diff --git a/cereal b/cereal
index 266fc01950..b19a3ed38d 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 266fc0195003a50faa95d2905839abf8409b6bcc
+Subproject commit b19a3ed38de1b712f744e4fdeed0b1f87801bf15
diff --git a/release/files_common b/release/files_common
index 26e0fe422c..93213d8ebf 100644
--- a/release/files_common
+++ b/release/files_common
@@ -225,10 +225,10 @@ selfdrive/controls/lib/latcontrol_pid.py
 selfdrive/controls/lib/latcontrol_indi.py
 selfdrive/controls/lib/latcontrol_lqr.py
 selfdrive/controls/lib/longcontrol.py
-selfdrive/controls/lib/pathplanner.py
+selfdrive/controls/lib/lateral_planner.py
 selfdrive/controls/lib/lane_planner.py
 selfdrive/controls/lib/pid.py
-selfdrive/controls/lib/planner.py
+selfdrive/controls/lib/longitudinal_planner.py
 selfdrive/controls/lib/radar_helpers.py
 selfdrive/controls/lib/vehicle_model.py
 selfdrive/controls/lib/speed_smoother.py
@@ -475,6 +475,7 @@ rednose/**
 cereal/.gitignore
 cereal/__init__.py
 cereal/car.capnp
+cereal/legacy.capnp
 cereal/log.capnp
 cereal/services.py
 cereal/service_list.yaml
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index a8ddecd186..0b40eac307 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -273,7 +273,7 @@ void can_health_thread(bool spoofing_started) {
     MessageBuilder msg;
     auto healthData  = msg.initEvent().initHealth();
 
-    healthData.setHwType(cereal::HealthData::HwType::UNKNOWN);
+    healthData.setPandaType(cereal::HealthData::PandaType::UNKNOWN);
     pm.send("health", msg);
     util::sleep_for(500);
   }
@@ -360,7 +360,7 @@ void can_health_thread(bool spoofing_started) {
     healthData.setCanSendErrs(health.can_send_errs);
     healthData.setCanFwdErrs(health.can_fwd_errs);
     healthData.setGmlanSendErrs(health.gmlan_send_errs);
-    healthData.setHwType(panda->hw_type);
+    healthData.setPandaType(panda->hw_type);
     healthData.setUsbPowerMode(cereal::HealthData::UsbPowerMode(health.usb_power_mode));
     healthData.setSafetyModel(cereal::CarParams::SafetyModel(health.safety_model));
     healthData.setFanSpeedRpm(fan_speed_rpm);
@@ -420,10 +420,10 @@ void hardware_control_thread() {
 #endif
 
     // Other pandas don't have fan/IR to control
-    if (panda->hw_type != cereal::HealthData::HwType::UNO && panda->hw_type != cereal::HealthData::HwType::DOS) continue;
+    if (panda->hw_type != cereal::HealthData::PandaType::UNO && panda->hw_type != cereal::HealthData::PandaType::DOS) continue;
     if (sm.updated("thermal")){
       // Fan speed
-      uint16_t fan_speed = sm["thermal"].getThermal().getFanSpeed();
+      uint16_t fan_speed = sm["thermal"].getThermal().getFanSpeedRpmDesired();
       if (fan_speed != prev_fan_speed || cnt % 100 == 0){
         panda->set_fan_speed(fan_speed);
         prev_fan_speed = fan_speed;
diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc
index 4d01c6a954..2fceb3c64c 100644
--- a/selfdrive/boardd/panda.cc
+++ b/selfdrive/boardd/panda.cc
@@ -53,12 +53,12 @@ Panda::Panda(){
 
   hw_type = get_hw_type();
   is_pigeon =
-    (hw_type == cereal::HealthData::HwType::GREY_PANDA) ||
-    (hw_type == cereal::HealthData::HwType::BLACK_PANDA) ||
-    (hw_type == cereal::HealthData::HwType::UNO) ||
-    (hw_type == cereal::HealthData::HwType::DOS);
-  has_rtc = (hw_type == cereal::HealthData::HwType::UNO) ||
-    (hw_type == cereal::HealthData::HwType::DOS);
+    (hw_type == cereal::HealthData::PandaType::GREY_PANDA) ||
+    (hw_type == cereal::HealthData::PandaType::BLACK_PANDA) ||
+    (hw_type == cereal::HealthData::PandaType::UNO) ||
+    (hw_type == cereal::HealthData::PandaType::DOS);
+  has_rtc = (hw_type == cereal::HealthData::PandaType::UNO) ||
+    (hw_type == cereal::HealthData::PandaType::DOS);
 
   return;
 
@@ -186,11 +186,11 @@ void Panda::set_unsafe_mode(uint16_t unsafe_mode) {
   usb_write(0xdf, unsafe_mode, 0);
 }
 
-cereal::HealthData::HwType Panda::get_hw_type() {
+cereal::HealthData::PandaType Panda::get_hw_type() {
   unsigned char hw_query[1] = {0};
 
   usb_read(0xc1, 0, 0, hw_query, 1);
-  return (cereal::HealthData::HwType)(hw_query[0]);
+  return (cereal::HealthData::PandaType)(hw_query[0]);
 }
 
 void Panda::set_rtc(struct tm sys_time){
diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h
index b1f5e70879..a96af8a6af 100644
--- a/selfdrive/boardd/panda.h
+++ b/selfdrive/boardd/panda.h
@@ -53,7 +53,7 @@ class Panda {
   ~Panda();
 
   std::atomic<bool> connected = true;
-  cereal::HealthData::HwType hw_type = cereal::HealthData::HwType::UNKNOWN;
+  cereal::HealthData::PandaType hw_type = cereal::HealthData::PandaType::UNKNOWN;
   bool is_pigeon = false;
   bool has_rtc = false;
 
@@ -64,7 +64,7 @@ class Panda {
   int usb_bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
 
   // Panda functionality
-  cereal::HealthData::HwType get_hw_type();
+  cereal::HealthData::PandaType get_hw_type();
   void set_safety_model(cereal::CarParams::SafetyModel safety_model, int safety_param=0);
   void set_unsafe_mode(uint16_t unsafe_mode);
   void set_rtc(struct tm sys_time);
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 73dd2ca398..97d4b25674 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -8,7 +8,7 @@ from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.events import ET
 from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH
 from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
-from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING
+from selfdrive.controls.lib.longitudinal_planner import _A_CRUISE_MAX_V_FOLLOWING
 from selfdrive.car.interfaces import CarInterfaceBase
 
 A_ACC_MAX = max(_A_CRUISE_MAX_V_FOLLOWING)
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 746dabb9eb..e49817e157 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -53,7 +53,6 @@ class CarInterfaceBase():
   def get_std_params(candidate, fingerprint):
     ret = car.CarParams.new_message()
     ret.carFingerprint = candidate
-    ret.isPandaBlack = True  # TODO: deprecate this field
 
     # standard ALC params
     ret.steerControlType = car.CarParams.SteerControlType.torque
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 17832003c5..9345425081 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -19,7 +19,7 @@ from selfdrive.controls.lib.latcontrol_lqr import LatControlLQR
 from selfdrive.controls.lib.events import Events, ET
 from selfdrive.controls.lib.alertmanager import AlertManager
 from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.controls.lib.planner import LON_MPC_STEP
+from selfdrive.controls.lib.longitudinal_planner import LON_MPC_STEP
 from selfdrive.locationd.calibrationd import Calibration
 from selfdrive.hardware import HARDWARE, TICI
 
@@ -34,11 +34,11 @@ IGNORE_PROCESSES = set(["rtshield", "uploader", "deleter", "loggerd", "logmessag
 
 ThermalStatus = log.ThermalData.ThermalStatus
 State = log.ControlsState.OpenpilotState
-HwType = log.HealthData.HwType
-LongitudinalPlanSource = log.Plan.LongitudinalPlanSource
-Desire = log.PathPlan.Desire
-LaneChangeState = log.PathPlan.LaneChangeState
-LaneChangeDirection = log.PathPlan.LaneChangeDirection
+PandaType = log.HealthData.PandaType
+LongitudinalPlanSource = log.LongitudinalPlan.LongitudinalPlanSource
+Desire = log.LateralPlan.Desire
+LaneChangeState = log.LateralPlan.LaneChangeState
+LaneChangeDirection = log.LateralPlan.LaneChangeDirection
 EventName = car.CarEvent.EventName
 
 
@@ -56,8 +56,8 @@ class Controls:
     if self.sm is None:
       ignore = ['ubloxRaw', 'frontFrame', 'managerState'] if SIMULATION else None
       self.sm = messaging.SubMaster(['thermal', 'health', 'modelV2', 'liveCalibration', 'ubloxRaw',
-                                     'dMonitoringState', 'plan', 'pathPlan', 'liveLocationKalman',
-                                     'frame', 'frontFrame', 'managerState'], ignore_alive=ignore)
+                                     'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
+                                     'frame', 'frontFrame', 'managerState', 'liveParameters', 'radarState'], ignore_alive=ignore)
 
     self.can_sock = can_sock
     if can_sock is None:
@@ -127,10 +127,10 @@ class Controls:
     self.logged_comm_issue = False
 
     self.sm['liveCalibration'].calStatus = Calibration.CALIBRATED
-    self.sm['thermal'].freeSpace = 1.
-    self.sm['dMonitoringState'].events = []
-    self.sm['dMonitoringState'].awarenessStatus = 1.
-    self.sm['dMonitoringState'].faceDetected = False
+    self.sm['thermal'].freeSpacePercent = 1.
+    self.sm['driverMonitoringState'].events = []
+    self.sm['driverMonitoringState'].awarenessStatus = 1.
+    self.sm['driverMonitoringState'].faceDetected = False
 
     self.startup_event = get_startup_event(car_recognized, controller_available)
 
@@ -150,7 +150,7 @@ class Controls:
 
     self.events.clear()
     self.events.add_from_msg(CS.events)
-    self.events.add_from_msg(self.sm['dMonitoringState'].events)
+    self.events.add_from_msg(self.sm['driverMonitoringState'].events)
 
