diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
old mode 100755
new mode 100644
diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml
index 2ab3bded6a..a2c2daab1a 100644
--- a/.github/workflows/badges.yaml
+++ b/.github/workflows/badges.yaml
@@ -18,7 +18,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Push badges
       run: |
         ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py"
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 08fcda1585..1e9f29bdb8 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -26,6 +26,7 @@ env:
   RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
 
   UNIT_TEST: coverage run --append -m unittest discover
+  PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5
 
 jobs:
   build_release:
@@ -40,7 +41,7 @@ jobs:
     - name: Build devel
       timeout-minutes: 1
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Check submodules
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       timeout-minutes: 1
@@ -73,7 +74,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Build openpilot with all flags
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 12 || 30) }} # allow more time when we missed the scons cache
       run: |
@@ -195,7 +196,7 @@ jobs:
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
       with:
         git-lfs: false
     - name: Build and push CL Docker image
@@ -222,7 +223,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run valgrind
@@ -240,7 +241,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Build openpilot
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: ${{ env.RUN }} "scons -j$(nproc)"
@@ -248,22 +249,9 @@ jobs:
       timeout-minutes: 40
       run: |
         ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
-                        $UNIT_TEST common && \
-                        $UNIT_TEST selfdrive/boardd && \
-                        $UNIT_TEST selfdrive/controls && \
-                        $UNIT_TEST selfdrive/monitoring && \
-                        $UNIT_TEST system/loggerd && \
-                        $UNIT_TEST selfdrive/car && \
-                        $UNIT_TEST selfdrive/locationd && \
-                        $UNIT_TEST selfdrive/test/longitudinal_maneuvers && \
-                        $UNIT_TEST system/tests && \
-                        $UNIT_TEST system/ubloxd && \
+                        $PYTEST -n auto --dist=loadscope --timeout 30 && \
                         selfdrive/locationd/test/_test_locationd_lib.py && \
                         ./system/ubloxd/tests/test_glonass_runner && \
-                        $UNIT_TEST selfdrive/athena && \
-                        $UNIT_TEST selfdrive/thermald && \
-                        $UNIT_TEST system/hardware/tici && \
-                        $UNIT_TEST tools/lib/tests && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
                         ./selfdrive/ui/tests/test_translations.py && \
@@ -274,8 +262,7 @@ jobs:
                         ./tools/replay/tests/test_replay && \
                         ./tools/cabana/tests/test_cabana && \
                         ./system/camerad/test/ae_gray_test && \
-                        ./selfdrive/test/process_replay/test_fuzzy.py && \
-                        coverage xml"
+                        ./selfdrive/test/process_replay/test_fuzzy.py"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v3
 
@@ -286,7 +273,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Cache test routes
       id: dependency-cache
       uses: actions/cache@v3
@@ -326,7 +313,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Build base Docker image
       run: eval "$BUILD"
     - name: Build Docker image
@@ -362,7 +349,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Cache test routes
       id: dependency-cache
       uses: actions/cache@v3
@@ -374,7 +361,7 @@ jobs:
     - name: Test car models
       timeout-minutes: 25
       run: |
-        ${{ env.RUN }} "pytest --cov --cov-report=xml -n auto --dist=loadscope selfdrive/car/tests/test_models.py && \
+        ${{ env.RUN }} "$PYTEST -n auto --dist=loadscope selfdrive/car/tests/test_models.py && \
                         chmod -R 777 /tmp/comma_download_cache"
       env:
         NUM_JOBS: 5
@@ -391,7 +378,7 @@ jobs:
         with:
           submodules: true
           ref: ${{ github.event.pull_request.base.ref }}
-      - uses: ./.github/workflows/setup
+      - uses: ./.github/workflows/setup-with-retry
       - name: Get base car info
         run: |
           ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_info.py --path /tmp/openpilot_cache/base_car_info"
diff --git a/.github/workflows/setup-with-retry/action.yaml b/.github/workflows/setup-with-retry/action.yaml
new file mode 100644
index 0000000000..427b5a45ac
--- /dev/null
+++ b/.github/workflows/setup-with-retry/action.yaml
@@ -0,0 +1,39 @@
+name: 'openpilot env setup, with retry on failure'
+
+inputs:
+  git_lfs:
+    description: 'Whether or not to pull the git lfs'
+    required: false
+    default: 'true'
+
+env:
+  SLEEP_TIME: 30 # Time to sleep between retries
+
+runs:
+  using: "composite"
+  steps:
+    - id: setup1
+      uses: ./.github/workflows/setup
+      continue-on-error: true
+      with:
+        git_lfs: ${{ inputs.git_lfs }}
+        is_retried: true
+    - if: steps.setup1.outcome == 'failure'
+      shell: bash
+      run: sleep ${{ env.SLEEP_TIME }}
+    - id: setup2
+      if: steps.setup1.outcome == 'failure'
+      uses: ./.github/workflows/setup
+      continue-on-error: true
+      with:
+        git_lfs: ${{ inputs.git_lfs }}
+        is_retried: true
+    - if: steps.setup2.outcome == 'failure'
+      shell: bash
+      run: sleep ${{ env.SLEEP_TIME }}
+    - id: setup3
+      if: steps.setup2.outcome == 'failure'
+      uses: ./.github/workflows/setup
+      with:
+        git_lfs: ${{ inputs.git_lfs }}
+        is_retried: true
\ No newline at end of file
diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml
index 263432ea98..74b82f9158 100644
--- a/.github/workflows/setup/action.yaml
+++ b/.github/workflows/setup/action.yaml
@@ -5,10 +5,21 @@ inputs:
     description: 'Whether or not to pull the git lfs'
     required: false
     default: 'true'
+  is_retried:
+    description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
+    required: false
+    default: 'false'
 
 runs:
   using: "composite"
   steps:
+    # assert that this action is retried using the setup-with-retry
+    - shell: bash
+      if: ${{ inputs.is_retried == 'false' }}
+      run: |
+        echo "You should not run this action directly. Use setup-with-retry instead"
+        exit 1
+
     # do this after checkout to ensure our custom LFS config is used to pull from GitLab
     - shell: bash
       if: ${{ inputs.git_lfs == 'true' }}
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index e71a4e397f..c7a5f80c3b 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -33,11 +33,10 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Build Docker image
-      run: eval "$BUILD"
+    - uses: ./.github/workflows/setup-with-retry
     - name: Build openpilot
       timeout-minutes: 5
-      run: ${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot/cereal --minimal"
+      run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ --minimal"
     - name: Test PlotJuggler
       timeout-minutes: 2
       run: |
@@ -52,7 +51,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Build base cl image
       run: eval "$BUILD_CL"
     - name: Setup to push to repo
@@ -72,7 +71,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
       with:
         git_lfs: false
     - name: Setup to push to repo
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 2cda93701f..f74692c01e 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,3 +1,4 @@
+exclude: '^(tinygrad_repo)'
 repos:
 -   repo: meta
     hooks:
@@ -14,6 +15,8 @@ repos:
     -   id: check-yaml
     -   id: check-merge-conflict
     -   id: check-symlinks
+    -   id: check-executables-have-shebangs
+    -   id: check-shebang-scripts-are-executable
     -   id: check-added-large-files
         args: ['--maxkb=100']
 -   repo: https://github.com/codespell-project/codespell
@@ -35,7 +38,7 @@ repos:
         args: ['--explicit-package-bases']
         exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.0.286
+    rev: v0.0.287
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
@@ -80,3 +83,7 @@ repos:
         name: validate poetry lock
         args:
         - --check
+-   repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.26.3
+    hooks:
+    -   id: check-github-workflows
diff --git a/README.md b/README.md
old mode 100755
new mode 100644
diff --git a/cereal b/cereal
index 82bca3a971..d469732b3b 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 82bca3a9714b73c05414fdf848b6016a0ffac17d
+Subproject commit d469732b3b4c37aaa21fa37682a20f2aba9ab91c
diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx
old mode 100755
new mode 100644
diff --git a/selfdrive/test/process_replay/helpers.py b/common/prefix.py
similarity index 65%
rename from selfdrive/test/process_replay/helpers.py
rename to common/prefix.py
index 0af8ff6c76..c49cf603df 100644
--- a/selfdrive/test/process_replay/helpers.py
+++ b/common/prefix.py
@@ -2,13 +2,14 @@ import os
 import shutil
 import uuid
 
-from typing import List, Optional
+from typing import Optional
 
 from openpilot.common.params import Params
+from openpilot.system.hardware.hw import Paths
 
-class OpenpilotPrefix(object):
+class OpenpilotPrefix:
   def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True):
-    self.prefix = prefix if prefix else str(uuid.uuid4())
+    self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
     self.msgq_path = os.path.join('/dev/shm', self.prefix)
     self.clean_dirs_on_exit = clean_dirs_on_exit
 
