_blinker_prev = False
     self.right_blinker_prev = False
+    self.cluster_speed_hyst_gap = 0.0
+    self.cluster_min_speed = 0.0  # min speed before dropping to 0
 
     # Q = np.matrix([[0.0, 0.0], [0.0, 100.0]])
     # R = 0.3
diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py
index 030a368a1..7648a4a50 100644
--- a/selfdrive/car/tesla/values.py
+++ b/selfdrive/car/tesla/values.py
@@ -22,7 +22,7 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
 FINGERPRINTS = {
   CAR.AP2_MODELS: [
     {
-      1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 277: 6, 280: 6, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 518: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 538: 8, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 576: 3, 577: 8, 582: 5, 583: 8, 584: 4, 585: 8, 590: 8, 601: 8, 606: 8, 608: 1, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 692: 8, 693: 8, 695: 8, 696: 8, 697: 8, 699: 8, 700: 8, 701: 8, 702: 8, 703: 8, 704: 8, 708: 8, 709: 8, 710: 8, 711: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 811: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 845: 8, 846: 5, 848: 8, 852: 8, 853: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 876: 8, 877: 8, 879: 8, 880: 8, 882: 8, 884: 8, 888: 8, 893: 8, 894: 8, 901: 6, 904: 3, 905: 8, 906: 8, 908: 2, 909: 8, 910: 8, 912: 8, 920: 8, 921: 8, 925: 4, 926: 6, 936: 8, 941: 8, 949: 8, 952: 8, 953: 6, 968: 8, 969: 7, 970: 8, 971: 8, 977: 8, 984: 8, 987: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1007: 8, 1008: 8, 1010: 6, 1014: 1, 1015: 8, 1016: 8, 1017: 8, 1018: 8, 1020: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1049: 8, 1061: 8, 1064: 8, 1065: 8, 1070: 8, 1080: 8, 1081: 8, 1097: 8, 1113: 8, 1129: 8, 1145: 8, 1160: 4, 1177: 8, 1281: 8, 1328: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1353: 8, 1368: 8, 1412: 8, 1436: 8, 1476: 8, 1481: 8, 1497: 8, 1513: 8, 1519: 8, 1601: 8, 1605: 8, 1617: 8, 1621: 8, 1625: 8, 1665: 8, 1792: 8, 1798: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1824: 8, 1825: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1842: 8, 1848: 8, 1864: 8, 1872: 8, 1880: 8, 1888: 8, 1892: 8, 1896: 8, 1912: 8, 1937: 8, 1953: 8, 1960: 8, 1968: 8, 1992: 8, 2001: 8, 2008: 3, 2015: 8, 2016: 8, 2043: 5, 2045: 4
+      1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 277: 6, 280: 6, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 518: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 538: 8, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 576: 3, 577: 8, 582: 5, 583: 8, 584: 4, 585: 8, 590: 8, 601: 8, 606: 8, 608: 1, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 692: 8, 693: 8, 695: 8, 696: 8, 697: 8, 699: 8, 700: 8, 701: 8, 702: 8, 703: 8, 704: 8, 708: 8, 709: 8, 710: 8, 711: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 811: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 845: 8, 846: 5, 848: 8, 852: 8, 853: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 876: 8, 877: 8, 879: 8, 880: 8, 882: 8, 884: 8, 888: 8, 893: 8, 894: 8, 901: 6, 904: 3, 905: 8, 906: 8, 908: 2, 909: 8, 910: 8, 912: 8, 920: 8, 921: 8, 925: 4, 926: 6, 936: 8, 941: 8, 949: 8, 952: 8, 953: 6, 968: 8, 969: 7, 970: 8, 971: 8, 977: 8, 984: 8, 986: 8, 987: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1007: 8, 1008: 8, 1010: 6, 1014: 1, 1015: 8, 1016: 8, 1017: 8, 1018: 8, 1020: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1049: 8, 1061: 8, 1064: 8, 1065: 8, 1070: 8, 1080: 8, 1081: 8, 1097: 8, 1113: 8, 1129: 8, 1145: 8, 1160: 4, 1177: 8, 1281: 8, 1328: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1353: 8, 1368: 8, 1412: 8, 1436: 8, 1476: 8, 1481: 8, 1497: 8, 1513: 8, 1519: 8, 1601: 8, 1605: 8, 1617: 8, 1621: 8, 1625: 8, 1665: 8, 1792: 8, 1798: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1824: 8, 1825: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1842: 8, 1848: 8, 1864: 8, 1872: 8, 1880: 8, 1888: 8, 1892: 8, 1896: 8, 1912: 8, 1937: 8, 1953: 8, 1960: 8, 1968: 8, 1992: 8, 2001: 8, 2008: 3, 2015: 8, 2016: 8, 2043: 5, 2045: 4
     },
   ],
   CAR.AP1_MODELS: [
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 453b859ae..1c6e4922d 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -39,6 +39,7 @@ class CarInterface(CarInterfaceBase):
 