     # Handle startup event
     if self.startup_event is not None:
@@ -163,10 +163,10 @@ class Controls:
       self.events.add(EventName.lowBattery)
     if self.sm['thermal'].thermalStatus >= ThermalStatus.red:
       self.events.add(EventName.overheat)
-    if self.sm['thermal'].freeSpace < 0.07:
+    if self.sm['thermal'].freeSpacePercent < 0.07:
       # under 7% of space free no enable allowed
       self.events.add(EventName.outOfSpace)
-    if self.sm['thermal'].memUsedPercent > 90:
+    if self.sm['thermal'].memoryUsagePercent  > 90:
       self.events.add(EventName.lowMemory)
 
     # Check if all manager processes are running
@@ -175,8 +175,8 @@ class Controls:
       self.events.add(EventName.processNotRunning)
 
     # Alert if fan isn't spinning for 5 seconds
-    if self.sm['health'].hwType in [HwType.uno, HwType.dos]:
-      if self.sm['health'].fanSpeedRpm == 0 and self.sm['thermal'].fanSpeed > 50:
+    if self.sm['health'].pandaType in [PandaType.uno, PandaType.dos]:
+      if self.sm['health'].fanSpeedRpm == 0 and self.sm['thermal'].fanSpeedRpmDesired > 50:
         if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0:
           self.events.add(EventName.fanMalfunction)
       else:
@@ -191,8 +191,8 @@ class Controls:
         self.events.add(EventName.calibrationInvalid)
 
     # Handle lane change
-    if self.sm['pathPlan'].laneChangeState == LaneChangeState.preLaneChange:
-      direction = self.sm['pathPlan'].laneChangeDirection
+    if self.sm['lateralPlan'].laneChangeState == LaneChangeState.preLaneChange:
+      direction = self.sm['lateralPlan'].laneChangeDirection
       if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
          (CS.rightBlindspot and direction == LaneChangeDirection.right):
         self.events.add(EventName.laneChangeBlocked)
@@ -201,7 +201,7 @@ class Controls:
           self.events.add(EventName.preLaneChangeLeft)
         else:
           self.events.add(EventName.preLaneChangeRight)
-    elif self.sm['pathPlan'].laneChangeState in [LaneChangeState.laneChangeStarting,
+    elif self.sm['lateralPlan'].laneChangeState in [LaneChangeState.laneChangeStarting,
                                                  LaneChangeState.laneChangeFinishing]:
       self.events.add(EventName.laneChange)
 
@@ -211,9 +211,10 @@ class Controls:
       self.mismatch_counter >= 200:
       self.events.add(EventName.controlsMismatch)
 
-    if not self.sm.alive['plan'] and self.sm.alive['pathPlan']:
-      # only plan not being received: radar not communicating
-      self.events.add(EventName.radarCommIssue)
+    if len(self.sm['radarState'].radarErrors):
+      self.events.add(EventName.radarFault)
+    elif not self.sm.valid['liveParameters']:
+      self.events.add(EventName.vehicleModelInvalid)
     elif not self.sm.all_alive_and_valid():
       self.events.add(EventName.commIssue)
       if not self.logged_comm_issue:
@@ -222,24 +223,18 @@ class Controls:
     else:
       self.logged_comm_issue = False
 
-    if not self.sm['pathPlan'].mpcSolutionValid:
+    if not self.sm['lateralPlan'].mpcSolutionValid:
       self.events.add(EventName.plannerError)
     if not self.sm['liveLocationKalman'].sensorsOK and not NOSENSOR:
       if self.sm.frame > 5 / DT_CTRL:  # Give locationd some time to receive all the inputs
         self.events.add(EventName.sensorDataInvalid)
-    if not self.sm['pathPlan'].paramsValid:
-      self.events.add(EventName.vehicleModelInvalid)
     if not self.sm['liveLocationKalman'].posenetOK:
       self.events.add(EventName.posenetInvalid)
     if not self.sm['liveLocationKalman'].deviceStable:
       self.events.add(EventName.deviceFalling)
-    if not self.sm['plan'].radarValid:
-      self.events.add(EventName.radarFault)
-    if self.sm['plan'].radarCanError:
-      self.events.add(EventName.radarCanError)
     if log.HealthData.FaultType.relayMalfunction in self.sm['health'].faults:
       self.events.add(EventName.relayMalfunction)
-    if self.sm['plan'].fcw:
+    if self.sm['longitudinalPlan'].fcw:
       self.events.add(EventName.fcw)
 
     # TODO: fix simulator
@@ -256,7 +251,7 @@ class Controls:
         self.events.add(EventName.modeldLagging)
 
     # Only allow engagement with brake pressed when stopped behind another stopped car
-    if CS.brakePressed and self.sm['plan'].vTargetFuture >= STARTING_TARGET_SPEED \
+    if CS.brakePressed and self.sm['longitudinalPlan'].vTargetFuture >= STARTING_TARGET_SPEED \
       and self.CP.openpilotLongitudinalControl and CS.vEgo < 0.3:
       self.events.add(EventName.noTarget)
 
@@ -370,8 +365,8 @@ class Controls:
   def state_control(self, CS):
     """Given the state, this function returns an actuators packet"""
 
-    plan = self.sm['plan']
-    path_plan = self.sm['pathPlan']
+    plan = self.sm['longitudinalPlan']
+    path_plan = self.sm['lateralPlan']
 
     actuators = car.CarControl.Actuators.new_message()
 
@@ -384,7 +379,7 @@ class Controls:
       self.LaC.reset()
       self.LoC.reset(v_pid=CS.vEgo)
 
-    plan_age = DT_CTRL * (self.sm.frame - self.sm.rcv_frame['plan'])
+    plan_age = DT_CTRL * (self.sm.frame - self.sm.rcv_frame['longitudinalPlan'])
     # no greater than dt mpc + dt, to prevent too high extraps
     dt = min(plan_age, LON_MPC_STEP + DT_CTRL) + DT_CTRL
 
@@ -432,15 +427,15 @@ class Controls:
     brake_discount = (1.0 - clip(actuators.brake * 3., 0.0, 1.0))
     speed_override = max(0.0, (self.LoC.v_pid + CS.cruiseState.speedOffset) * brake_discount)
     CC.cruiseControl.speedOverride = float(speed_override if self.CP.enableCruise else 0.0)
-    CC.cruiseControl.accelOverride = self.CI.calc_accel_override(CS.aEgo, self.sm['plan'].aTarget, CS.vEgo, self.sm['plan'].vTarget)
+    CC.cruiseControl.accelOverride = self.CI.calc_accel_override(CS.aEgo, self.sm['longitudinalPlan'].aTarget, CS.vEgo, self.sm['longitudinalPlan'].vTarget)
 
     CC.hudControl.setSpeed = float(self.v_cruise_kph * CV.KPH_TO_MS)
     CC.hudControl.speedVisible = self.enabled
     CC.hudControl.lanesVisible = self.enabled
-    CC.hudControl.leadVisible = self.sm['plan'].hasLead
+    CC.hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead
 
-    right_lane_visible = self.sm['pathPlan'].rProb > 0.5
-    left_lane_visible = self.sm['pathPlan'].lProb > 0.5
+    right_lane_visible = self.sm['lateralPlan'].rProb > 0.5
+    left_lane_visible = self.sm['lateralPlan'].lProb > 0.5
     CC.hudControl.rightLaneVisible = bool(right_lane_visible)
     CC.hudControl.leftLaneVisible = bool(left_lane_visible)
 
@@ -472,10 +467,10 @@ class Controls:
       can_sends = self.CI.apply(CC)
       self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
 
-    force_decel = (self.sm['dMonitoringState'].awarenessStatus < 0.) or \
+    force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \
                   (self.state == State.softDisabling)
 
-    steer_angle_rad = (CS.steeringAngle - self.sm['pathPlan'].angleOffset) * CV.DEG_TO_RAD
+    steer_angle_rad = (CS.steeringAngle - self.sm['lateralPlan'].angleOffset) * CV.DEG_TO_RAD
 
     # controlsState
     dat = messaging.new_message('controlsState')
@@ -488,17 +483,12 @@ class Controls:
     controlsState.alertBlinkingRate = self.AM.alert_rate
     controlsState.alertType = self.AM.alert_type
     controlsState.alertSound = self.AM.audible_alert
-    controlsState.driverMonitoringOn = self.sm['dMonitoringState'].faceDetected
     controlsState.canMonoTimes = list(CS.canMonoTimes)
-    controlsState.planMonoTime = self.sm.logMonoTime['plan']
-    controlsState.pathPlanMonoTime = self.sm.logMonoTime['pathPlan']
+    controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
+    controlsState.lateralPlanMonoTime = self.sm.logMonoTime['lateralPlan']
     controlsState.enabled = self.enabled
     controlsState.active = self.active
-    controlsState.vEgo = CS.vEgo
-    controlsState.vEgoRaw = CS.vEgoRaw
-    controlsState.angleSteers = CS.steeringAngle
     controlsState.curvature = self.VM.calc_curvature(steer_angle_rad, CS.vEgo)
-    controlsState.steerOverride = CS.steeringPressed
     controlsState.state = self.state
     controlsState.engageable = not self.events.any(ET.NO_ENTRY)
     controlsState.longControlState = self.LoC.long_control_state
@@ -510,13 +500,8 @@ class Controls:
     controlsState.angleSteersDes = float(self.LaC.angle_steers_des)
     controlsState.vTargetLead = float(v_acc)
     controlsState.aTarget = float(a_acc)
-    controlsState.jerkFactor = float(self.sm['plan'].jerkFactor)
-    controlsState.gpsPlannerActive = self.sm['plan'].gpsPlannerActive
-    controlsState.vCurvature = self.sm['plan'].vCurvature
-    controlsState.decelForModel = self.sm['plan'].longitudinalPlanSource == LongitudinalPlanSource.model
     controlsState.cumLagMs = -self.rk.remaining * 1000.
     controlsState.startMonoTime = int(start_time * 1e9)
-    controlsState.mapValid = self.sm['plan'].mapValid
     controlsState.forceDecel = bool(force_decel)
     controlsState.canErrorCounter = self.can_error_counter
 
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index c16804aa82..7cf010a2d1 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -195,7 +195,7 @@ def calibration_incomplete_alert(CP: car.CarParams, sm: messaging.SubMaster, met
     Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2)
 
 def no_gps_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> Alert:
-  gps_integrated = sm['health'].hwType in [log.HealthData.HwType.uno, log.HealthData.HwType.dos]
+  gps_integrated = sm['health'].pandaType in [log.HealthData.PandaType.uno, log.HealthData.PandaType.dos]
   return Alert(
     "Poor GPS reception",
     "If sky is visible, contact support" if gps_integrated else "Check GPS antenna placement",
@@ -620,17 +620,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
                               audible_alert=AudibleAlert.chimeDisengage),
   },
 