@@ -18,13 +19,17 @@ class OpenpilotPrefix(object):
       os.mkdir(self.msgq_path)
     except FileExistsError:
       pass
+    os.makedirs(Paths.log_root(), exist_ok=True)
 
     return self
 
   def __exit__(self, exc_type, exc_obj, exc_tb):
     if self.clean_dirs_on_exit:
       self.clean_dirs()
-    del os.environ['OPENPILOT_PREFIX']
+    try:
+      del os.environ['OPENPILOT_PREFIX']
+    except KeyError:
+      pass
     return False
 
   def clean_dirs(self):
@@ -33,17 +38,4 @@ class OpenpilotPrefix(object):
       shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True)
       os.remove(symlink_path)
     shutil.rmtree(self.msgq_path, ignore_errors=True)
-
-
-class DummySocket:
-  def __init__(self):
-    self.data: List[bytes] = []
-
-  def receive(self, non_blocking: bool = False) -> Optional[bytes]:
-    if non_blocking:
-      return None
-
-    return self.data.pop()
-
-  def send(self, data: bytes):
-    self.data.append(data)
+    shutil.rmtree(Paths.log_root(), ignore_errors=True)
diff --git a/common/swaglog.cc b/common/swaglog.cc
index 923f701ab2..bcd597a257 100644
--- a/common/swaglog.cc
+++ b/common/swaglog.cc
@@ -20,7 +20,7 @@
 
 class SwaglogState : public LogState {
  public:
-  SwaglogState() : LogState("ipc:///tmp/logmessage") {}
+  SwaglogState() : LogState(Path::swaglog_ipc().c_str()) {}
 
   json11::Json::object ctx_j;
 
diff --git a/common/tests/test_params.py b/common/tests/test_params.py
index 72fa4e3f72..fb6f320ea4 100644
--- a/common/tests/test_params.py
+++ b/common/tests/test_params.py
@@ -1,8 +1,6 @@
 import os
 import threading
 import time
-import tempfile
-import shutil
 import uuid
 import unittest
 
@@ -10,12 +8,7 @@ from openpilot.common.params import Params, ParamKeyType, UnknownKeyName, put_no
 
 class TestParams(unittest.TestCase):
   def setUp(self):
-    self.tmpdir = tempfile.mkdtemp()
-    print("using", self.tmpdir)
-    self.params = Params(self.tmpdir)
-
-  def tearDown(self):
-    shutil.rmtree(self.tmpdir)
+    self.params = Params()
 
   def test_params_put_and_get(self):
     self.params.put("DongleId", "cb38263377b873ee")
@@ -90,19 +83,19 @@ class TestParams(unittest.TestCase):
     self.assertFalse(self.params.get_bool("IsMetric"))
 
   def test_put_non_blocking_with_get_block(self):
-    q = Params(self.tmpdir)
+    q = Params()
     def _delayed_writer():
       time.sleep(0.1)
-      put_nonblocking("CarParams", "test", self.tmpdir)
+      put_nonblocking("CarParams", "test")
     threading.Thread(target=_delayed_writer).start()
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"test"
 
   def test_put_bool_non_blocking_with_get_block(self):
-    q = Params(self.tmpdir)
+    q = Params()
     def _delayed_writer():
       time.sleep(0.1)
-      put_bool_nonblocking("CarParams", True, self.tmpdir)
+      put_bool_nonblocking("CarParams", True)
     threading.Thread(target=_delayed_writer).start()
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"1"
diff --git a/common/tests/test_ratekeeper.cc b/common/tests/test_ratekeeper.cc
index f5aa16a859..32c7dfe58c 100644
--- a/common/tests/test_ratekeeper.cc
+++ b/common/tests/test_ratekeeper.cc
@@ -6,11 +6,18 @@
 TEST_CASE("RateKeeper") {
   float freq = GENERATE(10, 50, 100);
   RateKeeper rk("Test RateKeeper", freq);
+
+  int lags = 0;
+  int bad_keep_times = 0;
   for (int i = 0; i < freq; ++i) {
     double begin = seconds_since_boot();
     util::sleep_for(util::random_int(0, 1000.0 / freq - 1));
     bool lagged = rk.keepTime();
-    REQUIRE(std::abs(seconds_since_boot() - begin - (1 / freq)) < 1e-3);
-    REQUIRE(lagged == false);
+    lags += lagged;
+    bad_keep_times += (seconds_since_boot() - begin - (1 / freq)) > 1e-3;
   }
+
+  // need a tolerance here due to scheduling
+  REQUIRE(lags < 5);
+  REQUIRE(bad_keep_times < 5);
 }
diff --git a/common/tests/test_swaglog.cc b/common/tests/test_swaglog.cc
index 322354d730..09bc4c3795 100644
--- a/common/tests/test_swaglog.cc
+++ b/common/tests/test_swaglog.cc
@@ -9,7 +9,6 @@
 #include "system/hardware/hw.h"
 #include "third_party/json11/json11.hpp"
 
-const char *SWAGLOG_ADDR = "ipc:///tmp/logmessage";
 std::string daemon_name = "testy";
 std::string dongle_id = "test_dongle_id";
 int LINE_NO = 0;
@@ -25,7 +24,7 @@ void log_thread(int thread_id, int msg_cnt) {
 void recv_log(int thread_cnt, int thread_msg_cnt) {
   void *zctx = zmq_ctx_new();
   void *sock = zmq_socket(zctx, ZMQ_PULL);
-  zmq_bind(sock, SWAGLOG_ADDR);
+  zmq_bind(sock, Path::swaglog_ipc().c_str());
   std::vector<int> thread_msgs(thread_cnt);
   int total_count = 0;
 
diff --git a/common/util.h b/common/util.h
index 30f514f8dc..5c0ef7fec5 100644
--- a/common/util.h
+++ b/common/util.h
@@ -188,9 +188,9 @@ class LogState {
   void *zctx = nullptr;
   void *sock = nullptr;
   int print_level;
-  const char* endpoint;
+  std::string endpoint;
 
-  LogState(const char* _endpoint) {
+  LogState(std::string _endpoint) {
     endpoint = _endpoint;
   }
 
@@ -202,7 +202,7 @@ class LogState {
     int timeout = 100;
     zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout));
 
-    zmq_connect(sock, endpoint);
+    zmq_connect(sock, endpoint.c_str());
     initialized = true;
   }
 
diff --git a/conftest.py b/conftest.py
new file mode 100644
index 0000000000..e139ab8400
--- /dev/null
+++ b/conftest.py
@@ -0,0 +1,10 @@
+import pytest
+
+from openpilot.common.prefix import OpenpilotPrefix
+
+
+@pytest.fixture(scope="function", autouse=True)
+def global_setup_and_teardown():
+  # setup a clean environment for each test
+  with OpenpilotPrefix():
+    yield
diff --git a/docs/CARS.md b/docs/CARS.md
index 7b29339fb2..e99cdcf071 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -2,7 +2,7 @@
 
 # Supported Cars
 
-A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
+A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
 # 260 Supported Cars
 
@@ -83,14 +83,14 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Hyundai|Ioniq 6 (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Cruz 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
diff --git a/laika_repo b/laika_repo
index c9baa95ca9..8861844c9b 160000
--- a/laika_repo
+++ b/laika_repo
@@ -1 +1 @@
-Subproject commit c9baa95ca9b58222370fcccb24bce1d3722c8e73
+Subproject commit 8861844c9b577ff7de7d03fab9f4d7f560415fc9
diff --git a/opendbc b/opendbc
index ef302f7183..5ebf73ebed 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit ef302f7183cb05820b27e41cd4919cb6c319cd52
+Subproject commit 5ebf73ebed8d1693aadffe97bd2dd012da3b3c1c
diff --git a/panda b/panda
index ef1a9338a1..cb0cd1bfaa 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit ef1a9338a17f63ad1c666364c695e2b36a47350e
+Subproject commit cb0cd1bfaabc6673b4f21b6c8361778c7b3e0014
diff --git a/poetry.lock b/poetry.lock
index a5f0841ba1..7e253a6eb5 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand.
 
 [[package]]
 name = "aiohttp"
@@ -314,13 +314,13 @@ files = [
 
 [[package]]
 name = "azure-core"
-version = "1.29.3"
+version = "1.29.4"
 description = "Microsoft Azure Core Library for Python"
 optional = false
 python-versions = ">=3.7"
 files = [
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-    {file = "azure_core-1.29.3-py3-none-any.whl", hash = "sha256:f8b2910f92b66293d93bd00564924ad20ad48f4a1e150577cf18d1e7d4f9263c"},
+    {file = "azure-core-1.29.4.tar.gz", hash = "sha256:500b3aa9bf2e90c5ccc88bb105d056114ca0ce7d0ce73afb8bc4d714b2fc7568"},
+    {file = "azure_core-1.29.4-py3-none-any.whl", hash = "sha256:b03261bcba22c0b9290faf9999cedd23e849ed2577feee90515694cea6bc74bf"},
 ]
 
 [package.dependencies]
@@ -813,63 +813,63 @@ test = ["pytest", "pytest-timeout"]
 
 [[package]]
 name = "coverage"
-version = "7.3.0"
+version = "7.3.1"
 description = "Code coverage measurement for Python"
 optional = false
 python-versions = ">=3.8"
 files = [
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 [[package]]
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 python-versions = ">=3.7"
 files = [
-    {file = "pytest-7.4.0-py3-none-any.whl", hash = "sha256:78bf16451a2eb8c7a2ea98e32dc119fd2aa758f1d5d66dbf0a59d69a3969df32"},
-    {file = "pytest-7.4.0.tar.gz", hash = "sha256:b4bf8c45bd59934ed84001ad51e11b4ee40d40a1229d2c79f9c592b0a3f6bd8a"},
+    {file = "pytest-7.4.2-py3-none-any.whl", hash = "sha256:1d881c6124e08ff0a1bb75ba3ec0bfd8b5354a01c194ddd5a0a870a48d99b002"},
+    {file = "pytest-7.4.2.tar.gz", hash = "sha256:a766259cfab564a2ad52cb1aae1b881a75c3eb7e34ca3779697c23ed47c47069"},
 ]
 