       if any(msg in fingerprint[1] for msg in (0x1A0, 0xC2)):  # Bremse_1, Lenkwinkel_1
         ret.networkLocation = NetworkLocation.gateway
+        ret.experimentalLongitudinalAvailable = True
       else:
         ret.networkLocation = NetworkLocation.fwdCamera
 
@@ -64,6 +65,7 @@ class CarInterface(CarInterfaceBase):
 
       if any(msg in fingerprint[1] for msg in (0x40, 0x86, 0xB2, 0xFD)):  # Airbag_01, LWI_01, ESP_19, ESP_21
         ret.networkLocation = NetworkLocation.gateway
+        ret.experimentalLongitudinalAvailable = True
       else:
         ret.networkLocation = NetworkLocation.fwdCamera
 
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 569c12e3d..308753529 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -508,9 +508,9 @@ class Controls:
             self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
             self.current_alert_types.append(ET.SOFT_DISABLE)
 
-          elif self.events.any(ET.OVERRIDE):
+          elif self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL):
             self.state = State.overriding
-            self.current_alert_types.append(ET.OVERRIDE)
+            self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL]
 
         # SOFT DISABLING
         elif self.state == State.softDisabling:
@@ -540,10 +540,10 @@ class Controls:
             self.state = State.softDisabling
             self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
             self.current_alert_types.append(ET.SOFT_DISABLE)
-          elif not self.events.any(ET.OVERRIDE):
+          elif not (self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL)):
             self.state = State.enabled
           else:
-            self.current_alert_types.append(ET.OVERRIDE)
+            self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL]
 
     # DISABLED
     elif self.state == State.disabled:
@@ -554,7 +554,7 @@ class Controls:
         else:
           if self.events.any(ET.PRE_ENABLE):
             self.state = State.preEnabled
-          elif self.events.any(ET.OVERRIDE):
+          elif self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL):
             self.state = State.overriding
           else:
             self.state = State.enabled
@@ -586,7 +586,7 @@ class Controls:
     # Check which actuators can be enabled
     CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
                      CS.vEgo > self.CP.minSteerSpeed and not CS.standstill
-    CC.longActive = self.active and not self.events.any(ET.OVERRIDE) and self.CP.openpilotLongitudinalControl
+    CC.longActive = self.active and not self.events.any(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
 
     actuators = CC.actuators
     actuators.longControlState = self.LoC.long_control_state
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 5139ead84..91f1748ec 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -31,7 +31,8 @@ class Priority(IntEnum):
 class ET:
   ENABLE = 'enable'
   PRE_ENABLE = 'preEnable'
-  OVERRIDE = 'override'
+  OVERRIDE_LATERAL = 'overrideLateral'
+  OVERRIDE_LONGITUDINAL = 'overrideLongitudinal'
   NO_ENTRY = 'noEntry'
   WARNING = 'warning'
   USER_DISABLE = 'userDisable'
@@ -623,7 +624,15 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
   },
 
   EventName.gasPressedOverride: {
-    ET.OVERRIDE: Alert(
+    ET.OVERRIDE_LONGITUDINAL: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1),
+  },
+
+  EventName.steerOverride: {
+    ET.OVERRIDE_LATERAL: Alert(
       "",
       "",
       AlertStatus.normal, AlertSize.none,
diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/controls/tests/test_state_machine.py
index 244c56687..36535dfda 100755
--- a/selfdrive/controls/tests/test_state_machine.py
+++ b/selfdrive/controls/tests/test_state_machine.py
@@ -11,11 +11,11 @@ from selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize
 State = log.ControlsState.OpenpilotState
 