-  EventName.radarCommIssue: {
-    ET.SOFT_DISABLE: SoftDisableAlert("Radar Communication Issue"),
-    ET.NO_ENTRY: NoEntryAlert("Radar Communication Issue",
-                              audible_alert=AudibleAlert.chimeDisengage),
-  },
-
-  EventName.radarCanError: {
-    ET.SOFT_DISABLE: SoftDisableAlert("Radar Error: Restart the Car"),
-    ET.NO_ENTRY: NoEntryAlert("Radar Error: Restart the Car"),
-  },
-
   EventName.radarFault: {
     ET.SOFT_DISABLE: SoftDisableAlert("Radar Error: Restart the Car"),
     ET.NO_ENTRY : NoEntryAlert("Radar Error: Restart the Car"),
diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py
index d57801cbf2..06ef69ce50 100644
--- a/selfdrive/controls/lib/lane_planner.py
+++ b/selfdrive/controls/lib/lane_planner.py
@@ -42,8 +42,8 @@ class LanePlanner:
       self.rll_std = md.laneLineStds[2]
 
     if len(md.meta.desireState):
-      self.l_lane_change_prob = md.meta.desireState[log.PathPlan.Desire.laneChangeLeft]
-      self.r_lane_change_prob = md.meta.desireState[log.PathPlan.Desire.laneChangeRight]
+      self.l_lane_change_prob = md.meta.desireState[log.LateralPlan.Desire.laneChangeLeft]
+      self.r_lane_change_prob = md.meta.desireState[log.LateralPlan.Desire.laneChangeRight]
 
   def get_d_path(self, v_ego, path_t, path_xyz):
     # Reduce reliance on lanelines that are too far apart or
diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py
index aa069e81fc..173dcd58f7 100644
--- a/selfdrive/controls/lib/latcontrol_pid.py
+++ b/selfdrive/controls/lib/latcontrol_pid.py
@@ -25,7 +25,7 @@ class LatControlPID():
       pid_log.active = False
       self.pid.reset()
     else:
-      self.angle_steers_des = path_plan.angleSteers  # get from MPC/PathPlanner
+      self.angle_steers_des = path_plan.angleSteers  # get from MPC/LateralPlanner
 
       steers_max = get_steer_max(CP, CS.vEgo)
       self.pid.pos_limit = steers_max
diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/lateral_planner.py
similarity index 82%
rename from selfdrive/controls/lib/pathplanner.py
rename to selfdrive/controls/lib/lateral_planner.py
index 73ccdf594b..d4afe4531c 100644
--- a/selfdrive/controls/lib/pathplanner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@@ -12,8 +12,8 @@ from common.params import Params
 import cereal.messaging as messaging
 from cereal import log
 
-LaneChangeState = log.PathPlan.LaneChangeState
-LaneChangeDirection = log.PathPlan.LaneChangeDirection
+LaneChangeState = log.LateralPlan.LaneChangeState
+LaneChangeDirection = log.LateralPlan.LaneChangeDirection
 
 LOG_MPC = os.environ.get('LOG_MPC', False)
 
@@ -22,27 +22,27 @@ LANE_CHANGE_TIME_MAX = 10.
 
 DESIRES = {
   LaneChangeDirection.none: {
-    LaneChangeState.off: log.PathPlan.Desire.none,
-    LaneChangeState.preLaneChange: log.PathPlan.Desire.none,
-    LaneChangeState.laneChangeStarting: log.PathPlan.Desire.none,
-    LaneChangeState.laneChangeFinishing: log.PathPlan.Desire.none,
+    LaneChangeState.off: log.LateralPlan.Desire.none,
+    LaneChangeState.preLaneChange: log.LateralPlan.Desire.none,
+    LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.none,
+    LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.none,
   },
   LaneChangeDirection.left: {
-    LaneChangeState.off: log.PathPlan.Desire.none,
-    LaneChangeState.preLaneChange: log.PathPlan.Desire.none,
-    LaneChangeState.laneChangeStarting: log.PathPlan.Desire.laneChangeLeft,
-    LaneChangeState.laneChangeFinishing: log.PathPlan.Desire.laneChangeLeft,
+    LaneChangeState.off: log.LateralPlan.Desire.none,
+    LaneChangeState.preLaneChange: log.LateralPlan.Desire.none,
+    LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.laneChangeLeft,
+    LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.laneChangeLeft,
   },
   LaneChangeDirection.right: {
-    LaneChangeState.off: log.PathPlan.Desire.none,
-    LaneChangeState.preLaneChange: log.PathPlan.Desire.none,
-    LaneChangeState.laneChangeStarting: log.PathPlan.Desire.laneChangeRight,
-    LaneChangeState.laneChangeFinishing: log.PathPlan.Desire.laneChangeRight,
+    LaneChangeState.off: log.LateralPlan.Desire.none,
+    LaneChangeState.preLaneChange: log.LateralPlan.Desire.none,
+    LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.laneChangeRight,
+    LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.laneChangeRight,
   },
 }
 
 
-class PathPlanner():
+class LateralPlanner():
   def __init__(self, CP):
     self.LP = LanePlanner()
 
@@ -57,7 +57,7 @@ class PathPlanner():
     self.lane_change_timer = 0.0
     self.lane_change_ll_prob = 1.0
     self.prev_one_blinker = False
-    self.desire = log.PathPlan.Desire.none
+    self.desire = log.LateralPlan.Desire.none
 
     self.path_xyz = np.zeros((TRAJECTORY_SIZE,3))
     self.plan_yaw = np.zeros((TRAJECTORY_SIZE,))
@@ -162,7 +162,7 @@ class PathPlanner():
     self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
 
     # Turn off lanes during lane change
-    if self.desire == log.PathPlan.Desire.laneChangeRight or self.desire == log.PathPlan.Desire.laneChangeLeft:
+    if self.desire == log.LateralPlan.Desire.laneChangeRight or self.desire == log.LateralPlan.Desire.laneChangeLeft:
       self.LP.lll_prob *= self.lane_change_ll_prob
       self.LP.rll_prob *= self.lane_change_ll_prob
     d_path_xyz = self.LP.get_d_path(v_ego, self.t_idxs, self.path_xyz)
@@ -227,25 +227,24 @@ class PathPlanner():
 
   def publish(self, sm, pm):
     plan_solution_valid = self.solution_invalid_cnt < 2
-    plan_send = messaging.new_message('pathPlan')
+    plan_send = messaging.new_message('lateralPlan')
     plan_send.valid = sm.all_alive_and_valid(service_list=['carState', 'controlsState', 'liveParameters', 'modelV2'])
-    plan_send.pathPlan.laneWidth = float(self.LP.lane_width)
-    plan_send.pathPlan.dPathPoints = [float(x) for x in self.y_pts]
-    plan_send.pathPlan.lProb = float(self.LP.lll_prob)
-    plan_send.pathPlan.rProb = float(self.LP.rll_prob)
-    plan_send.pathPlan.dProb = float(self.LP.d_prob)
-
-    plan_send.pathPlan.angleSteers = float(self.desired_steering_wheel_angle_deg)
-    plan_send.pathPlan.rateSteers = float(self.desired_steering_wheel_angle_rate_deg)
-    plan_send.pathPlan.angleOffset = float(sm['liveParameters'].angleOffsetAverage)
-    plan_send.pathPlan.mpcSolutionValid = bool(plan_solution_valid)
-    plan_send.pathPlan.paramsValid = bool(sm['liveParameters'].valid)
-
-    plan_send.pathPlan.desire = self.desire
-    plan_send.pathPlan.laneChangeState = self.lane_change_state
-    plan_send.pathPlan.laneChangeDirection = self.lane_change_direction
-
-    pm.send('pathPlan', plan_send)
+    plan_send.lateralPlan.laneWidth = float(self.LP.lane_width)
+    plan_send.lateralPlan.dPathPoints = [float(x) for x in self.y_pts]
+    plan_send.lateralPlan.lProb = float(self.LP.lll_prob)
+    plan_send.lateralPlan.rProb = float(self.LP.rll_prob)
+    plan_send.lateralPlan.dProb = float(self.LP.d_prob)
+
+    plan_send.lateralPlan.angleSteers = float(self.desired_steering_wheel_angle_deg)
+    plan_send.lateralPlan.rateSteers = float(self.desired_steering_wheel_angle_rate_deg)
+    plan_send.lateralPlan.angleOffset = float(sm['liveParameters'].angleOffsetAverage)
+    plan_send.lateralPlan.mpcSolutionValid = bool(plan_solution_valid)
+
+    plan_send.lateralPlan.desire = self.desire
+    plan_send.lateralPlan.laneChangeState = self.lane_change_state
+    plan_send.lateralPlan.laneChangeDirection = self.lane_change_direction
+
+    pm.send('lateralPlan', plan_send)
 
     if LOG_MPC:
       dat = messaging.new_message('liveMpc')
diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/longitudinal_planner.py
similarity index 84%
rename from selfdrive/controls/lib/planner.py
rename to selfdrive/controls/lib/longitudinal_planner.py
index 92f38a30c3..b812bc48a0 100755
--- a/selfdrive/controls/lib/planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -5,7 +5,6 @@ from common.params import Params
 from common.numpy_fast import interp
 
 import cereal.messaging as messaging
-from cereal import car
 from common.realtime import sec_since_boot
 from selfdrive.swaglog import cloudlog
 from selfdrive.config import Conversions as CV
@@ -79,9 +78,6 @@ class Planner():
     self.fcw_checker = FCWChecker()
     self.path_x = np.arange(192)
 
-    self.radar_dead = False
-    self.radar_fault = False
-    self.radar_can_error = False
     self.fcw = False
 
     self.params = Params()
@@ -185,12 +181,6 @@ class Planner():
     if self.fcw:
       cloudlog.info("FCW triggered %s", self.fcw_checker.counters)
 