 [package.dependencies]
@@ -3781,6 +3795,21 @@ pytest = ">=4.6"
 [package.extras]
 testing = ["fields", "hunter", "process-tests", "pytest-xdist", "six", "virtualenv"]
 
+[[package]]
+name = "pytest-cpp"
+version = "2.3.0"
+description = "Use pytest's runner to discover and execute C++ tests"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "pytest-cpp-2.3.0.tar.gz", hash = "sha256:37abfa693697940aed2e7c034698188dee3616183ad9b3f764f3b06aeb75ed4a"},
+    {file = "pytest_cpp-2.3.0-py3-none-any.whl", hash = "sha256:1e9809b0ba8dab4942102274650b3dc5ae22abc2fa4fe46c3da5803b66181164"},
+]
+
+[package.dependencies]
+colorama = "*"
+pytest = ">=7.0"
+
 [[package]]
 name = "pytest-subtests"
 version = "0.11.0"
@@ -3876,13 +3905,13 @@ numpy = ["numpy (>=1.6.0)"]
 
 [[package]]
 name = "pytz"
-version = "2023.3"
+version = "2023.3.post1"
 description = "World timezone definitions, modern and historical"
 optional = false
 python-versions = "*"
 files = [
-    {file = "pytz-2023.3-py2.py3-none-any.whl", hash = "sha256:a151b3abb88eda1d4e34a9814df37de2a80e301e68ba0fd856fb9b46bfbbbffb"},
-    {file = "pytz-2023.3.tar.gz", hash = "sha256:1d8ce29db189191fb55338ee6d0387d82ab59f3d00eac103412d64e0ebd0c588"},
+    {file = "pytz-2023.3.post1-py2.py3-none-any.whl", hash = "sha256:ce42d816b81b68506614c11e8937d3aa9e41007ceb50bfdcb0749b921bf646c7"},
+    {file = "pytz-2023.3.post1.tar.gz", hash = "sha256:7b4fddbeb94a1eba4b557da24f19fdf9db575192544270a9101d8509f9f43d7b"},
 ]
 
 [[package]]
@@ -3920,7 +3949,6 @@ files = [
     {file = "PyYAML-6.0.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:69b023b2b4daa7548bcfbd4aa3da05b3a74b772db9e23b982788168117739938"},
     {file = "PyYAML-6.0.1-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:81e0b275a9ecc9c0c0c07b4b90ba548307583c125f54d5b6946cfee6360c733d"},
     {file = "PyYAML-6.0.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ba336e390cd8e4d1739f42dfe9bb83a3cc2e80f567d8805e11b46f4a943f5515"},
-    {file = "PyYAML-6.0.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:326c013efe8048858a6d312ddd31d56e468118ad4cdeda36c719bf5bb6192290"},
     {file = "PyYAML-6.0.1-cp310-cp310-win32.whl", hash = "sha256:bd4af7373a854424dabd882decdc5579653d7868b8fb26dc7d0e99f823aa5924"},
     {file = "PyYAML-6.0.1-cp310-cp310-win_amd64.whl", hash = "sha256:fd1592b3fdf65fff2ad0004b5e363300ef59ced41c2e6b3a99d4089fa8c5435d"},
     {file = "PyYAML-6.0.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:6965a7bc3cf88e5a1c3bd2e0b5c22f8d677dc88a455344035f03399034eb3007"},
@@ -3928,15 +3956,8 @@ files = [
     {file = "PyYAML-6.0.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:42f8152b8dbc4fe7d96729ec2b99c7097d656dc1213a3229ca5383f973a5ed6d"},
     {file = "PyYAML-6.0.1-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:062582fca9fabdd2c8b54a3ef1c978d786e0f6b3a1510e0ac93ef59e0ddae2bc"},
     {file = "PyYAML-6.0.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d2b04aac4d386b172d5b9692e2d2da8de7bfb6c387fa4f801fbf6fb2e6ba4673"},
-    {file = "PyYAML-6.0.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:e7d73685e87afe9f3b36c799222440d6cf362062f78be1013661b00c5c6f678b"},
     {file = "PyYAML-6.0.1-cp311-cp311-win32.whl", hash = "sha256:1635fd110e8d85d55237ab316b5b011de701ea0f29d07611174a1b42f1444741"},
     {file = "PyYAML-6.0.1-cp311-cp311-win_amd64.whl", hash = "sha256:bf07ee2fef7014951eeb99f56f39c9bb4af143d8aa3c21b1677805985307da34"},
-    {file = "PyYAML-6.0.1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:855fb52b0dc35af121542a76b9a84f8d1cd886ea97c84703eaa6d88e37a2ad28"},
-    {file = "PyYAML-6.0.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:40df9b996c2b73138957fe23a16a4f0ba614f4c0efce1e9406a184b6d07fa3a9"},
-    {file = "PyYAML-6.0.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6c22bec3fbe2524cde73d7ada88f6566758a8f7227bfbf93a408a9d86bcc12a0"},
-    {file = "PyYAML-6.0.1-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:8d4e9c88387b0f5c7d5f281e55304de64cf7f9c0021a3525bd3b1c542da3b0e4"},
-    {file = "PyYAML-6.0.1-cp312-cp312-win32.whl", hash = "sha256:d483d2cdf104e7c9fa60c544d92981f12ad66a457afae824d146093b8c294c54"},
-    {file = "PyYAML-6.0.1-cp312-cp312-win_amd64.whl", hash = "sha256:0d3304d8c0adc42be59c5f8a4d9e3d7379e6955ad754aa9d6ab7a398b59dd1df"},
     {file = "PyYAML-6.0.1-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:50550eb667afee136e9a77d6dc71ae76a44df8b3e51e41b77f6de2932bfe0f47"},
     {file = "PyYAML-6.0.1-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1fe35611261b29bd1de0070f0b2f47cb6ff71fa6595c077e42bd0c419fa27b98"},
     {file = "PyYAML-6.0.1-cp36-cp36m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:704219a11b772aea0d8ecd7058d0082713c3562b4e271b849ad7dc4a5c90c13c"},
@@ -3953,7 +3974,6 @@ files = [
     {file = "PyYAML-6.0.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a0cd17c15d3bb3fa06978b4e8958dcdc6e0174ccea823003a106c7d4d7899ac5"},
     {file = "PyYAML-6.0.1-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:28c119d996beec18c05208a8bd78cbe4007878c6dd15091efb73a30e90539696"},
     {file = "PyYAML-6.0.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7e07cbde391ba96ab58e532ff4803f79c4129397514e1413a7dc761ccd755735"},
-    {file = "PyYAML-6.0.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:49a183be227561de579b4a36efbb21b3eab9651dd81b1858589f796549873dd6"},
     {file = "PyYAML-6.0.1-cp38-cp38-win32.whl", hash = "sha256:184c5108a2aca3c5b3d3bf9395d50893a7ab82a38004c8f61c258d4428e80206"},
     {file = "PyYAML-6.0.1-cp38-cp38-win_amd64.whl", hash = "sha256:1e2722cc9fbb45d9b87631ac70924c11d3a401b2d7f410cc0e3bbf249f2dca62"},
     {file = "PyYAML-6.0.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:9eb6caa9a297fc2c2fb8862bc5370d0303ddba53ba97e71f08023b6cd73d16a8"},
@@ -3961,7 +3981,6 @@ files = [
     {file = "PyYAML-6.0.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5773183b6446b2c99bb77e77595dd486303b4faab2b086e7b17bc6bef28865f6"},
     {file = "PyYAML-6.0.1-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:b786eecbdf8499b9ca1d697215862083bd6d2a99965554781d0d8d1ad31e13a0"},
     {file = "PyYAML-6.0.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:bc1bf2925a1ecd43da378f4db9e4f799775d6367bdb94671027b73b393a7c42c"},
-    {file = "PyYAML-6.0.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:04ac92ad1925b2cff1db0cfebffb6ffc43457495c9b3c39d3fcae417d7125dc5"},
     {file = "PyYAML-6.0.1-cp39-cp39-win32.whl", hash = "sha256:faca3bdcf85b2fc05d06ff3fbc1f83e1391b3e724afa3feba7d13eeab355484c"},
     {file = "PyYAML-6.0.1-cp39-cp39-win_amd64.whl", hash = "sha256:510c9deebc5c0225e8c96813043e62b680ba2f9c50a08d3724c7f28a747d1486"},
     {file = "PyYAML-6.0.1.tar.gz", hash = "sha256:bfdf460b1736c775f2ba9f6a92bca30bc2095067b8a9d77876d1fad6cc3b4a43"},
@@ -4152,9 +4171,9 @@ setuptools = "*"
 [[package]]
 name = "sconscontrib"
 version = "1.0"
-description = "Contributed builders and other useful logic for the SCons build system.,"
+description = ""
 optional = false
-python-versions = "<4,>=3.6"
+python-versions = ">=3.6, <4"
 files = []
 develop = false
 
@@ -4319,19 +4338,19 @@ test = ["pytest"]
 
 [[package]]
 name = "setuptools"
-version = "68.1.2"
+version = "68.2.0"
 description = "Easily download, build, install, upgrade, and uninstall Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "setuptools-68.1.2-py3-none-any.whl", hash = "sha256:3d8083eed2d13afc9426f227b24fd1659489ec107c0e86cec2ffdde5c92e790b"},
-    {file = "setuptools-68.1.2.tar.gz", hash = "sha256:3d4dfa6d95f1b101d695a6160a7626e15583af71a5f52176efa5d39a054d475d"},
+    {file = "setuptools-68.2.0-py3-none-any.whl", hash = "sha256:af3d5949030c3f493f550876b2fd1dd5ec66689c4ee5d5344f009746f71fd5a8"},
+    {file = "setuptools-68.2.0.tar.gz", hash = "sha256:00478ca80aeebeecb2f288d3206b0de568df5cd2b8fada1209843cc9a8d88a48"},
 ]
 
