diff --git a/.gitmodules b/.gitmodules
index 2bbbbd459..3060715f4 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,3 @@
 [submodule "panda"]
 	path = panda
-	url = git@github.com:commaai/panda.git
+	url = https://github.com/commaai/panda.git
diff --git a/apk/com.baseui.apk b/apk/com.baseui.apk
index bde92c8d5..a1576647f 100644
Binary files a/apk/com.baseui.apk and b/apk/com.baseui.apk differ
diff --git a/selfdrive/car/honda/can_parser.py b/selfdrive/car/honda/can_parser.py
index ee11363e1..cad167659 100644
--- a/selfdrive/car/honda/can_parser.py
+++ b/selfdrive/car/honda/can_parser.py
@@ -22,7 +22,6 @@ class CANParser(object):
     self.msgs_ck = [check[0] for check in checks]
     self.frqs = [check[1] for check in checks]
     self.can_valid = False  # start with False CAN assumption
-    self.msgs_upd = []      # list of updated messages
     # list of received msg we want to monitor counter and checksum for
     # read dbc file
     self.can_dbc = dbc(os.path.join(dbcs.DBC_PATH, dbc_f))
@@ -55,14 +54,14 @@ class CANParser(object):
       self._message_indices[x].append(i)
 
   def update_can(self, can_recv):
-    self.msgs_upd = []
+    msgs_upd = []
     cn_vl_max = 5   # no more than 5 wrong counter checks
 
     # we are subscribing to PID_XXX, else data from USB
     for msg, ts, cdat, _ in can_recv:
       idxs = self._message_indices[msg]
       if idxs:
-        self.msgs_upd.append(msg)
+        msgs_upd.append(msg)
         # read the entire message
         out = self.can_dbc.decode((msg, 0, cdat))[1]
         # checksum check
@@ -107,7 +106,7 @@ class CANParser(object):
           sg = self._sgs[ii]
           self.vl[msg][sg] = out[sg]
 
-  # for each message, check if it's too long since last time we received it
+    # for each message, check if it's too long since last time we received it
     self._check_dead_msgs()
 
     # assess overall can validity: if there is one relevant message invalid, then set can validity flag to False
@@ -116,6 +115,8 @@ class CANParser(object):
       #print "CAN INVALID!"
       self.can_valid = False
 
+    return msgs_upd
+
   def _check_dead_msgs(self):
     ### input:
     ## simple stuff for now: msg is not valid if a message isn't received for 10 consecutive steps
diff --git a/selfdrive/common/version.h b/selfdrive/common/version.h
index 6285d4123..6fec6ef3c 100644
--- a/selfdrive/common/version.h
+++ b/selfdrive/common/version.h
@@ -1 +1 @@
-const char *openpilot_version = "0.3.0-devel";
+const char *openpilot_version = "0.3.0";
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 6c3689ebe..dcf336b99 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -1,4 +1,3 @@
-import numpy as np
 from common.numpy_fast import clip
 
 def rate_limit(new_value, last_value, dw_step, up_step):
diff --git a/selfdrive/manager.py b/selfdrive/manager.py
index db0a8417b..a4a9e9f9f 100755
--- a/selfdrive/manager.py
+++ b/selfdrive/manager.py
@@ -160,9 +160,11 @@ baseui_running = False
 def manage_baseui(start):
   global baseui_running
   if start and not baseui_running:
+    cloudlog.info("starting baseui")
     os.system("am start -n com.baseui/.MainActivity")
     baseui_running = True
   elif not start and baseui_running:
+    cloudlog.info("stopping baseui")
     os.system("am force-stop com.baseui")
     baseui_running = False
 
diff --git a/selfdrive/radar/nidec/interface.py b/selfdrive/radar/nidec/interface.py
index 0a02bc8d1..e1da1b3d9 100755
--- a/selfdrive/radar/nidec/interface.py
+++ b/selfdrive/radar/nidec/interface.py
@@ -45,7 +45,7 @@ class RadarInterface(object):
       if any(x[0] == 0x445 for x in can_pub_radar):
         break
 
-    self.rcp.update_can(can_pub_radar)
+    updated_messages = self.rcp.update_can(can_pub_radar)
 
     ret = car.RadarState.new_message()
     errors = []
@@ -54,7 +54,7 @@ class RadarInterface(object):
     ret.errors = errors
     ret.canMonoTimes = canMonoTimes
 
-    for ii in self.rcp.msgs_upd:
+    for ii in updated_messages:
       cpt = self.rcp.vl[ii]
       if cpt['LONG_DIST'] < 255:
         if ii not in self.pts or cpt['NEW_TRACK']:
diff --git a/selfdrive/registration.py b/selfdrive/registration.py
index 946d6d722..0779171bf 100644
--- a/selfdrive/registration.py
+++ b/selfdrive/registration.py
@@ -8,13 +8,7 @@ from common.api import api_get
 from common.params import Params
 
 def get_imei():
-  # Telephony.getDeviceId()
-  result = subprocess.check_output(["service", "call", "phone", "130"]).strip().split("\n")
-  hex_data = ''.join(l[14:49] for l in result[1:]).replace(" ", "")
-  data = hex_data.decode("hex")
-
-  imei_str = data[8:-4].replace("\x00", "")
-  return imei_str
+  return subprocess.check_output(["getprop", "oem.device.imeicache"]).strip()
 
 def get_serial():
   return subprocess.check_output(["getprop", "ro.serialno"]).strip()
diff --git a/selfdrive/visiond/visiond b/selfdrive/visiond/visiond
index 968583216..a86e48f1e 100755
Binary files a/selfdrive/visiond/visiond and b/selfdrive/visiond/visiond differ