-    self.radar_dead = not sm.alive['radarState']
-
-    radar_errors = list(sm['radarState'].radarErrors)
-    self.radar_fault = car.RadarData.Error.fault in radar_errors
-    self.radar_can_error = car.RadarData.Error.canError in radar_errors
-
     # Interpolate 0.05 seconds and save as starting point for next iteration
     a_acc_sol = self.a_acc_start + (CP.radarTimeStep / LON_MPC_STEP) * (self.a_acc - self.a_acc_start)
     v_acc_sol = self.v_acc_start + CP.radarTimeStep * (a_acc_sol + self.a_acc_start) / 2.0
@@ -203,31 +193,25 @@ class Planner():
     self.mpc1.publish(pm)
     self.mpc2.publish(pm)
 
-    plan_send = messaging.new_message('plan')
+    plan_send = messaging.new_message('longitudinalPlan')
 
     plan_send.valid = sm.all_alive_and_valid(service_list=['carState', 'controlsState', 'radarState'])
 
-    plan_send.plan.mdMonoTime = sm.logMonoTime['modelV2']
-    plan_send.plan.radarStateMonoTime = sm.logMonoTime['radarState']
-
-    # longitudal plan
-    plan_send.plan.vCruise = float(self.v_cruise)
-    plan_send.plan.aCruise = float(self.a_cruise)
-    plan_send.plan.vStart = float(self.v_acc_start)
-    plan_send.plan.aStart = float(self.a_acc_start)
-    plan_send.plan.vTarget = float(self.v_acc)
-    plan_send.plan.aTarget = float(self.a_acc)
-    plan_send.plan.vTargetFuture = float(self.v_acc_future)
-    plan_send.plan.hasLead = self.mpc1.prev_lead_status
-    plan_send.plan.longitudinalPlanSource = self.longitudinalPlanSource
-
-    radar_valid = not (self.radar_dead or self.radar_fault)
-    plan_send.plan.radarValid = bool(radar_valid)
-    plan_send.plan.radarCanError = bool(self.radar_can_error)
+    longitudinalPlan = plan_send.longitudinalPlan
+    longitudinalPlan.mdMonoTime = sm.logMonoTime['modelV2']
+    longitudinalPlan.radarStateMonoTime = sm.logMonoTime['radarState']
 
-    plan_send.plan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.rcv_time['radarState']
+    longitudinalPlan.vCruise = float(self.v_cruise)
+    longitudinalPlan.aCruise = float(self.a_cruise)
+    longitudinalPlan.vStart = float(self.v_acc_start)
+    longitudinalPlan.aStart = float(self.a_acc_start)
+    longitudinalPlan.vTarget = float(self.v_acc)
+    longitudinalPlan.aTarget = float(self.a_acc)
+    longitudinalPlan.vTargetFuture = float(self.v_acc_future)
+    longitudinalPlan.hasLead = self.mpc1.prev_lead_status
+    longitudinalPlan.longitudinalPlanSource = self.longitudinalPlanSource
+    longitudinalPlan.fcw = self.fcw
 
-    # Send out fcw
-    plan_send.plan.fcw = self.fcw
+    longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.rcv_time['radarState']
 
-    pm.send('plan', plan_send)
+    pm.send('longitudinalPlan', plan_send)
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index d40ac97bf7..2d61a1b53a 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -3,9 +3,9 @@ from cereal import car
 from common.params import Params
 from common.realtime import Priority, config_realtime_process
 from selfdrive.swaglog import cloudlog
-from selfdrive.controls.lib.planner import Planner
+from selfdrive.controls.lib.longitudinal_planner import Planner
 from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.controls.lib.pathplanner import PathPlanner
+from selfdrive.controls.lib.lateral_planner import LateralPlanner
 import cereal.messaging as messaging
 
 
@@ -18,7 +18,7 @@ def plannerd_thread(sm=None, pm=None):
   cloudlog.info("plannerd got CarParams: %s", CP.carName)
 
   PL = Planner(CP)
-  PP = PathPlanner(CP)
+  PP = LateralPlanner(CP)
 
   VM = VehicleModel(CP)
 
@@ -27,7 +27,7 @@ def plannerd_thread(sm=None, pm=None):
                              poll=['radarState', 'modelV2'])
 
   if pm is None:
-    pm = messaging.PubMaster(['plan', 'liveLongitudinalMpc', 'pathPlan', 'liveMpc'])
+    pm = messaging.PubMaster(['longitudinalPlan', 'liveLongitudinalMpc', 'lateralPlan', 'liveMpc'])
 
   sm['liveParameters'].valid = True
   sm['liveParameters'].sensorValid = True
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index ca75146062..8f23d9d731 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -100,8 +100,8 @@ class RadarD():
   def update(self, sm, rr, enable_lead):
     self.current_time = 1e-9*max(sm.logMonoTime.values())
 
-    if sm.updated['controlsState']:
-      self.v_ego = sm['controlsState'].vEgo
+    if sm.updated['carState']:
+      self.v_ego = sm['carState'].vEgo
       self.v_ego_hist.append(self.v_ego)
     if sm.updated['modelV2']:
       self.ready = True
@@ -157,12 +157,12 @@ class RadarD():
 
     # *** publish radarState ***
     dat = messaging.new_message('radarState')
-    dat.valid = sm.all_alive_and_valid()
+    dat.valid = sm.all_alive_and_valid() and len(rr.errors) == 0
     radarState = dat.radarState
     radarState.mdMonoTime = sm.logMonoTime['modelV2']
     radarState.canMonoTimes = list(rr.canMonoTimes)
     radarState.radarErrors = list(rr.errors)
-    radarState.controlsStateMonoTime = sm.logMonoTime['controlsState']
+    radarState.carStateMonoTime = sm.logMonoTime['carState']
 
     if enable_lead:
       if len(sm['modelV2'].leads) > 1:
@@ -188,7 +188,7 @@ def radard_thread(sm=None, pm=None, can_sock=None):
   if can_sock is None:
     can_sock = messaging.sub_sock('can')
   if sm is None:
-    sm = messaging.SubMaster(['modelV2', 'controlsState'])
+    sm = messaging.SubMaster(['modelV2', 'carState'])
   if pm is None:
     pm = messaging.PubMaster(['radarState', 'liveTracks'])
 
diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py
index 5968605dbe..b67d1b51bb 100644
--- a/selfdrive/controls/tests/test_following_distance.py
+++ b/selfdrive/controls/tests/test_following_distance.py
@@ -4,7 +4,7 @@ import numpy as np
 from cereal import log
 import cereal.messaging as messaging
 from selfdrive.config import Conversions as CV
-from selfdrive.controls.lib.planner import calc_cruise_accel_limits
+from selfdrive.controls.lib.longitudinal_planner import calc_cruise_accel_limits
 from selfdrive.controls.lib.speed_smoother import speed_smoother
 from selfdrive.controls.lib.long_mpc import LongitudinalMpc
 
diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py
index 0ddbd354ec..541b11cb2f 100755
--- a/selfdrive/controls/tests/test_startup.py
+++ b/selfdrive/controls/tests/test_startup.py
@@ -52,7 +52,7 @@ class TestStartup(unittest.TestCase):
     time.sleep(2) # wait for controlsd to be ready
 
     health = messaging.new_message('health')
-    health.health.hwType = log.HealthData.HwType.uno
+    health.health.pandaType = log.HealthData.PandaType.uno
     pm.send('health', health)
 
     # fingerprint
diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
index 45bc8984c2..4e3cd7663c 100755
--- a/selfdrive/debug/cycle_alerts.py
+++ b/selfdrive/debug/cycle_alerts.py
@@ -17,7 +17,7 @@ def cycle_alerts(duration=200, is_metric=False):
 
   CP = CarInterface.get_params("HONDA CIVIC 2016 TOURING")
   sm = messaging.SubMaster(['thermal', 'health', 'frame', 'model', 'liveCalibration',
-                            'dMonitoringState', 'plan', 'pathPlan', 'liveLocationKalman'])
+                            'driverMonitoringState', 'plan', 'lateralPlan', 'liveLocationKalman'])
 
   controls_state = messaging.pub_sock('controlsState')
   thermal = messaging.pub_sock('thermal')
diff --git a/selfdrive/debug/internal/check_alive_valid.py b/selfdrive/debug/internal/check_alive_valid.py
index cd8a2463eb..51ad862745 100755
--- a/selfdrive/debug/internal/check_alive_valid.py
+++ b/selfdrive/debug/internal/check_alive_valid.py
@@ -4,7 +4,7 @@ import cereal.messaging as messaging
 
 
 if __name__ == "__main__":
-  sm = messaging.SubMaster(['thermal', 'health', 'model', 'liveCalibration', 'dMonitoringState', 'plan', 'pathPlan'])
+  sm = messaging.SubMaster(['thermal', 'health', 'model', 'liveCalibration', 'driverMonitoringState', 'plan', 'lateralPlan'])
 
   i = 0
   while True:
diff --git a/selfdrive/debug/mpc/live_lateral_mpc.py b/selfdrive/debug/mpc/live_lateral_mpc.py
index b1cd7102e5..c85be58aa9 100755
--- a/selfdrive/debug/mpc/live_lateral_mpc.py
+++ b/selfdrive/debug/mpc/live_lateral_mpc.py
@@ -58,7 +58,7 @@ def mpc_vwr_thread(addr="127.0.0.1"):
   # *** log ***
   livempc = messaging.sub_sock('liveMpc', addr=addr)
   model = messaging.sub_sock('model', addr=addr)
-  path_plan_sock = messaging.sub_sock('pathPlan', addr=addr)
+  path_plan_sock = messaging.sub_sock('lateralPlan', addr=addr)
 
   while 1:
     lMpc = messaging.recv_sock(livempc, wait=True)
@@ -75,7 +75,7 @@ def mpc_vwr_thread(addr="127.0.0.1"):
       r_path_y = np.polyval(l_poly, path_x)
 
     if pp is not None:
-      p_path_y = np.polyval(pp.pathPlan.dPolyDEPRECATED, path_x)
+      p_path_y = np.polyval(pp.lateralPlan.dPolyDEPRECATED, path_x)
       lineP.set_xdata(p_path_y)
       lineP.set_ydata(path_x)
 
diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py
index 90346d5241..cf1db6348a 100755
--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/selfdrive/debug/test_fw_query_on_routes.py
@@ -47,7 +47,7 @@ if __name__ == "__main__":
 
       for msg in lr:
         if msg.which() == "health":
-          if msg.health.hwType not in ['uno', 'blackPanda']:
+          if msg.health.pandaType not in ['uno', 'blackPanda']:
             dongles.append(dongle_id)
             break
 
diff --git a/selfdrive/manager.py b/selfdrive/manager.py
index 42e05b358d..6d4b042afe 100755
--- a/selfdrive/manager.py
+++ b/selfdrive/manager.py
@@ -463,7 +463,7 @@ def manager_thread():
   while 1:
     msg = messaging.recv_sock(thermal_sock, wait=True)
 