 [package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx (>=3.5,<=7.1.2)", "sphinx-favicon", "sphinx-hoverxref (<2)", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (==0.8.3)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
+docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-hoverxref (<2)", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
 testing = ["build[virtualenv]", "filelock (>=3.4.0)", "flake8-2020", "ini2toml[lite] (>=0.9)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pip (>=19.1)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-perf", "pytest-ruff", "pytest-timeout", "pytest-xdist", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
-testing-integration = ["build[virtualenv]", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
+testing-integration = ["build[virtualenv]", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "packaging", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
 
 [[package]]
 name = "shapely"
@@ -5035,4 +5054,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 [metadata]
 lock-version = "2.0"
 python-versions = "~3.11"
-content-hash = "949a4c853db95a61159dc93c05d42d78a334b08f0f62b74587d77a348db9cf23"
+content-hash = "7258a24274936ccdafb930a683f4ea197e82ab187698d0723bb4683ca41e6d26"
diff --git a/pyproject.toml b/pyproject.toml
index f0d0324d53..a8e2b1df87 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,11 +1,28 @@
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers"
+addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers"
+cpp_files = "TODO"
 python_files = "test_*.py"
 #timeout = "30"  # you get this long by default
 markers = [
   "parallel: mark tests as parallelizable (tests with no global state, so can be run in parallel)"
 ]
+testpaths = [
+  "common",
+  "selfdrive/athena",
+  "selfdrive/boardd",
+  "selfdrive/car",
+  "selfdrive/controls",
+  "selfdrive/locationd",
+  "selfdrive/monitoring",
+  "selfdrive/thermald",
+  "selfdrive/test/longitudinal_maneuvers",
+  "system/hardware/tici",
+  "system/loggerd",
+  "system/tests",
+  "system/ubloxd",
+  "tools/lib/tests"
+]
 
 [tool.mypy]
 python_version = "3.11"
@@ -112,7 +129,7 @@ inputs = "*"
 lru-dict = "*"
 markdown-it-py = "*"
 matplotlib = "*"
-metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="51d4393f3b3574fd0e79ed04eae0081f8447ca72" }
+metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="51d4393f3b3574fd0e79ed04eae0081f8447ca72", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
 mpld3 = "*"
 mypy = "*"
 myst-parser = "*"
@@ -126,6 +143,7 @@ pygame = "*"
 pyprof2calltree = "*"
 pytest = "*"
 pytest-cov = "*"
+pytest-cpp = "*"
 pytest-subtests = "*"
 pytest-xdist = "*"
 pytest-timeout = "*"
diff --git a/rednose_repo b/rednose_repo
index e32658ed91..8658bed296 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit e32658ed9164d6e8dde882c05c5ece9707acde82
+Subproject commit 8658bed29686b2ddae191fd18302986c85542431
diff --git a/release/files_common b/release/files_common
index 54aece8530..028b233d8b 100644
--- a/release/files_common
+++ b/release/files_common
@@ -209,6 +209,7 @@ system/hardware/__init__.py
 system/hardware/base.h
 system/hardware/base.py
 system/hardware/hw.h
+system/hardware/hw.py
 system/hardware/tici/__init__.py
 system/hardware/tici/hardware.h
 system/hardware/tici/hardware.py
@@ -360,11 +361,10 @@ selfdrive/modeld/.gitignore
 selfdrive/modeld/__init__.py
 selfdrive/modeld/SConscript
 selfdrive/modeld/modeld.py
-selfdrive/modeld/navmodeld.cc
+selfdrive/modeld/navmodeld.py
 selfdrive/modeld/dmonitoringmodeld.cc
 selfdrive/modeld/constants.py
 selfdrive/modeld/modeld
-selfdrive/modeld/navmodeld
 selfdrive/modeld/dmonitoringmodeld
 
 selfdrive/modeld/models/__init__.py
@@ -382,8 +382,6 @@ selfdrive/modeld/models/dmonitoring.cc
 selfdrive/modeld/models/dmonitoring.h
 selfdrive/modeld/models/dmonitoring_model_q.dlc
 
-selfdrive/modeld/models/nav.cc
-selfdrive/modeld/models/nav.h
 selfdrive/modeld/models/navmodel_q.dlc
 
 selfdrive/modeld/transforms/loadyuv.cc
diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index 49b214f5e9..4817691af8 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -36,11 +36,11 @@ from openpilot.common.file_helpers import CallbackReader
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.system.hardware import HARDWARE, PC, AGNOS
-from openpilot.system.loggerd.config import ROOT
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.selfdrive.statsd import STATS_DIR
-from openpilot.system.swaglog import SWAGLOG_DIR, cloudlog
+from openpilot.system.swaglog import cloudlog
 from openpilot.system.version import get_commit, get_origin, get_short_branch, get_version
+from selfdrive.hardware.hw import Paths
 
 
 # TODO: use socket constant when mypy recognizes this as a valid attribute
@@ -119,12 +119,11 @@ class AbortTransferException(Exception):
 
 
 class UploadQueueCache:
-  params = Params()
 
   @staticmethod
   def initialize(upload_queue: Queue[UploadItem]) -> None:
     try:
-      upload_queue_json = UploadQueueCache.params.get("AthenadUploadQueue")
+      upload_queue_json = Params().get("AthenadUploadQueue")
       if upload_queue_json is not None:
         for item in json.loads(upload_queue_json):
           upload_queue.put(UploadItem.from_dict(item))
@@ -136,7 +135,7 @@ class UploadQueueCache:
     try:
       queue: List[Optional[UploadItem]] = list(upload_queue.queue)
       items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)]
-      UploadQueueCache.params.put("AthenadUploadQueue", json.dumps(items))
+      Params().put("AthenadUploadQueue", json.dumps(items))
     except Exception:
       cloudlog.exception("athena.UploadQueueCache.cache.exception")
 
@@ -352,7 +351,7 @@ def scan_dir(path: str, prefix: str) -> List[str]:
   # (glob and friends traverse entire dir tree)
   with os.scandir(path) as i:
     for e in i:
-      rel_path = os.path.relpath(e.path, ROOT)
+      rel_path = os.path.relpath(e.path, Paths.log_root())
       if e.is_dir(follow_symlinks=False):
         # add trailing slash
         rel_path = os.path.join(rel_path, '')
@@ -367,7 +366,7 @@ def scan_dir(path: str, prefix: str) -> List[str]:
 
 @dispatcher.add_method
 def listDataDirectory(prefix='') -> List[str]:
-  return scan_dir(ROOT, prefix)
+  return scan_dir(Paths.log_root(), prefix)
 
 
 @dispatcher.add_method
@@ -408,7 +407,7 @@ def uploadFilesToUrls(files_data: List[UploadFileDict]) -> UploadFilesToUrlRespo
       failed.append(file.fn)
       continue
 
-    path = os.path.join(ROOT, file.fn)
+    path = os.path.join(Paths.log_root(), file.fn)
     if not os.path.exists(path) and not os.path.exists(strip_bz2_extension(path)):
       failed.append(file.fn)
       continue
@@ -572,8 +571,8 @@ def get_logs_to_send_sorted() -> List[str]:
   # TODO: scan once then use inotify to detect file creation/deletion
   curr_time = int(time.time())
   logs = []
-  for log_entry in os.listdir(SWAGLOG_DIR):
-    log_path = os.path.join(SWAGLOG_DIR, log_entry)
+  for log_entry in os.listdir(Paths.swaglog_root()):
+    log_path = os.path.join(Paths.swaglog_root(), log_entry)
     time_sent = 0
     try:
       value = getxattr(log_path, LOG_ATTR_NAME)
@@ -608,7 +607,7 @@ def log_handler(end_event: threading.Event) -> None:
         cloudlog.debug(f"athena.log_handler.forward_request {log_entry}")
         try:
           curr_time = int(time.time())
-          log_path = os.path.join(SWAGLOG_DIR, log_entry)
+          log_path = os.path.join(Paths.swaglog_root(), log_entry)
           setxattr(log_path, LOG_ATTR_NAME, int.to_bytes(curr_time, 4, sys.byteorder))
           with open(log_path) as f:
             jsonrpc = {
@@ -635,7 +634,7 @@ def log_handler(end_event: threading.Event) -> None:
           log_success = "result" in log_resp and log_resp["result"].get("success")
           cloudlog.debug(f"athena.log_handler.forward_response {log_entry} {log_success}")
           if log_entry and log_success:
-            log_path = os.path.join(SWAGLOG_DIR, log_entry)
+            log_path = os.path.join(Paths.swaglog_root(), log_entry)
             try:
               setxattr(log_path, LOG_ATTR_NAME, LOG_ATTR_VALUE_MAX_UNIX_TIME)
             except OSError:
diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py
index f32df74217..bef622a75e 100755
--- a/selfdrive/athena/tests/test_athenad.py
+++ b/selfdrive/athena/tests/test_athenad.py
@@ -3,7 +3,6 @@ import json
 import os
 import requests
 import shutil
-import tempfile
 import time
 import threading
 import queue
@@ -18,11 +17,11 @@ from unittest import mock
 from websocket import ABNF
 from websocket._exceptions import WebSocketConnectionClosedException
 