 # The event types that maintain the current state
-MAINTAIN_STATES = {State.enabled: None, State.disabled: None, State.softDisabling: ET.SOFT_DISABLE,
-                   State.preEnabled: ET.PRE_ENABLE, State.overriding: ET.OVERRIDE}
+MAINTAIN_STATES = {State.enabled: (None,), State.disabled: (None,), State.softDisabling: (ET.SOFT_DISABLE,),
+                   State.preEnabled: (ET.PRE_ENABLE,), State.overriding: (ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL)}
 ALL_STATES = tuple(State.schema.enumerants.values())
 # The event types checked in DISABLED section of state machine
-ENABLE_EVENT_TYPES = (ET.ENABLE, ET.PRE_ENABLE, ET.OVERRIDE)
+ENABLE_EVENT_TYPES = (ET.ENABLE, ET.PRE_ENABLE, ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL)
 
 
 def make_event(event_types):
@@ -41,29 +41,32 @@ class TestStateMachine(unittest.TestCase):
 
   def test_immediate_disable(self):
     for state in ALL_STATES:
-      self.controlsd.events.add(make_event([MAINTAIN_STATES[state], ET.IMMEDIATE_DISABLE]))
-      self.controlsd.state = state
-      self.controlsd.state_transition(self.CS)
-      self.assertEqual(State.disabled, self.controlsd.state)
-      self.controlsd.events.clear()
+      for et in MAINTAIN_STATES[state]:
+        self.controlsd.events.add(make_event([et, ET.IMMEDIATE_DISABLE]))
+        self.controlsd.state = state
+        self.controlsd.state_transition(self.CS)
+        self.assertEqual(State.disabled, self.controlsd.state)
+        self.controlsd.events.clear()
 
   def test_user_disable(self):
     for state in ALL_STATES:
-      self.controlsd.events.add(make_event([MAINTAIN_STATES[state], ET.USER_DISABLE]))
-      self.controlsd.state = state
-      self.controlsd.state_transition(self.CS)
-      self.assertEqual(State.disabled, self.controlsd.state)
-      self.controlsd.events.clear()
+      for et in MAINTAIN_STATES[state]:
+        self.controlsd.events.add(make_event([et, ET.USER_DISABLE]))
+        self.controlsd.state = state
+        self.controlsd.state_transition(self.CS)
+        self.assertEqual(State.disabled, self.controlsd.state)
+        self.controlsd.events.clear()
 
   def test_soft_disable(self):
     for state in ALL_STATES:
       if state == State.preEnabled:  # preEnabled considers NO_ENTRY instead
         continue
-      self.controlsd.events.add(make_event([MAINTAIN_STATES[state], ET.SOFT_DISABLE]))
-      self.controlsd.state = state
-      self.controlsd.state_transition(self.CS)
-      self.assertEqual(self.controlsd.state, State.disabled if state == State.disabled else State.softDisabling)
-      self.controlsd.events.clear()
+      for et in MAINTAIN_STATES[state]:
+        self.controlsd.events.add(make_event([et, ET.SOFT_DISABLE]))
+        self.controlsd.state = state
+        self.controlsd.state_transition(self.CS)
+        self.assertEqual(self.controlsd.state, State.disabled if state == State.disabled else State.softDisabling)
+        self.controlsd.events.clear()
 
   def test_soft_disable_timer(self):
     self.controlsd.state = State.enabled
@@ -93,11 +96,12 @@ class TestStateMachine(unittest.TestCase):
   def test_maintain_states(self):
     # Given current state's event type, we should maintain state
     for state in ALL_STATES:
-      self.controlsd.state = state
-      self.controlsd.events.add(make_event([MAINTAIN_STATES[state]]))
-      self.controlsd.state_transition(self.CS)
-      self.assertEqual(self.controlsd.state, state)
-      self.controlsd.events.clear()
+      for et in MAINTAIN_STATES[state]:
+        self.controlsd.state = state
+        self.controlsd.events.add(make_event([et]))
+        self.controlsd.state_transition(self.CS)
+        self.assertEqual(self.controlsd.state, state)
+        self.controlsd.events.clear()
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/sensord/tests/test_sensord.py b/selfdrive/sensord/tests/test_sensord.py
index 6cb2fa9e6..84582518f 100755
--- a/selfdrive/sensord/tests/test_sensord.py
+++ b/selfdrive/sensord/tests/test_sensord.py
@@ -116,13 +116,16 @@ class TestSensord(unittest.TestCase):
     # make sure gpiochip0 is readable
     HARDWARE.initialize_hardware()
 