-    if msg.thermal.freeSpace < 0.05:
+    if msg.thermal.freeSpacePercent < 0.05:
       logger_dead = True
 
     if msg.thermal.started:
diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc
index e2308e582c..356812156d 100644
--- a/selfdrive/modeld/modeld.cc
+++ b/selfdrive/modeld/modeld.cc
@@ -107,7 +107,7 @@ int main(int argc, char **argv) {
 
   // messaging
   PubMaster pm({"modelV2", "cameraOdometry"});
-  SubMaster sm({"pathPlan", "frame"});
+  SubMaster sm({"lateralPlan", "frame"});
 
   // cl init
   cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
@@ -158,7 +158,7 @@ int main(int argc, char **argv) {
 
       if (sm.update(0) > 0){
         // TODO: path planner timeout?
-        desire = ((int)sm["pathPlan"].getPathPlan().getDesire());
+        desire = ((int)sm["lateralPlan"].getLateralPlan().getDesire());
         frame_id = sm["frame"].getFrame().getFrameId();
       }
 
diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc
index 7b17dd7d6f..33900579fb 100644
--- a/selfdrive/modeld/models/dmonitoring.cc
+++ b/selfdrive/modeld/models/dmonitoring.cc
@@ -186,13 +186,13 @@ void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResu
   framed.setRightEyeProb(res.right_eye_prob);
   framed.setLeftBlinkProb(res.left_blink_prob);
   framed.setRightBlinkProb(res.right_blink_prob);
-  framed.setSgProb(res.sg_prob);
+  framed.setSunglassesProb(res.sg_prob);
   framed.setPoorVision(res.poor_vision);
   framed.setPartialFace(res.partial_face);
   framed.setDistractedPose(res.distracted_pose);
   framed.setDistractedEyes(res.distracted_eyes);
   if (send_raw_pred) {
-    framed.setRawPred(raw_pred.asBytes());
+    framed.setRawPredictions(raw_pred.asBytes());
   }
 
   pm.send("driverState", msg);
diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc
index 08135e0285..767bc2fe1f 100644
--- a/selfdrive/modeld/models/driving.cc
+++ b/selfdrive/modeld/models/driving.cc
@@ -273,7 +273,7 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id, flo
   framed.setTimestampEof(timestamp_eof);
   framed.setModelExecutionTime(model_execution_time);
   if (send_raw_pred) {
-    framed.setRawPred(raw_pred.asBytes());
+    framed.setRawPredictions(raw_pred.asBytes());
   }
   fill_model(framed, net_outputs);
   pm.send("modelV2", msg);
diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index 1eebbe4e61..83313b8200 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -9,15 +9,13 @@ from selfdrive.locationd.calibrationd import Calibration
 
 def dmonitoringd_thread(sm=None, pm=None):
   if pm is None:
-    pm = messaging.PubMaster(['dMonitoringState'])
+    pm = messaging.PubMaster(['driverMonitoringState'])
 
   if sm is None:
     sm = messaging.SubMaster(['driverState', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverState'])
 
   driver_status = DriverStatus(rhd=Params().get("IsRHD") == b"1")
 
-  offroad = Params().get("IsOffroad") == b"1"
-
   sm['liveCalibration'].calStatus = Calibration.INVALID
   sm['liveCalibration'].rpyCalib = [0, 0, 0]
   sm['carState'].buttonEvents = []
@@ -58,14 +56,13 @@ def dmonitoringd_thread(sm=None, pm=None):
     # Update events from driver state
     driver_status.update(events, driver_engaged, sm['controlsState'].enabled, sm['carState'].standstill)
 
-    # build dMonitoringState packet
-    dat = messaging.new_message('dMonitoringState')
-    dat.dMonitoringState = {
+    # build driverMonitoringState packet
+    dat = messaging.new_message('driverMonitoringState')
+    dat.driverMonitoringState = {
       "events": events.to_msg(),
       "faceDetected": driver_status.face_detected,
       "isDistracted": driver_status.driver_distracted,
       "awarenessStatus": driver_status.awareness,
-      "isRHD": driver_status.is_rhd_region,
       "posePitchOffset": driver_status.pose.pitch_offseter.filtered_stat.mean(),
       "posePitchValidCount": driver_status.pose.pitch_offseter.filtered_stat.n,
       "poseYawOffset": driver_status.pose.yaw_offseter.filtered_stat.mean(),
@@ -75,10 +72,9 @@ def dmonitoringd_thread(sm=None, pm=None):
       "awarenessPassive": driver_status.awareness_passive,
       "isLowStd": driver_status.pose.low_std,
       "hiStdCount": driver_status.hi_stds,
-      "isPreview": offroad,
       "isActiveMode": driver_status.active_monitoring_mode,
     }
-    pm.send('dMonitoringState', dat)
+    pm.send('driverMonitoringState', dat)
 
 def main(sm=None, pm=None):
   dmonitoringd_thread(sm, pm)
diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py
index e70bebd687..1e7c012035 100644
--- a/selfdrive/monitoring/driver_monitor.py
+++ b/selfdrive/monitoring/driver_monitor.py
@@ -191,8 +191,8 @@ class DriverStatus():
     # self.pose.roll_std = driver_state.faceOrientationStd[2]
     model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
     self.pose.low_std = model_std_max < _POSESTD_THRESHOLD and not self.face_partial
-    self.blink.left_blink = driver_state.leftBlinkProb * (driver_state.leftEyeProb > _EYE_THRESHOLD) * (driver_state.sgProb < _SG_THRESHOLD)
-    self.blink.right_blink = driver_state.rightBlinkProb * (driver_state.rightEyeProb > _EYE_THRESHOLD) * (driver_state.sgProb < _SG_THRESHOLD)
+    self.blink.left_blink = driver_state.leftBlinkProb * (driver_state.leftEyeProb > _EYE_THRESHOLD) * (driver_state.sunglassesProb < _SG_THRESHOLD)
+    self.blink.right_blink = driver_state.rightBlinkProb * (driver_state.rightEyeProb > _EYE_THRESHOLD) * (driver_state.sunglassesProb < _SG_THRESHOLD)
 
     self.driver_distracted = self._is_driver_distracted(self.pose, self.blink) > 0 and \
                               driver_state.faceProb > _FACE_THRESHOLD and self.pose.low_std
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index 7648d3fba1..5872655fee 100755
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -31,7 +31,6 @@ def make_msg(face_detected, distracted=False, model_uncertain=False):
   ds.rightBlinkProb = 1. * distracted
   ds.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
   ds.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
-  ds.sgProb = 0.
   return ds
 
 # driver state from neural net, 10Hz
diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py
index d60dcc4e31..b6efd79796 100644
--- a/selfdrive/test/longitudinal_maneuvers/maneuver.py
+++ b/selfdrive/test/longitudinal_maneuvers/maneuver.py
@@ -68,7 +68,6 @@ class Maneuver():
           d_rel=d_rel, v_rel=v_rel, v_lead=speed_lead,
           v_target_lead=last_controls_state.vTargetLead, pid_speed=last_controls_state.vPid,
           cruise_speed=last_controls_state.vCruise,
-          jerk_factor=last_controls_state.jerkFactor,
           a_target=last_controls_state.aTarget,
           fcw=log['fcw'])
 
diff --git a/selfdrive/test/longitudinal_maneuvers/maneuverplots.py b/selfdrive/test/longitudinal_maneuvers/maneuverplots.py
index 503c184456..c1c1f28e8f 100644
--- a/selfdrive/test/longitudinal_maneuvers/maneuverplots.py
+++ b/selfdrive/test/longitudinal_maneuvers/maneuverplots.py
@@ -28,7 +28,6 @@ class ManeuverPlot():
     self.v_target_lead_array = []
     self.pid_speed_array = []
     self.cruise_speed_array = []
-    self.jerk_factor_array = []
 
     self.a_target_array = []
 
@@ -40,7 +39,7 @@ class ManeuverPlot():
 
   def add_data(self, time, gas, brake, steer_torque, distance, speed,
     acceleration, up_accel_cmd, ui_accel_cmd, uf_accel_cmd, d_rel, v_rel,
-    v_lead, v_target_lead, pid_speed, cruise_speed, jerk_factor, a_target, fcw):
+    v_lead, v_target_lead, pid_speed, cruise_speed, a_target, fcw):
     self.time_array.append(time)
     self.gas_array.append(gas)
     self.brake_array.append(brake)
@@ -57,7 +56,6 @@ class ManeuverPlot():
     self.v_target_lead_array.append(v_target_lead)
     self.pid_speed_array.append(pid_speed)
     self.cruise_speed_array.append(cruise_speed)
-    self.jerk_factor_array.append(jerk_factor)
     self.a_target_array.append(a_target)
     self.fcw_array.append(fcw)
 
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index 17a91c1db7..67f4cc46dd 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -110,7 +110,6 @@ class Plant():
     self.rate = rate
 
     if not Plant.messaging_initialized:
-
       Plant.pm = messaging.PubMaster(['frame', 'frontFrame', 'ubloxRaw'])
       Plant.logcan = messaging.pub_sock('can')
       Plant.sendcan = messaging.sub_sock('sendcan')
@@ -119,10 +118,10 @@ class Plant():
       Plant.live_location_kalman = messaging.pub_sock('liveLocationKalman')
       Plant.health = messaging.pub_sock('health')
       Plant.thermal = messaging.pub_sock('thermal')
-      Plant.dMonitoringState = messaging.pub_sock('dMonitoringState')
+      Plant.driverMonitoringState = messaging.pub_sock('driverMonitoringState')
       Plant.cal = messaging.pub_sock('liveCalibration')
       Plant.controls_state = messaging.sub_sock('controlsState')
-      Plant.plan = messaging.sub_sock('plan')
+      Plant.plan = messaging.sub_sock('longitudinalPlan')
       Plant.messaging_initialized = True
 
     self.frame = 0
@@ -200,7 +199,7 @@ class Plant():
 
     fcw = None
     for a in messaging.drain_sock(Plant.plan):
-      if a.plan.fcw:
+      if a.longitudinalPlan.fcw:
         fcw = True
 
     if self.cp.vl[0x1fa]['COMPUTER_BRAKE_REQUEST']:
@@ -370,9 +369,9 @@ class Plant():
     live_parameters.liveParameters.stiffnessFactor = 1.0
     Plant.live_params.send(live_parameters.to_bytes())
 