-from openpilot.system import swaglog
 from openpilot.selfdrive.athena import athenad
 from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher
 from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server
 from cereal import messaging
+from selfdrive.hardware.hw import Paths
 
 
 class TestAthenadMethods(unittest.TestCase):
@@ -30,8 +29,6 @@ class TestAthenadMethods(unittest.TestCase):
   def setUpClass(cls):
     cls.SOCKET_PORT = 45454
     athenad.Params = MockParams
-    athenad.ROOT = tempfile.mkdtemp()
-    athenad.SWAGLOG_DIR = swaglog.SWAGLOG_DIR = tempfile.mkdtemp()
     athenad.Api = MockApi
     athenad.LOCAL_PORT_WHITELIST = {cls.SOCKET_PORT}
 
@@ -41,13 +38,14 @@ class TestAthenadMethods(unittest.TestCase):
     athenad.cur_upload_items.clear()
     athenad.cancelled_uploads.clear()
 
-    for i in os.listdir(athenad.ROOT):
-      p = os.path.join(athenad.ROOT, i)
+    for i in os.listdir(Paths.log_root()):
+      p = os.path.join(Paths.log_root(), i)
       if os.path.isdir(p):
         shutil.rmtree(p)
       else:
         os.unlink(p)
 
+    dispatcher["listUploadQueue"]() # ensure queue is empty at start
 
   # *** test helpers ***
 
@@ -60,7 +58,7 @@ class TestAthenadMethods(unittest.TestCase):
 
   @staticmethod
   def _create_file(file: str, parent: Optional[str] = None) -> str:
-    fn = os.path.join(athenad.ROOT if parent is None else parent, file)
+    fn = os.path.join(Paths.log_root() if parent is None else parent, file)
     os.makedirs(os.path.dirname(fn), exist_ok=True)
     Path(fn).touch()
     return fn
@@ -417,7 +415,7 @@ class TestAthenadMethods(unittest.TestCase):
     fl = list()
     for i in range(10):
       file = f'swaglog.{i:010}'
-      self._create_file(file, athenad.SWAGLOG_DIR)
+      self._create_file(file, Paths.swaglog_root())
       fl.append(file)
 
     # ensure the list is all logs except most recent
diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md
index ef64f6aa1e..9d045e7627 100644
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@@ -10,7 +10,7 @@
 
 # Supported Cars
 
-A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
+A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
 # {{all_car_info | length}} Supported Cars
 
diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py
index bf33eea38f..12a2d5f304 100644
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import math
 from cereal import car
 from openpilot.common.realtime import DT_CTRL
diff --git a/selfdrive/car/body/radar_interface.py b/selfdrive/car/body/radar_interface.py
index b461fcd5f8..e654bd61fd 100644
--- a/selfdrive/car/body/radar_interface.py
+++ b/selfdrive/car/body/radar_interface.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):
diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py
index 1a1252327f..c11075342c 100755
--- a/selfdrive/car/disable_ecu.py
+++ b/selfdrive/car/disable_ecu.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
 from openpilot.system.swaglog import cloudlog
 
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 755d7d1d00..3045c317ff 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from cereal import car
 from panda import Panda
 from openpilot.common.conversions import Conversions as CV
diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py
index a166fc20dd..716c9b6e58 100644
--- a/selfdrive/car/ford/radar_interface.py
+++ b/selfdrive/car/ford/radar_interface.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from math import cos, sin
 from cereal import car
 from opendbc.can.parser import CANParser
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index 8968d1dc29..e6aaa2a952 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -265,6 +265,7 @@ FW_VERSIONS = {
       b'NZ6A-14C204-AAA\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ6A-14C204-BE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index ff278d54e8..9b4ae508e5 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from cereal import car
 from panda import Panda
 from openpilot.common.conversions import Conversions as CV
diff --git a/selfdrive/car/hyundai/radar_interface.py b/selfdrive/car/hyundai/radar_interface.py
index e1cae9ffaf..754993a459 100644
--- a/selfdrive/car/hyundai/radar_interface.py
+++ b/selfdrive/car/hyundai/radar_interface.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import math
 
 from cereal import car
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 524cdee159..641c8ff4a0 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -176,7 +176,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", car_parts=CarParts.common([CarHarness.hyundai_o])),
   CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo",
                                                                       car_parts=CarParts.common([CarHarness.hyundai_i])),  # TODO: check packages
-  CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", car_parts=CarParts.common([CarHarness.hyundai_r])),
+  CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw", car_parts=CarParts.common([CarHarness.hyundai_r])),
   CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
   CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
                                                                       car_parts=CarParts.common([CarHarness.hyundai_l])),
@@ -576,11 +576,13 @@ FW_VERSIONS = {
       b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2510 4APHC101',
       b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2560 4APHC101',
       b'\xf1\x00AE  MDPS C 1.00 1.01 56310G2510\x00 4APHC101',
+      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2310 4APHC101',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00AEP MFC  AT USA LHD 1.00 1.01 95740-G2600 190819',
       b'\xf1\x00AEP MFC  AT EUR RHD 1.00 1.01 95740-G2600 190819',
       b'\xf1\x00AEP MFC  AT USA LHD 1.00 1.00 95740-G2700 201027',
+      b'\xf1\x00AEP MFC  AT EUR LHD 1.00 1.01 95740-G2600 190819',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -593,6 +595,7 @@ FW_VERSIONS = {
       b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\x00\x00\x00\x00',
       b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x00\x00\x00\x00',
       b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\xad\xeb\xabt',
+      b'\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00',
     ],
   },
   CAR.IONIQ_EV_2020: {
@@ -1411,10 +1414,6 @@ FW_VERSIONS = {
       b'\xf1\x8758520-K4010\xf1\x00OS IEB \x04 101 \x11\x13 58520-K4010',
       b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010',
       b'\xf1\x00OS IEB \r 102"\x05\x16 58520-K4010',
-      # TODO: these return from the MULTI request, above return from LONG
-      b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xd3\x00\x00\x00\x00\xff\xb7\xff\xee\xff\xe0\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xffP\xf5\xff\xfd\x00\x00\x00\x00\xfc\x00\x01',
-      b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xdb\x00\x00\x00\x00\xff\xb1\xff\xd9\xff\xd2\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xff\xd6\xf5\x00\x06\x00\x00\x00\x14\xfd\x00\x04',
-      b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xd3\x00\x00\x00\x00\xff\xb7\xff\xf4\xff\xd9\x00\xc0',
     ],
     (Ecu.fwdCamera, 0x7C4, None): [
       b'\xf1\x00OSP LKA  AT CND LHD 1.00 1.02 99211-J9110 802',
@@ -1930,6 +1929,7 @@ FW_VERSIONS = {
   CAR.KIA_SORENTO_HEV_4TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00MQ4HMFC  AT KOR LHD 1.00 1.12 99210-P2000 230331',
+      b'\xf1\x00MQ4HMFC  AT USA LHD 1.00 1.11 99210-P2000 211217',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00MQhe SCC FHCUP      1.00 1.07 99110-P4000         ',
@@ -1975,7 +1975,7 @@ EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR
           CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN}
 
 # these cars require a special panda safety mode due to missing counters and checksums in the messages
-LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_OPTIMA_G4,
+LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_OPTIMA_G4,
                           CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022,
                           CAR.KIA_OPTIMA_H}
 
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index 3d6b6cb70c..aedcaa1887 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -1,5 +1,5 @@
-#!/usr/bin/env python3
 from cereal import car
+from panda import Panda
 from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.nissan.values import CAR
@@ -31,7 +31,7 @@ class CarInterface(CarInterfaceBase):
       ret.centerToFront = ret.wheelbase * 0.44
     elif candidate == CAR.ALTIMA:
       # Altima has EPS on C-CAN unlike the others that have it on V-CAN
-      ret.safetyConfigs[0].safetyParam = 1 # EPS is on alternate bus
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS
       ret.mass = 1492
       ret.wheelbase = 2.824
       ret.centerToFront = ret.wheelbase * 0.44
diff --git a/selfdrive/car/nissan/radar_interface.py b/selfdrive/car/nissan/radar_interface.py
index b461fcd5f8..e654bd61fd 100644
--- a/selfdrive/car/nissan/radar_interface.py
+++ b/selfdrive/car/nissan/radar_interface.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index ec443dfd4d..19304efdb1 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -1,8 +1,13 @@
 from openpilot.common.numpy_fast import clip, interp
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
 from openpilot.selfdrive.car.subaru import subarucan
-from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, CanBus, CarControllerParams, SubaruFlags
+from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, STEER_RATE_LIMITED, CanBus, CarControllerParams, SubaruFlags
+
+# FIXME: These limits aren't exact. The real limit is more than likely over a larger time period and
+# involves the total steering angle change rather than rate, but these limits work well for now
+MAX_STEER_RATE = 25  # deg/s
+MAX_STEER_RATE_FRAMES = 7  # tx control frames needed before torque can be cut
 
 
 class CarController:
@@ -12,6 +17,7 @@ class CarController:
     self.frame = 0
 
     self.cruise_button_prev = 0
+    self.steer_rate_counter = 0
 
     self.p = CarControllerParams(CP)
     self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
@@ -38,7 +44,15 @@ class CarController:
       if self.CP.carFingerprint in PREGLOBAL_CARS:
         can_sends.append(subarucan.create_preglobal_steering_control(self.packer, self.frame // self.p.STEER_STEP, apply_steer, CC.latActive))
       else:
-        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, CC.latActive))
+        apply_steer_req = CC.latActive
+
+        if self.CP.carFingerprint in STEER_RATE_LIMITED:
+          # Steering rate fault prevention
+          self.steer_rate_counter, apply_steer_req = \
+            common_fault_avoidance(abs(CS.out.steeringRateDeg) > MAX_STEER_RATE, apply_steer_req,
+                                  self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
+
+        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, apply_steer_req))
 
       self.apply_steer_last = apply_steer
 
@@ -80,29 +94,30 @@ class CarController:
 
     else:
       if self.frame % 10 == 0:
-        can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg, CC.enabled, self.CP.openpilotLongitudinalControl,
+        can_sends.append(subarucan.create_es_dashstatus(self.packer, self.frame // 10, CS.es_dashstatus_msg, CC.enabled, self.CP.openpilotLongitudinalControl,
                                                         CC.longActive, hud_control.leadVisible))
 