-  @with_processes(['sensord'])
+    # read initial sensor values every test case can use
+    managed_processes["sensord"].start()
+    cls.events = read_sensor_events(5)
+    managed_processes["sensord"].stop()
+
   def test_sensors_present(self):
     # verify correct sensors configuration
-    events = read_sensor_events(10)
 
     seen = set()
-    for event in events:
+    for event in self.events:
       for measurement in event.sensorEvents:
         # filter unset events (bmx magn)
         if measurement.version == 0:
@@ -131,13 +134,11 @@ class TestSensord(unittest.TestCase):
 
     self.assertIn(seen, SENSOR_CONFIGURATIONS)
 
-  @with_processes(['sensord'])
   def test_lsm6ds3_100Hz(self):
     # verify measurements are sampled and published at a 100Hz rate
-    events = read_sensor_events(3) # 3sec (about 300 measurements)
 
     data_points = set()
-    for event in events:
+    for event in self.events:
       for measurement in event.sensorEvents:
 
         # skip lsm6ds3 temperature measurements
@@ -162,13 +163,11 @@ class TestSensord(unittest.TestCase):
     stddev = np.std(tdiffs)
     assert stddev < 1.5*10**6, f"Standard-dev to big {stddev}"
 
-  @with_processes(['sensord'])
   def test_events_check(self):
     # verify if all sensors produce events
-    events = read_sensor_events(3)
 
     sensor_events = dict()
-    for event in events:
+    for event in  self.events:
       for measurement in event.sensorEvents:
 
         # filter unset events (bmx magn)
@@ -184,13 +183,11 @@ class TestSensord(unittest.TestCase):
       err_msg = f"Sensor {s}: 200 < {sensor_events[s]}"
       assert sensor_events[s] > 200, err_msg
 
-  @with_processes(['sensord'])
   def test_logmonottime_timestamp_diff(self):
     # ensure diff between the message logMonotime and sample timestamp is small
-    events = read_sensor_events(3)
 
     tdiffs = list()
-    for event in events:
+    for event in self.events:
       for measurement in event.sensorEvents:
 
         # filter unset events (bmx magn)
@@ -289,4 +286,3 @@ class TestSensord(unittest.TestCase):
 
 if __name__ == "__main__":
   unittest.main()
-
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index f46f39dd2..d0c769a0b 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-48db2dee177706285226d1287912e191f1699865
+3ad478bf44f50815d05acc5b12ff2f01a6cb42ff
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index c5fc0395d..55e1ef161 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -29,7 +29,7 @@ PROCS = {
   "selfdrive.controls.plannerd": 11.7,
   "./_ui": 19.2,
   "selfdrive.locationd.paramsd": 9.0,
-  "./_sensord": 6.17,
+  "./_sensord": 12.0,
   "selfdrive.controls.radard": 4.5,
   "./_modeld": 4.48,
   "./boardd": 3.63,
diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc
index c7341d198..7ec8691fe 100644
--- a/selfdrive/ui/qt/offroad/networking.cc
+++ b/selfdrive/ui/qt/offroad/networking.cc
@@ -207,9 +207,12 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi)
   checkmark = QPixmap(ASSET_PATH + "offroad/icon_checkmark.svg").scaledToWidth(49, Qt::SmoothTransformation);
   circled_slash = QPixmap(ASSET_PATH + "img_circled_slash.svg").scaledToWidth(49, Qt::SmoothTransformation);
 
-  QLabel *scanning = new QLabel(tr("Scanning for networks..."));
-  scanning->setStyleSheet("font-size: 65px;");
-  main_layout->addWidget(scanning, 0, Qt::AlignCenter);
+  scanningLabel = new QLabel(tr("Scanning for networks..."));
+  scanningLabel->setStyleSheet("font-size: 65px;");
+  main_layout->addWidget(scanningLabel, 0, Qt::AlignCenter);
+
+  list_layout = new QVBoxLayout;
+  main_layout->addLayout(list_layout);
 
   setStyleSheet(R"(
     QScrollBar::handle:vertical {
@@ -257,14 +260,12 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi)
 
 void WifiUI::refresh() {
   // TODO: don't rebuild this every time
-  clearLayout(main_layout);
+  clearLayout(list_layout);
+
+  bool is_empty = wifi->seenNetworks.isEmpty();
+  scanningLabel->setVisible(is_empty);
+  if (is_empty) return;
 