-    dmon_state = messaging.new_message('dMonitoringState')
-    dmon_state.dMonitoringState.isDistracted = False
-    Plant.dMonitoringState.send(dmon_state.to_bytes())
+    dmon_state = messaging.new_message('driverMonitoringState')
+    dmon_state.driverMonitoringState.isDistracted = False
+    Plant.driverMonitoringState.send(dmon_state.to_bytes())
 
     health = messaging.new_message('health')
     health.health.safetyModel = car.CarParams.SafetyModel.hondaNidec
@@ -380,7 +379,7 @@ class Plant():
     Plant.health.send(health.to_bytes())
 
     thermal = messaging.new_message('thermal')
-    thermal.thermal.freeSpace = 1.
+    thermal.thermal.freeSpacePercent = 1.
     thermal.thermal.batteryPercent = 100
     Plant.thermal.send(thermal.to_bytes())
 
diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
index a41d0db3af..c687ff7a30 100755
--- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
+++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
@@ -330,14 +330,6 @@ class LongitudinalControl(unittest.TestCase):
     params.put("OpenpilotEnabledToggle", "1")
     params.put("CommunityFeaturesToggle", "1")
 
-    manager.prepare_managed_process('radard')
-    manager.prepare_managed_process('controlsd')
-    manager.prepare_managed_process('plannerd')
-
-  @classmethod
-  def tearDownClass(cls):
-    pass
-
   # hack
   def test_longitudinal_setup(self):
     pass
diff --git a/selfdrive/test/model_replay.py b/selfdrive/test/model_replay.py
index 6e3ab67924..1ed3e58145 100755
--- a/selfdrive/test/model_replay.py
+++ b/selfdrive/test/model_replay.py
@@ -21,10 +21,10 @@ if __name__ == "__main__":
     if os.path.isfile(cache_path):
       os.remove(cache_path)
 
-  output_size = len(np.frombuffer(msgs[0].model.rawPred, dtype=np.float32))
+  output_size = len(np.frombuffer(msgs[0].model.rawPredictions, dtype=np.float32))
   output_data = np.zeros((len(msgs), output_size), dtype=np.float32)
   for i, msg in enumerate(msgs):
-    output_data[i] = np.frombuffer(msg.model.rawPred, dtype=np.float32)
+    output_data[i] = np.frombuffer(msg.model.rawPredictions, dtype=np.float32)
   np.save(os.path.expanduser('~/modeldata.npy'), output_data)
 
   print("Finished replay")
diff --git a/selfdrive/test/process_replay/camera_replay.py b/selfdrive/test/process_replay/camera_replay.py
index fe13a5cf66..c906bdf3e7 100755
--- a/selfdrive/test/process_replay/camera_replay.py
+++ b/selfdrive/test/process_replay/camera_replay.py
@@ -34,7 +34,7 @@ def camera_replay(lr, fr, desire=None, calib=None):
   spinner = Spinner()
   spinner.update("starting model replay")
 
-  pm = messaging.PubMaster(['frame', 'liveCalibration', 'pathPlan'])
+  pm = messaging.PubMaster(['frame', 'liveCalibration', 'lateralPlan'])
   sm = messaging.SubMaster(['modelV2'])
 
   # TODO: add dmonitoringmodeld
@@ -49,7 +49,7 @@ def camera_replay(lr, fr, desire=None, calib=None):
     sm.update(1000)
     print("procs started")
 
-    desires_by_index = {v:k for k,v in log.PathPlan.Desire.schema.enumerants.items()}
+    desires_by_index = {v:k for k,v in log.LateralPlan.Desire.schema.enumerants.items()}
 
     cal = [msg for msg in lr if msg.which() == "liveCalibration"]
     for msg in cal[:5]:
@@ -63,9 +63,9 @@ def camera_replay(lr, fr, desire=None, calib=None):
       elif msg.which() == "frame":
         if desire is not None:
           for i in desire[frame_idx].nonzero()[0]:
-            dat = messaging.new_message('pathPlan')
-            dat.pathPlan.desire = desires_by_index[i]
-            pm.send('pathPlan', dat)
+            dat = messaging.new_message('lateralPlan')
+            dat.lateralPlan.desire = desires_by_index[i]
+            pm.send('lateralPlan', dat)
 
         f = msg.as_builder()
         img = fr.get(frame_idx, pix_fmt="rgb24")[0][:,:,::-1]
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index b85fdc538c..17a0a94f63 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -160,7 +160,7 @@ def fingerprint(msgs, fsm, can_sock):
   can_sock.recv_ready.set()
   can_sock.wait = False
 
-  # we know fingerprinting is done when controlsd sets sm['pathPlan'].sensorValid
+  # we know fingerprinting is done when controlsd sets sm['lateralPlan'].sensorValid
   wait_for_event(fsm.update_called)
   fsm.update_called.clear()
 
@@ -221,7 +221,7 @@ CONFIGS = [
     proc_name="controlsd",
     pub_sub={
       "can": ["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"],
-      "thermal": [], "health": [], "liveCalibration": [], "dMonitoringState": [], "plan": [], "pathPlan": [], "gpsLocation": [], "liveLocationKalman": [],
+      "thermal": [], "health": [], "liveCalibration": [], "driverMonitoringState": [], "longitudinalPlan": [], "lateralPlan": [], "gpsLocation": [], "liveLocationKalman": [], "liveParameters": [], "radarState": [],
       "modelV2": [], "frontFrame": [], "frame": [], "ubloxRaw": [], "managerState": [],
     },
     ignore=["logMonoTime", "valid", "controlsState.startMonoTime", "controlsState.cumLagMs"],
@@ -233,7 +233,7 @@ CONFIGS = [
     proc_name="radard",
     pub_sub={
       "can": ["radarState", "liveTracks"],
-      "liveParameters":  [], "controlsState":  [], "modelV2":  [],
+      "liveParameters":  [], "carState":  [], "modelV2":  [],
     },
     ignore=["logMonoTime", "valid", "radarState.cumLagMs"],
     init_callback=get_car_params,
@@ -243,10 +243,10 @@ CONFIGS = [
   ProcessConfig(
     proc_name="plannerd",
     pub_sub={
-      "modelV2": ["pathPlan"], "radarState": ["plan"],
+      "modelV2": ["lateralPlan"], "radarState": ["longitudinalPlan"],
       "carState": [], "controlsState": [], "liveParameters": [],
     },
-    ignore=["logMonoTime", "valid", "plan.processingDelay"],
+    ignore=["logMonoTime", "valid", "longitudinalPlan.processingDelay"],
     init_callback=get_car_params,
     should_recv_callback=None,
     tolerance=None,
@@ -265,7 +265,7 @@ CONFIGS = [
   ProcessConfig(
     proc_name="dmonitoringd",
     pub_sub={
-      "driverState": ["dMonitoringState"],
+      "driverState": ["driverMonitoringState"],
       "liveCalibration": [], "carState": [], "modelV2": [], "controlsState": [],
     },
     ignore=["logMonoTime", "valid"],
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 5ee99cb7ee..ea4d516aec 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-2ecf7c5d8816aaf70dc42a5ec37a0106fcd42799
\ No newline at end of file
+3d94188da5fdb35c18664d32ac3c720b221a78c7
\ No newline at end of file
diff --git a/selfdrive/test/test_car_models.py b/selfdrive/test/test_car_models.py
index 46645c799a..dcf1d96b46 100755
--- a/selfdrive/test/test_car_models.py
+++ b/selfdrive/test/test_car_models.py
@@ -580,7 +580,7 @@ if __name__ == "__main__":
     # Start unlogger
     print("Start unlogger")
     unlogger_cmd = [os.path.join(BASEDIR, 'tools/replay/unlogger.py'), route, '/tmp']
-    disable_socks = 'frame,encodeIdx,plan,pathPlan,liveLongitudinalMpc,radarState,controlsState,liveTracks,liveMpc,sendcan,carState,carControl,carEvents,carParams'
+    disable_socks = 'frame,encodeIdx,plan,lateralPlan,liveLongitudinalMpc,radarState,controlsState,liveTracks,liveMpc,sendcan,carState,carControl,carEvents,carParams'
     unlogger = subprocess.Popen(unlogger_cmd + ['--disable', disable_socks, '--no-interactive'], preexec_fn=os.setsid)  # pylint: disable=subprocess-popen-preexec-fn
 
     print("Check sockets")
@@ -589,7 +589,7 @@ if __name__ == "__main__":
     if (route not in passive_routes) and (route not in forced_dashcam_routes) and has_camera:
       extra_socks.append("sendcan")
     if route not in passive_routes:
-      extra_socks.append("pathPlan")
+      extra_socks.append("lateralPlan")
 
     recvd_socks = wait_for_sockets(tested_socks + extra_socks, timeout=30)
     failures = [s for s in tested_socks + extra_socks if s not in recvd_socks]
diff --git a/selfdrive/test/test_models.py b/selfdrive/test/test_models.py
index 74339f75fe..ad101e2078 100755
--- a/selfdrive/test/test_models.py
+++ b/selfdrive/test/test_models.py
@@ -16,7 +16,7 @@ from tools.lib.logreader import LogReader
 from panda.tests.safety import libpandasafety_py
 from panda.tests.safety.common import package_can_msg
 
-HwType = log.HealthData.HwType
+PandaType = log.HealthData.PandaType
 
 ROUTES = {v['carFingerprint']: k for k, v in routes.items() if v['enableCamera']}
 
diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py
index 5d59cf3879..a291b15145 100644
--- a/selfdrive/thermald/power_monitoring.py
+++ b/selfdrive/thermald/power_monitoring.py
@@ -43,7 +43,7 @@ class PowerMonitoring:
       now = sec_since_boot()
 