-        can_sends.append(subarucan.create_es_lkas_state(self.packer, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
+        can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
                                                         hud_control.leftLaneVisible, hud_control.rightLaneVisible,
                                                         hud_control.leftLaneDepart, hud_control.rightLaneDepart))
 
         if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
-          can_sends.append(subarucan.create_es_infotainment(self.packer, CS.es_infotainment_msg, hud_control.visualAlert))
+          can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, CS.es_infotainment_msg, hud_control.visualAlert))
 
       if self.CP.openpilotLongitudinalControl:
         if self.frame % 5 == 0:
-          can_sends.append(subarucan.create_es_status(self.packer, CS.es_status_msg, self.CP.openpilotLongitudinalControl, CC.longActive, cruise_rpm))
+          can_sends.append(subarucan.create_es_status(self.packer, self.frame // 5, CS.es_status_msg,
+                                                      self.CP.openpilotLongitudinalControl, CC.longActive, cruise_rpm))
 
-          can_sends.append(subarucan.create_es_brake(self.packer, CS.es_brake_msg, CC.enabled, cruise_brake))
+          can_sends.append(subarucan.create_es_brake(self.packer, self.frame // 5, CS.es_brake_msg, CC.enabled, cruise_brake))
 
-          can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, 0, pcm_cancel_cmd,
+          can_sends.append(subarucan.create_es_distance(self.packer, self.frame // 5, CS.es_distance_msg, 0, pcm_cancel_cmd,
                                                         self.CP.openpilotLongitudinalControl, cruise_brake > 0, cruise_throttle))
       else:
         if pcm_cancel_cmd:
           if self.CP.carFingerprint not in HYBRID_CARS:
             bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main
-            can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd))
+            can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg["COUNTER"] + 1, CS.es_distance_msg, bus, pcm_cancel_cmd))
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 5d03a920a8..75bbc8ae91 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car import get_safety_config
diff --git a/selfdrive/car/subaru/radar_interface.py b/selfdrive/car/subaru/radar_interface.py
index b461fcd5f8..e654bd61fd 100644
--- a/selfdrive/car/subaru/radar_interface.py
+++ b/selfdrive/car/subaru/radar_interface.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):
diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py
index 0f297d9635..57c1ae7741 100644
--- a/selfdrive/car/subaru/subarucan.py
+++ b/selfdrive/car/subaru/subarucan.py
@@ -16,10 +16,9 @@ def create_steering_control(packer, apply_steer, steer_req):
 def create_steering_status(packer):
   return packer.make_can_msg("ES_LKAS_State", 0, {})
 
-def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd, long_enabled = False, brake_cmd = False, cruise_throttle = 0):
+def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long_enabled = False, brake_cmd = False, cruise_throttle = 0):
   values = {s: es_distance_msg[s] for s in [
     "CHECKSUM",
-    "COUNTER",
     "Signal1",
     "Cruise_Fault",
     "Cruise_Throttle",
@@ -39,7 +38,8 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd, long_enable
     "Cruise_Resume",
     "Signal6",
   ]}
-  values["COUNTER"] = (values["COUNTER"] + 1) % 0x10
+
+  values["COUNTER"] = frame % 0x10
 
   if long_enabled:
     values["Cruise_Throttle"] = cruise_throttle
@@ -57,10 +57,9 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd, long_enable
   return packer.make_can_msg("ES_Distance", bus, values)
 
 
-def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
+def create_es_lkas_state(packer, frame, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
   values = {s: es_lkas_state_msg[s] for s in [
     "CHECKSUM",
-    "COUNTER",
     "LKAS_Alert_Msg",
     "Signal1",
     "LKAS_ACTIVE",
@@ -77,6 +76,8 @@ def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_
     "Signal3",
   ]}
 
+  values["COUNTER"] = frame % 0x10
+
   # Filter the stock LKAS "Keep hands on wheel" alert
   if values["LKAS_Alert_Msg"] == 1:
     values["LKAS_Alert_Msg"] = 0
@@ -119,10 +120,9 @@ def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_
 
   return packer.make_can_msg("ES_LKAS_State", CanBus.main, values)
 
-def create_es_dashstatus(packer, dashstatus_msg, enabled, long_enabled, long_active, lead_visible):
+def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, long_active, lead_visible):
   values = {s: dashstatus_msg[s] for s in [
     "CHECKSUM",
-    "COUNTER",
     "PCB_Off",
     "LDW_Off",
     "Signal1",
@@ -150,6 +150,8 @@ def create_es_dashstatus(packer, dashstatus_msg, enabled, long_enabled, long_act
     "Cruise_State",
   ]}
 
+  values["COUNTER"] = frame % 0x10
+
   if enabled and long_active:
     values["Cruise_State"] = 0
     values["Cruise_Activated"] = 1
@@ -165,10 +167,9 @@ def create_es_dashstatus(packer, dashstatus_msg, enabled, long_enabled, long_act
 
   return packer.make_can_msg("ES_DashStatus", CanBus.main, values)
 
-def create_es_brake(packer, es_brake_msg, enabled, brake_value):
+def create_es_brake(packer, frame, es_brake_msg, enabled, brake_value):
   values = {s: es_brake_msg[s] for s in [
     "CHECKSUM",
-    "COUNTER",
     "Signal1",
     "Brake_Pressure",
     "AEB_Status",
@@ -179,6 +180,8 @@ def create_es_brake(packer, es_brake_msg, enabled, brake_value):
     "Signal3",
   ]}
 
+  values["COUNTER"] = frame % 0x10
+
   if enabled:
     values["Cruise_Activated"] = 1
 
@@ -190,10 +193,9 @@ def create_es_brake(packer, es_brake_msg, enabled, brake_value):
 
   return packer.make_can_msg("ES_Brake", CanBus.main, values)
 
-def create_es_status(packer, es_status_msg, long_enabled, long_active, cruise_rpm):
+def create_es_status(packer, frame, es_status_msg, long_enabled, long_active, cruise_rpm):
   values = {s: es_status_msg[s] for s in [
     "CHECKSUM",
-    "COUNTER",
     "Signal1",
     "Cruise_Fault",
     "Cruise_RPM",
@@ -204,6 +206,8 @@ def create_es_status(packer, es_status_msg, long_enabled, long_active, cruise_rp
     "Signal3",
   ]}
 
+  values["COUNTER"] = frame % 0x10
+
   if long_enabled:
     values["Cruise_RPM"] = cruise_rpm
 
@@ -213,16 +217,18 @@ def create_es_status(packer, es_status_msg, long_enabled, long_active, cruise_rp
   return packer.make_can_msg("ES_Status", CanBus.main, values)
 
 
-def create_es_infotainment(packer, es_infotainment_msg, visual_alert):
+def create_es_infotainment(packer, frame, es_infotainment_msg, visual_alert):
   # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
   values = {s: es_infotainment_msg[s] for s in [
     "CHECKSUM",
-    "COUNTER",
     "LKAS_State_Infotainment",
     "LKAS_Blue_Lines",
     "Signal1",
     "Signal2",
   ]}
+
+  values["COUNTER"] = frame % 0x10
+
   if values["LKAS_State_Infotainment"] in (3, 4):
     values["LKAS_State_Infotainment"] = 0
 