-  if (wifi->seenNetworks.size() == 0) {
-    QLabel *scanning = new QLabel(tr("Scanning for networks..."));
-    scanning->setStyleSheet("font-size: 65px;");
-    main_layout->addWidget(scanning, 0, Qt::AlignCenter);
-    return;
-  }
   QList<Network> sortedNetworks = wifi->seenNetworks.values();
   std::sort(sortedNetworks.begin(), sortedNetworks.end(), compare_by_strength);
 
@@ -327,6 +328,6 @@ void WifiUI::refresh() {
 
     list->addItem(hlayout);
   }
-  main_layout->addWidget(list);
-  main_layout->addStretch(1);
+  list_layout->addWidget(list);
+  list_layout->addStretch(1);
 }
diff --git a/selfdrive/ui/qt/offroad/networking.h b/selfdrive/ui/qt/offroad/networking.h
index e78d65ef0..4fc9a53d9 100644
--- a/selfdrive/ui/qt/offroad/networking.h
+++ b/selfdrive/ui/qt/offroad/networking.h
@@ -17,6 +17,8 @@ public:
 
 private:
   WifiManager *wifi = nullptr;
+  QVBoxLayout *list_layout = nullptr;
+  QLabel *scanningLabel = nullptr;
   QVBoxLayout* main_layout;
   QPixmap lock;
   QPixmap checkmark;
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index 016522b05..081483b64 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -78,7 +78,7 @@ protected:
 
   std::deque<std::pair<uint32_t, VisionBuf*>> frames;
   uint32_t draw_frame_id = 0;
-  int prev_frame_id = 0;
+  uint32_t prev_frame_id = 0;
 
 protected slots:
   void vipcConnected(VisionIpcClient *vipc_client);
diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index d033d8e6b..3dbe97596 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -159,7 +159,7 @@ void CameraBuf::queue(size_t buf_idx) {
 
 // common functions
 
-void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data) {
+void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c) {
   framed.setFrameId(frame_data.frame_id);
   framed.setTimestampEof(frame_data.timestamp_eof);
   framed.setTimestampSof(frame_data.timestamp_sof);
@@ -173,6 +173,12 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr
   framed.setLensErr(frame_data.lens_err);
   framed.setLensTruePos(frame_data.lens_true_pos);
   framed.setProcessingTime(frame_data.processing_time);
+
+  if (c->camera_id == CAMERA_ID_AR0231) {
+    framed.setSensor(cereal::FrameData::ImageSensor::AR0321);
+  } else if (c->camera_id == CAMERA_ID_OX03C10) {
+    framed.setSensor(cereal::FrameData::ImageSensor::OX03C10);
+  }
 }
 
 kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b) {
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index 7bbb13c75..bb6de9c8f 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -113,7 +113,7 @@ public:
 
 typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);
 
-void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data);
+void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c);
 kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b);
 float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
 std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback);
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index b2432bdd7..9bdd71b5d 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -1208,7 +1208,7 @@ static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt)
   MessageBuilder msg;
   auto framed = msg.initEvent().initDriverCameraState();
   framed.setFrameType(cereal::FrameData::FrameType::FRONT);
-  fill_frame_data(framed, c->buf.cur_frame_data);
+  fill_frame_data(framed, c->buf.cur_frame_data, c);
 
   if (c->camera_id == CAMERA_ID_AR0231) {
     ar0231_process_registers(s, c, framed);
@@ -1221,7 +1221,7 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
 
   MessageBuilder msg;
   auto framed = c == &s->road_cam ? msg.initEvent().initRoadCameraState() : msg.initEvent().initWideRoadCameraState();
-  fill_frame_data(framed, b->cur_frame_data);
+  fill_frame_data(framed, b->cur_frame_data, c);
   if (env_log_raw_frames && c == &s->road_cam && cnt % 100 == 5) {  // no overlap with qlog decimation
     framed.setImage(get_raw_frame_image(b));
   }