       # If health is None, we're probably not in a car, so we don't care
-      if health is None or health.health.hwType == log.HealthData.HwType.unknown:
+      if health is None or health.health.pandaType == log.HealthData.PandaType.unknown:
         with self.integration_lock:
           self.last_measurement_time = None
           self.next_pulsed_measurement_time = None
@@ -77,7 +77,7 @@ class PowerMonitoring:
           self.last_measurement_time = now
       else:
         # No ignition, we integrate the offroad power used by the device
-        is_uno = health.health.hwType == log.HealthData.HwType.uno
+        is_uno = health.health.pandaType == log.HealthData.PandaType.uno
         # Get current power draw somehow
         current_power = HARDWARE.get_current_power_draw()
         if current_power is not None:
diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py
index a733930891..be2e4a09e4 100755
--- a/selfdrive/thermald/tests/test_power_monitoring.py
+++ b/selfdrive/thermald/tests/test_power_monitoring.py
@@ -21,10 +21,10 @@ with patch("common.realtime.sec_since_boot", new=mock_sec_since_boot):
                                                     CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING
 
 TEST_DURATION_S = 50
-ALL_PANDA_TYPES = [(hw_type,) for hw_type in [log.HealthData.HwType.whitePanda,
-                                              log.HealthData.HwType.greyPanda,
-                                              log.HealthData.HwType.blackPanda,
-                                              log.HealthData.HwType.uno]]
+ALL_PANDA_TYPES = [(hw_type,) for hw_type in [log.HealthData.PandaType.whitePanda,
+                                              log.HealthData.PandaType.greyPanda,
+                                              log.HealthData.PandaType.blackPanda,
+                                              log.HealthData.PandaType.uno]]
 
 def pm_patch(name, value, constant=False):
   if constant:
@@ -39,7 +39,7 @@ class TestPowerMonitoring(unittest.TestCase):
 
   def mock_health(self, ignition, hw_type, car_voltage=12):
     health = messaging.new_message('health')
-    health.health.hwType = hw_type
+    health.health.pandaType = hw_type
     health.health.voltage = car_voltage * 1e3
     health.health.ignitionLine = ignition
     health.health.ignitionCan = False
@@ -179,7 +179,7 @@ class TestPowerMonitoring(unittest.TestCase):
     pm_patch("HARDWARE.get_battery_status", "Discharging"), pm_patch("HARDWARE.get_current_power_draw", None):
       pm = PowerMonitoring()
       pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
-      health = self.mock_health(False, log.HealthData.HwType.uno, car_voltage=(VBATT_PAUSE_CHARGING - 1))
+      health = self.mock_health(False, log.HealthData.PandaType.uno, car_voltage=(VBATT_PAUSE_CHARGING - 1))
       for i in range(TEST_TIME):
         pm.calculate(health)
         if i % 10 == 0:
@@ -196,7 +196,7 @@ class TestPowerMonitoring(unittest.TestCase):
     pm_patch("HARDWARE.get_battery_status", "Discharging"), pm_patch("HARDWARE.get_current_power_draw", None):
       pm = PowerMonitoring()
       pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
-      health = self.mock_health(True, log.HealthData.HwType.uno, car_voltage=(VBATT_PAUSE_CHARGING - 1))
+      health = self.mock_health(True, log.HealthData.PandaType.uno, car_voltage=(VBATT_PAUSE_CHARGING - 1))
       for i in range(TEST_TIME):
         pm.calculate(health)
         if i % 10 == 0:
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index c9b9c09752..cc5f814837 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -208,7 +208,7 @@ def thermald_thread():
       usb_power = health.health.usbPowerMode != log.HealthData.UsbPowerMode.client
 
       # If we lose connection to the panda, wait 5 seconds before going offroad
-      if health.health.hwType == log.HealthData.HwType.unknown:
+      if health.health.pandaType == log.HealthData.PandaType.unknown:
         no_panda_cnt += 1
         if no_panda_cnt > DISCONNECT_TIMEOUT / DT_TRML:
           if startup_conditions["ignition"]:
@@ -219,8 +219,8 @@ def thermald_thread():
         startup_conditions["ignition"] = health.health.ignitionLine or health.health.ignitionCan
 
       # Setup fan handler on first connect to panda
-      if handle_fan is None and health.health.hwType != log.HealthData.HwType.unknown:
-        is_uno = health.health.hwType == log.HealthData.HwType.uno
+      if handle_fan is None and health.health.pandaType != log.HealthData.PandaType.unknown:
+        is_uno = health.health.pandaType == log.HealthData.PandaType.uno
 
         if (not EON) or is_uno:
           cloudlog.info("Setting up UNO fan handler")
@@ -232,8 +232,8 @@ def thermald_thread():
 
       # Handle disconnect
       if health_prev is not None:
-        if health.health.hwType == log.HealthData.HwType.unknown and \
-          health_prev.health.hwType != log.HealthData.HwType.unknown:
+        if health.health.pandaType == log.HealthData.PandaType.unknown and \
+          health_prev.health.pandaType != log.HealthData.PandaType.unknown:
           params.panda_disconnect()
       health_prev = health
 
@@ -245,9 +245,9 @@ def thermald_thread():
       except Exception:
         cloudlog.exception("Error getting network status")
 
-    msg.thermal.freeSpace = get_available_percent(default=100.0) / 100.0
-    msg.thermal.memUsedPercent = int(round(psutil.virtual_memory().percent))
-    msg.thermal.cpuPerc = int(round(psutil.cpu_percent()))
+    msg.thermal.freeSpacePercent = get_available_percent(default=100.0) / 100.0
+    msg.thermal.memoryUsagePercent = int(round(psutil.virtual_memory().percent))
+    msg.thermal.cpuUsagePercent = int(round(psutil.cpu_percent()))
     msg.thermal.networkType = network_type
     msg.thermal.networkStrength = network_strength
     msg.thermal.batteryPercent = HARDWARE.get_battery_capacity()
@@ -271,7 +271,7 @@ def thermald_thread():
 
     if handle_fan is not None:
       fan_speed = handle_fan(max_cpu_temp, bat_temp, fan_speed, startup_conditions["ignition"])
-      msg.thermal.fanSpeed = fan_speed
+      msg.thermal.fanSpeedRpmDesired = fan_speed
 
     # If device is offroad we want to cool down before going onroad
     # since going onroad increases load and can make temps go over 107
@@ -347,7 +347,7 @@ def thermald_thread():
     set_offroad_alert_if_changed("Offroad_PandaFirmwareMismatch", (not startup_conditions["fw_version_match"]))
 
     # with 2% left, we killall, otherwise the phone will take a long time to boot
-    startup_conditions["free_space"] = msg.thermal.freeSpace > 0.02
+    startup_conditions["free_space"] = msg.thermal.freeSpacePercent > 0.02
     startup_conditions["completed_training"] = params.get("CompletedTrainingVersion") == training_version or \
                                                (current_branch in ['dashcam', 'dashcam-staging'])
     startup_conditions["not_driver_view"] = not params.get("IsDriverViewEnabled") == b"1"
@@ -357,8 +357,8 @@ def thermald_thread():
     startup_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger
     set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", (not startup_conditions["device_temp_good"]))
 
-    startup_conditions["hardware_supported"] = health is not None and health.health.hwType not in [log.HealthData.HwType.whitePanda,
-                                                                                                   log.HealthData.HwType.greyPanda]
+    startup_conditions["hardware_supported"] = health is not None and health.health.pandaType not in [log.HealthData.PandaType.whitePanda,
+                                                                                                   log.HealthData.PandaType.greyPanda]
     set_offroad_alert_if_changed("Offroad_HardwareUnsupported", health is not None and not startup_conditions["hardware_supported"])
 
     # Handle offroad/onroad transition
@@ -399,7 +399,7 @@ def thermald_thread():
 
     msg.thermal.chargingError = current_filter.x > 0. and msg.thermal.batteryPercent < 90  # if current is positive, then battery is being discharged
     msg.thermal.started = started_ts is not None
-    msg.thermal.startedTs = int(1e9*(started_ts or 0))
+    msg.thermal.startedMonoTime = int(1e9*(started_ts or 0))
 
     msg.thermal.thermalStatus = thermal_status
     pm.send("thermal", msg)
diff --git a/selfdrive/ui/android/ui.cc b/selfdrive/ui/android/ui.cc
index 2960d5d504..1c965dedfe 100644
--- a/selfdrive/ui/android/ui.cc
+++ b/selfdrive/ui/android/ui.cc
@@ -163,7 +163,7 @@ int main(int argc, char* argv[]) {
     }
 
     // up one notch every 5 m/s
-    s->sound->setVolume(fmin(MAX_VOLUME, MIN_VOLUME + s->scene.controls_state.getVEgo() / 5));
+    s->sound->setVolume(fmin(MAX_VOLUME, MIN_VOLUME + s->scene.car_state.getVEgo() / 5));
 