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 73ad6aebcc..7f66069514 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -310,6 +310,7 @@ FW_VERSIONS = {
       b'\xa2 !`\000',
       b'\xf1\x00\xb2\x06\x04',
       b'\xa2  `\x00',
+      b'\xa2 !3\x00',
     ],
     (Ecu.eps, 0x746, None): [
       b'\x9a\xc0\000\000',
@@ -323,6 +324,7 @@ FW_VERSIONS = {
       b'\x00\x00eq\x1f@ "',
       b'\x00\x00eq\x00\x00\x00\x00',
       b'\x00\x00e\x8f\x00\x00\x00\x00',
+      b'\x00\x00e\xa4\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xca!ap\a',
@@ -337,6 +339,7 @@ FW_VERSIONS = {
       b'\xf3"fp\x07',
       b'\xe6"f0\x07',
       b'\xe6"fp\x07',
+      b'\xe6!`@\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xe6\xf5\004\000\000',
@@ -348,6 +351,7 @@ FW_VERSIONS = {
       b'\xe9\xf6F0\x00',
       b'\xe9\xf5B0\x00',
       b'\xe9\xf6B0\x00',
+      b'\xe9\xf5"\x00\x00',
     ],
   },
   CAR.CROSSTREK_HYBRID: {
@@ -703,3 +707,7 @@ LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023}
 GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023}
 PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018}
 HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID}
+
+# Cars that temporarily fault when steering angle rate is greater than some threshold.
+# Appears to be all cars that started production after 2020
+STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020}
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
old mode 100644
new mode 100755
index aaf5b48915..8299d15d52
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -126,9 +126,11 @@ routes = [
   CarTestRoute("eb4eae1476647463|2023-08-26--18-07-04", HYUNDAI.IONIQ_6, segment=6),  # HDA2
   CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019),
   CarTestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.IONIQ_PHEV),
+  CarTestRoute("e1107f9d04dfb1e2|2023-09-05--22-32-12", HYUNDAI.IONIQ_PHEV),  # openpilot longitudinal enabled
   CarTestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020),
   CarTestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.IONIQ_EV_LTD),
   CarTestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.IONIQ),
+  CarTestRoute("012c95f06918eca4|2023-01-15--11-19-36", HYUNDAI.IONIQ),  # openpilot longitudinal enabled
   CarTestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.IONIQ_HEV_2022),
   CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA),
   CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV),
@@ -166,6 +168,7 @@ routes = [
   CarTestRoute("e9966711cfb04ce3|2022-01-11--07-59-43", TOYOTA.AVALON_TSS2),
   CarTestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.AVALONH_TSS2),
   CarTestRoute("6cdecc4728d4af37|2020-02-23--15-44-18", TOYOTA.CAMRY),
+  CarTestRoute("2f37c007683e85ba|2023-09-02--14-39-44", TOYOTA.CAMRY),  # openpilot longitudinal, with radar CAN filter
   CarTestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.CAMRY_TSS2),
   CarTestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRYH_TSS2),
   CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.CAMRYH),
@@ -241,6 +244,7 @@ routes = [
   CarTestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.FORESTER),
   CarTestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA),
   CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020),
+  # CarTestRoute("8de015561e1ea4a0|2023-08-29--17-08-31", SUBARU.IMPREZA),  # openpilot longitudinal
   CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=10),
   CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.LEGACY, segment=3),
   CarTestRoute("f4e3a0c511a076f4|2022-08-04--16-16-48", SUBARU.CROSSTREK_HYBRID, segment=2),
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index 8809994981..378b68e43e 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import pytest
 import random
 import time
 import unittest
@@ -175,7 +176,7 @@ class TestFwFingerprint(unittest.TestCase):
 
 class TestFwFingerprintTiming(unittest.TestCase):
   N: int = 5
-  TOL: float = 0.1
+  TOL: float = 0.12
 
   @staticmethod
   def _run_thread(thread: threading.Thread) -> float:
@@ -224,6 +225,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
     self._assert_timing(vin_time / self.N, vin_ref_time)
     print(f'get_vin, query time={vin_time / self.N} seconds')
 
+  @pytest.mark.timeout(60)
   def test_fw_query_timing(self):
     total_ref_time = 6.07
     brand_ref_times = {
diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py
index 9de6063f3d..1fc626972f 100755
--- a/selfdrive/car/tests/test_lateral_limits.py
+++ b/selfdrive/car/tests/test_lateral_limits.py
@@ -32,7 +32,7 @@ ABOVE_LIMITS_CARS = [
 car_model_jerks: DefaultDict[str, Dict[str, float]] = defaultdict(dict)
 
 
-@parameterized_class('car_model', [(c,) for c in CAR_MODELS])
+@parameterized_class('car_model', [(c,) for c in sorted(CAR_MODELS)])
 class TestLateralLimits(unittest.TestCase):
   car_model: str
 
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index d2198dc27b..6cebdde77b 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -24,6 +24,7 @@ from panda.tests.libpanda import libpanda_py
 from openpilot.selfdrive.test.helpers import SKIP_ENV_VAR
 
 PandaType = log.PandaState.PandaType
+SafetyModel = car.CarParams.SafetyModel
 
 NUM_JOBS = int(os.environ.get("NUM_JOBS", "1"))
 JOB_ID = int(os.environ.get("JOB_ID", "0"))
@@ -70,6 +71,7 @@ class TestCarModelBase(unittest.TestCase):
   ci: bool = True
 
   can_msgs: List[capnp.lib.capnp._DynamicStructReader]
+  elm_frame: Optional[int]
 
   @unittest.skipIf(SKIP_ENV_VAR in os.environ, f"Long running test skipped. Unset {SKIP_ENV_VAR} to run")
   @classmethod
@@ -105,6 +107,7 @@ class TestCarModelBase(unittest.TestCase):
 
       car_fw = []
       can_msgs = []
+      cls.elm_frame = None
       fingerprint = defaultdict(dict)
       experimental_long = False
       enabled_toggle = True
@@ -130,6 +133,16 @@ class TestCarModelBase(unittest.TestCase):
             if param.key == 'OpenpilotEnabledToggle':
               enabled_toggle = param.value.strip(b'\x00') == b'1'
 
+        # Log which can frame the panda safety mode left ELM327, for CAN validity checks
+        if msg.which() == 'pandaStates':
+          for ps in msg.pandaStates:
+            if cls.elm_frame is None and ps.safetyModel != SafetyModel.elm327:
+              cls.elm_frame = len(can_msgs)
+
+        elif msg.which() == 'pandaStateDEPRECATED':
+          if cls.elm_frame is None and msg.pandaStateDEPRECATED.safetyModel != SafetyModel.elm327:
+            cls.elm_frame = len(can_msgs)
+
       if len(can_msgs) > int(50 / DT_CTRL):
         break
     else:
@@ -204,8 +217,10 @@ class TestCarModelBase(unittest.TestCase):
     RI = RadarInterface(self.CP)
     assert RI
 
+    # Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting,
+    # start parsing CAN messages after we've left ELM mode and can expect CAN traffic
     error_cnt = 0
-    for i, msg in enumerate(self.can_msgs):
+    for i, msg in enumerate(self.can_msgs[self.elm_frame:]):
       rr = RI.update((msg.as_builder().to_bytes(),))
       if rr is not None and i > 50:
         error_cnt += car.RadarData.Error.canError in rr.errors
@@ -238,9 +253,9 @@ class TestCarModelBase(unittest.TestCase):
         if t > 1e6:
           self.assertTrue(self.safety.addr_checks_valid())
 
-          # No need to check relay malfunction on disabled routes (relay closed) or for reasonable fingerprinting time
-          # TODO: detect when relay has flipped to properly check relay malfunction
-          if self.openpilot_enabled and t > 5e6:
+          # No need to check relay malfunction on disabled routes (relay closed),
+          # or before fingerprinting is done (1s of tolerance to exit silent mode)
+          if self.openpilot_enabled and t / 1e4 > (self.elm_frame + 100):
             self.assertFalse(self.safety.get_relay_malfunction())
           else:
             self.safety.set_relay_malfunction(False)
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index ab242a09a2..d6f428ab1d 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from panda import Panda
@@ -205,7 +204,8 @@ class CarInterface(CarInterfaceBase):
     ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR
 
     # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
-    if 0x2FF in fingerprint[0]:
+    # 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs
+    if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):
       ret.flags |= ToyotaFlags.SMART_DSU.value
 
     # No radar dbc for cars without DSU which are not TSS 2.0
@@ -219,13 +219,14 @@ class CarInterface(CarInterfaceBase):
     ret.enableGasInterceptor = 0x201 in fingerprint[0]
 
     # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar.
-    # since we don't yet parse radar on TSS2 radar-based ACC cars, gate longitudinal behind experimental toggle
+    # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
     use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)
-    if candidate in RADAR_ACC_CAR:
+    if candidate in (RADAR_ACC_CAR | NO_DSU_CAR):
       ret.experimentalLongitudinalAvailable = use_sdsu
 
       if not use_sdsu:
-        if experimental_long and False:  # TODO: disabling radar isn't supported yet
+        # Disabling radar is only supported on TSS2 radar-ACC cars
+        if experimental_long and candidate in RADAR_ACC_CAR and False:  # TODO: disabling radar isn't supported yet
           ret.flags |= ToyotaFlags.DISABLE_RADAR.value
       else:
         use_sdsu = use_sdsu and experimental_long
@@ -237,6 +238,7 @@ class CarInterface(CarInterfaceBase):
     # openpilot longitudinal behind experimental long toggle:
     #  - TSS2 radar ACC cars w/ smartDSU installed
     #  - TSS2 radar ACC cars w/o smartDSU installed (disables radar)
+    #  - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet)
     ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
     ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
 
diff --git a/selfdrive/car/volkswagen/radar_interface.py b/selfdrive/car/volkswagen/radar_interface.py
index b461fcd5f8..e654bd61fd 100644
--- a/selfdrive/car/volkswagen/radar_interface.py
+++ b/selfdrive/car/volkswagen/radar_interface.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
old mode 100755
new mode 100644
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 8094030731..bb135071f2 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -381,6 +381,8 @@ class Controls:
     if not (self.sm['liveParameters'].sensorValid or 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['liveLocationKalman'].inputsOK and not NOSENSOR:
+      self.events.add(EventName.localizerMalfunction)
     if not self.sm['liveLocationKalman'].posenetOK:
       self.events.add(EventName.posenetInvalid)
     if not self.sm['liveLocationKalman'].deviceStable:
@@ -420,8 +422,6 @@ class Controls:
 
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
-      if self.sm['liveLocationKalman'].excessiveResets:
-        self.events.add(EventName.localizerMalfunction)
 
   def data_sample(self):
     """Receive data from sockets and update carState"""
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 7c30effce5..6f41224475 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 import math
 import os
 from enum import IntEnum
@@ -575,11 +576,9 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
     ET.PERMANENT: NormalPermanentAlert("GPS Malfunction", "Likely Hardware Issue"),
   },
 