     // set brightness
     float clipped_brightness = fmin(512, (s->light_sensor*brightness_m) + brightness_b);
diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 2ebe934c1c..21fe6d3833 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -233,7 +233,7 @@ static void ui_draw_vision_maxspeed(UIState *s) {
 }
 
 static void ui_draw_vision_speed(UIState *s) {
-  const float speed = std::max(0.0, s->scene.controls_state.getVEgo() * (s->is_metric ? 3.6 : 2.2369363));
+  const float speed = std::max(0.0, s->scene.car_state.getVEgo() * (s->is_metric ? 3.6 : 2.2369363));
   const std::string speed_str = std::to_string((int)std::nearbyint(speed));
   nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
   ui_draw_text(s, s->viz_rect.centerX(), 240, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold");
@@ -244,12 +244,7 @@ static void ui_draw_vision_event(UIState *s) {
   const int viz_event_w = 220;
   const int viz_event_x = s->viz_rect.right() - (viz_event_w + bdr_s*2);
   const int viz_event_y = s->viz_rect.y + (bdr_s*1.5);
-  if (s->scene.controls_state.getDecelForModel() && s->scene.controls_state.getEnabled()) {
-    // draw winding road sign
-    const int img_turn_size = 160*1.5;
-    const Rect rect = {viz_event_x - (img_turn_size / 4), viz_event_y + bdr_s - 25, img_turn_size, img_turn_size};
-    ui_draw_image(s, rect, "trafficSign_turn", 1.0f);
-  } else if (s->scene.controls_state.getEngageable()) {
+  if (s->scene.controls_state.getEngageable()) {
     // draw steering wheel
     const int bg_wheel_size = 96;
     const int bg_wheel_x = viz_event_x + (viz_event_w-bg_wheel_size);
diff --git a/selfdrive/ui/sidebar.cc b/selfdrive/ui/sidebar.cc
index 3e363eb593..79ba0d5f33 100644
--- a/selfdrive/ui/sidebar.cc
+++ b/selfdrive/ui/sidebar.cc
@@ -118,7 +118,7 @@ static void draw_panda_metric(UIState *s) {
 
   int panda_severity = 0;
   std::string panda_message = "VEHICLE\nONLINE";
-  if (s->scene.hwType == cereal::HealthData::HwType::UNKNOWN) {
+  if (s->scene.pandaType == cereal::HealthData::PandaType::UNKNOWN) {
     panda_severity = 2;
     panda_message = "NO\nPANDA";
   }
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 72ceb5e785..ba729b0b83 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -41,7 +41,7 @@ static void ui_init_vision(UIState *s) {
 
 void ui_init(UIState *s) {
   s->sm = new SubMaster({"modelV2", "controlsState", "uiLayoutState", "liveCalibration", "radarState", "thermal", "frame",
-                         "health", "carParams", "driverState", "dMonitoringState", "sensorEvents"});
+                         "health", "carParams", "driverState", "driverMonitoringState", "sensorEvents", "carState"});
 
   s->started = false;
   s->status = STATUS_OFFROAD;
@@ -127,6 +127,9 @@ static void update_sockets(UIState *s) {
   if (s->started && sm.updated("controlsState")) {
     scene.controls_state = sm["controlsState"].getControlsState();
   }
+  if (sm.updated("carState")) {
+    scene.car_state = sm["carState"].getCarState();
+  }
   if (sm.updated("radarState")) {
     auto radar_state = sm["radarState"].getRadarState();
     const auto line = sm["modelV2"].getModelV2().getPosition();
@@ -153,10 +156,10 @@ static void update_sockets(UIState *s) {
   }
   if (sm.updated("health")) {
     auto health = sm["health"].getHealth();
-    scene.hwType = health.getHwType();
+    scene.pandaType = health.getPandaType();
     s->ignition = health.getIgnitionLine() || health.getIgnitionCan();
   } else if ((s->sm->frame - s->sm->rcv_frame("health")) > 5*UI_FREQ) {
-    scene.hwType = cereal::HealthData::HwType::UNKNOWN;
+    scene.pandaType = cereal::HealthData::PandaType::UNKNOWN;
   }
   if (sm.updated("carParams")) {
     s->longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
@@ -164,11 +167,10 @@ static void update_sockets(UIState *s) {
   if (sm.updated("driverState")) {
     scene.driver_state = sm["driverState"].getDriverState();
   }
-  if (sm.updated("dMonitoringState")) {
-    scene.dmonitoring_state = sm["dMonitoringState"].getDMonitoringState();
-    scene.is_rhd = scene.dmonitoring_state.getIsRHD();
-    scene.frontview = scene.dmonitoring_state.getIsPreview();
-  } else if (scene.frontview && (sm.frame - sm.rcv_frame("dMonitoringState")) > UI_FREQ/2) {
+  if (sm.updated("driverMonitoringState")) {
+    scene.dmonitoring_state = sm["driverMonitoringState"].getDriverMonitoringState();
+    scene.frontview = !s->ignition;
+  } else if (scene.frontview && (sm.frame - sm.rcv_frame("driverMonitoringState")) > UI_FREQ/2) {
     scene.frontview = false;
   }
   if (sm.updated("sensorEvents")) {
@@ -283,6 +285,7 @@ static void update_status(UIState *s) {
     s->status = STATUS_DISENGAGED;
     s->started_frame = s->sm->frame;
 
+    read_param(&s->scene.is_rhd, "IsRHD");
     s->active_app = cereal::UiLayoutState::App::NONE;
     s->sidebar_collapsed = true;
     s->scene.alert_size = cereal::ControlsState::AlertSize::NONE;
diff --git a/selfdrive/ui/ui.hpp b/selfdrive/ui/ui.hpp
index 8ae730cb75..189fec52a5 100644
--- a/selfdrive/ui/ui.hpp
+++ b/selfdrive/ui/ui.hpp
@@ -117,14 +117,15 @@ typedef struct UIScene {
   float alert_blinking_rate;
   cereal::ControlsState::AlertSize alert_size;
 
-  cereal::HealthData::HwType hwType;
+  cereal::HealthData::PandaType pandaType;
   NetStatus athenaStatus;
 
   cereal::ThermalData::Reader thermal;
   cereal::RadarState::LeadData::Reader lead_data[2];
+  cereal::CarState::Reader car_state;
   cereal::ControlsState::Reader controls_state;
   cereal::DriverState::Reader driver_state;
-  cereal::DMonitoringState::Reader dmonitoring_state;
+  cereal::DriverMonitoringState::Reader dmonitoring_state;
 
   // modelV2
   float lane_line_probs[4];
diff --git a/tools/carcontrols/debug_controls.py b/tools/carcontrols/debug_controls.py
index 2334e2576b..595147048f 100755
--- a/tools/carcontrols/debug_controls.py
+++ b/tools/carcontrols/debug_controls.py
@@ -7,7 +7,7 @@ import cereal.messaging as messaging
 from selfdrive.car.car_helpers import get_car, get_one_can
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 
-HwType = log.HealthData.HwType
+PandaType = log.HealthData.PandaType
 
 
 def steer_thread():
diff --git a/tools/nui/Unlogger.cpp b/tools/nui/Unlogger.cpp
index a2381a42bd..ee8327eda2 100644
--- a/tools/nui/Unlogger.cpp
+++ b/tools/nui/Unlogger.cpp
@@ -4,8 +4,9 @@
 #include <capnp/schema.h>
 
 // include the dynamic struct
-#include "cereal/gen/cpp/car.capnp.c++"
 #include "cereal/gen/cpp/log.capnp.c++"
+#include "cereal/gen/cpp/car.capnp.c++"
+#include "cereal/gen/cpp/legacy.capnp.c++"
 #include "cereal/services.h"
 
 #include "Unlogger.hpp"
diff --git a/tools/nui/main.cpp b/tools/nui/main.cpp
index 76a9579b55..be661afe59 100644
--- a/tools/nui/main.cpp
+++ b/tools/nui/main.cpp
@@ -165,6 +165,7 @@ void Window::paintEvent(QPaintEvent *event) {
   //p.drawRect(0, 0, 600, 100);
 
   // TODO: we really don't have to redraw this every time, only on updates to events
+  float vEgo = 0.;
   int this_event_size = events.size();
   if (last_event_size != this_event_size) {
     if (px != NULL) delete px;
@@ -179,10 +180,11 @@ void Window::paintEvent(QPaintEvent *event) {
     for (auto e : events) {
       auto type = e.which();
       //printf("%lld %d\n", e.getLogMonoTime()-t0, type);
-      if (type == cereal::Event::CONTROLS_STATE) {
+      if (type == cereal::Event::CAR_STATE) {
+        vEgo = e.getCarState().getVEgo();
+      } else if (type == cereal::Event::CONTROLS_STATE) {
         auto controlsState = e.getControlsState();
         uint64_t t = (e.getLogMonoTime()-t0);
-        float vEgo = controlsState.getVEgo();
         int enabled = controlsState.getState() == cereal::ControlsState::OpenpilotState::ENABLED;
         int rt = timeToPixel(t); // 250 ms per pixel
         if (rt != lt) {
diff --git a/tools/replay/ui.py b/tools/replay/ui.py
index 1f26072dd1..6676167932 100755
--- a/tools/replay/ui.py
+++ b/tools/replay/ui.py
@@ -70,7 +70,7 @@ def ui_thread(addr, frame_address):
 
   frame = messaging.sub_sock('frame', addr=addr, conflate=True)
   sm = messaging.SubMaster(['carState', 'plan', 'carControl', 'radarState', 'liveCalibration', 'controlsState',
-                            'liveTracks', 'model', 'liveMpc', 'liveParameters', 'pathPlan', 'frame'], addr=addr)
+                            'liveTracks', 'model', 'liveMpc', 'liveParameters', 'lateralPlan', 'frame'], addr=addr)
 
   calibration = None
   img = np.zeros((480, 640, 3), dtype='uint8')
@@ -184,7 +184,7 @@ def ui_thread(addr, frame_address):
     if len(sm['model'].path.poly) > 0:
       model_data = extract_model_data(sm['model'])
       plot_model(model_data, VM, sm['controlsState'].vEgo, sm['controlsState'].curvature, imgw, calibration,
-                  top_down, np.array(sm['pathPlan'].dPolyDEPRECATED))
+                  top_down, np.array(sm['lateralPlan'].dPolyDEPRECATED))
 
     # MPC
     if sm.updated['liveMpc']:
diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py
index 3b3d8e9e40..242e87f1a1 100755
--- a/tools/sim/bridge.py
+++ b/tools/sim/bridge.py
@@ -88,7 +88,7 @@ def health_function():
     dat.valid = True
     dat.health = {
       'ignitionLine': True,
-      'hwType': "blackPanda",
+      'pandaType': "blackPanda",
       'controlsAllowed': True,
       'safetyModel': 'hondaNidec'
     }
@@ -104,7 +104,7 @@ def fake_gps():
     time.sleep(0.01)
 
 def fake_driver_monitoring():
-  pm = messaging.PubMaster(['driverState','dMonitoringState'])
+  pm = messaging.PubMaster(['driverState','driverMonitoringState'])
   while 1:
 
     # dmonitoringmodeld output
@@ -113,14 +113,14 @@ def fake_driver_monitoring():
     pm.send('driverState', dat)
 
     # dmonitoringd output
-    dat = messaging.new_message('dMonitoringState')
-    dat.dMonitoringState = {
+    dat = messaging.new_message('driverMonitoringState')
+    dat.driverMonitoringState = {
       "faceDetected": True,
       "isDistracted": False,
       "awarenessStatus": 1.,
       "isRHD": False,
     }
-    pm.send('dMonitoringState', dat)
+    pm.send('driverMonitoringState', dat)
 
     time.sleep(DT_DMON)