-  # When the GPS position and localizer diverge the localizer is reset to the
-  # current GPS position. This alert is thrown when the localizer is reset
-  # more often than expected.
   EventName.localizerMalfunction: {
-    # ET.PERMANENT: NormalPermanentAlert("Sensor Malfunction", "Hardware Malfunction"),
+    ET.NO_ENTRY: NoEntryAlert("Localizer Malfunction"),
+    ET.SOFT_DISABLE: soft_disable_alert("Localizer Malfunction"),
   },
 
   # ********** events that affect controls state transitions **********
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
old mode 100644
new mode 100755
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 8a21fdd8ab..ec42ae66f2 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -50,7 +50,8 @@ class KalmanParams:
 
 
 class Track:
-  def __init__(self, v_lead: float, kalman_params: KalmanParams):
+  def __init__(self, identifier: int, v_lead: float, kalman_params: KalmanParams):
+    self.identifier = identifier
     self.cnt = 0
     self.aLeadTau = _LEAD_ACCEL_TAU
     self.K_A = kalman_params.A
@@ -98,11 +99,12 @@ class Track:
       "vLead": float(self.vLead),
       "vLeadK": float(self.vLeadK),
       "aLeadK": float(self.aLeadK),
+      "aLeadTau": float(self.aLeadTau),
       "status": True,
       "fcw": self.is_potential_fcw(model_prob),
       "modelProb": model_prob,
       "radar": True,
-      "aLeadTau": float(self.aLeadTau)
+      "radarTrackId": self.identifier,
     }
 
   def potential_low_speed_lead(self, v_ego: float):
@@ -158,8 +160,9 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
     "aLeadTau": 0.3,
     "fcw": False,
     "modelProb": float(lead_msg.prob),
+    "status": True,
     "radar": False,
-    "status": True
+    "radarTrackId": -1,
   }
 
 
@@ -237,7 +240,7 @@ class RadarD:
 
       # create the track if it doesn't exist or it's a new track
       if ids not in self.tracks:
-        self.tracks[ids] = Track(v_lead, self.kalman_params)
+        self.tracks[ids] = Track(ids, v_lead, self.kalman_params)
       self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, rpt[3])
 
     # *** publish radarState ***
diff --git a/selfdrive/controls/tests/test_cruise_speed.py b/selfdrive/controls/tests/test_cruise_speed.py
index 1d43b49ccf..76a2222e85 100755
--- a/selfdrive/controls/tests/test_cruise_speed.py
+++ b/selfdrive/controls/tests/test_cruise_speed.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import itertools
 import numpy as np
 import unittest
 
@@ -31,21 +32,19 @@ def run_cruise_simulation(cruise, e2e, t_end=20.):
   return output[-1, 3]
 
 
+@parameterized_class(("e2e", "personality", "speed"), itertools.product(
+                      [True, False], # e2e
+                      log.LongitudinalPersonality.schema.enumerants, # personality
+                      [5,35])) # speed
 class TestCruiseSpeed(unittest.TestCase):
   def test_cruise_speed(self):
     params = Params()
-    personalities = [log.LongitudinalPersonality.relaxed,
-                     log.LongitudinalPersonality.standard,
-                     log.LongitudinalPersonality.aggressive]
-    for personality in personalities:
-      params.put("LongitudinalPersonality", str(personality))
-      for e2e in [False, True]:
-        for speed in [5,35]:
-          print(f'Testing {speed} m/s')
-          cruise_speed = float(speed)
-
-          simulation_steady_state = run_cruise_simulation(cruise_speed, e2e)
-          self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {speed} m/s')
+    params.put("LongitudinalPersonality", str(self.personality))
+    print(f'Testing {self.speed} m/s')
+    cruise_speed = float(self.speed)
+
+    simulation_steady_state = run_cruise_simulation(cruise_speed, self.e2e)
+    self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {self.speed} m/s')
 
 
 # TODO: test pcmCruise
diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py
old mode 100644
new mode 100755
diff --git a/selfdrive/controls/tests/test_leads.py b/selfdrive/controls/tests/test_leads.py
old mode 100644
new mode 100755
diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index 3d190fb00a..f00595618e 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -24,11 +24,11 @@ from laika.opt import calc_pos_fix, get_posfix_sympy_fun, calc_vel_fix, get_velf
 from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind
 from openpilot.selfdrive.locationd.models.gnss_kf import GNSSKalman
 from openpilot.selfdrive.locationd.models.gnss_kf import States as GStates
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.swaglog import cloudlog
 
 MAX_TIME_GAP = 10
 EPHEMERIS_CACHE = 'LaikadEphemerisV3'
-DOWNLOADS_CACHE_FOLDER = "/tmp/comma_download_cache/"
 CACHE_VERSION = 0.2
 POS_FIX_RESIDUAL_THRESHOLD = 100.0
 
@@ -83,7 +83,7 @@ class Laikad:
     save_ephemeris: If true saves and loads nav and orbit ephemeris to cache.
     """
     self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types,
-                              clear_old_ephemeris=True, cache_dir=DOWNLOADS_CACHE_FOLDER)
+                              clear_old_ephemeris=True, cache_dir=Paths.download_cache_root())
     self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True, erratic_clock=use_qcom)
 
     self.auto_fetch_navs = auto_fetch_navs
@@ -435,9 +435,9 @@ def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMe
 
 
 def clear_tmp_cache():
-  if os.path.exists(DOWNLOADS_CACHE_FOLDER):
-    shutil.rmtree(DOWNLOADS_CACHE_FOLDER)
-  os.mkdir(DOWNLOADS_CACHE_FOLDER)
+  if os.path.exists(Paths.download_cache_root()):
+    shutil.rmtree(Paths.download_cache_root())
+  os.mkdir(Paths.download_cache_root())
 
 
 def main(sm=None, pm=None):
diff --git a/selfdrive/locationd/liblocationd.cc b/selfdrive/locationd/liblocationd.cc
old mode 100755
new mode 100644
diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
old mode 100755
new mode 100644
index 401de0cfdd..600ba46853
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@@ -21,9 +21,11 @@ const double VALID_TIME_SINCE_RESET = 1.0; // s
 const double VALID_POS_STD = 50.0; // m
 const double MAX_RESET_TRACKER = 5.0;
 const double SANE_GPS_UNCERTAINTY = 1500.0; // m
-const double INPUT_INVALID_THRESHOLD = 5.0; // same as reset tracker
-const double DECAY = 0.99995; // same as reset tracker
+const double INPUT_INVALID_THRESHOLD = 0.5; // same as reset tracker
+const double RESET_TRACKER_DECAY = 0.99995;
+const double DECAY = 0.9993; // ~10 secs to resume after a bad input
 const double MAX_FILTER_REWIND_TIME = 0.8; // s
+const double YAWRATE_CROSS_ERR_CHECK_FACTOR = 30;
 
 // TODO: GPS sensor time offsets are empirically calculated
 // They should be replaced with synced time from a real clock
@@ -256,7 +258,13 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData
   if (log.getSensor() == SENSOR_GYRO_UNCALIBRATED && log.getType() == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
     auto v = log.getGyroUncalibrated().getV();
     auto meas = Vector3d(-v[2], -v[1], -v[0]);
-    if (meas.norm() < ROTATION_SANITY_CHECK) {
+
+    VectorXd gyro_bias = this->kf->get_x().segment<STATE_GYRO_BIAS_LEN>(STATE_GYRO_BIAS_START);
+    float gyro_camodo_yawrate_err = std::abs((meas[2] - gyro_bias[2]) - this->camodo_yawrate_distribution[0]);
+    float gyro_camodo_yawrate_err_threshold = YAWRATE_CROSS_ERR_CHECK_FACTOR * this->camodo_yawrate_distribution[1];
+    bool gyro_valid = gyro_camodo_yawrate_err < gyro_camodo_yawrate_err_threshold;
+
+    if ((meas.norm() < ROTATION_SANITY_CHECK) && gyro_valid) {
       this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_GYRO, { meas });
       this->observation_values_invalid["gyroscope"] *= DECAY;
     } else {
@@ -483,6 +491,7 @@ void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry
   this->kf->predict_and_observe(current_time, OBSERVATION_CAMERA_ODO_TRANSLATION,
     { trans_device }, { trans_device_cov });
   this->observation_values_invalid["cameraOdometry"] *= DECAY;
+  this->camodo_yawrate_distribution = Vector2d(rot_device[2], rotate_std(this->device_from_calib, rot_calib_std)[2]);
 }
 
 void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log) {
@@ -538,7 +547,7 @@ void Localizer::time_check(double current_time) {
 void Localizer::update_reset_tracker() {
   // reset tracker is tuned to trigger when over 1reset/10s over 2min period
   if (this->is_gps_ok()) {
-    this->reset_tracker *= DECAY;
+    this->reset_tracker *= RESET_TRACKER_DECAY;
   } else {
     this->reset_tracker = 0.0;
   }
diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h
old mode 100755
new mode 100644
index f3069048cd..47c8bf5627
--- a/selfdrive/locationd/locationd.h
+++ b/selfdrive/locationd/locationd.h
@@ -94,6 +94,7 @@ private:
   float gps_variance_factor;
   float gps_vertical_variance_factor;
   double gps_time_offset;
+  Eigen::VectorXd camodo_yawrate_distribution = Eigen::Vector2d(0.0, 10.0); // mean, std
 
   void configure_gnss_source(const LocalizerGnssSource &source);
 };
diff --git a/selfdrive/locationd/models/live_kf.cc b/selfdrive/locationd/models/live_kf.cc
old mode 100755
new mode 100644
diff --git a/selfdrive/locationd/models/live_kf.h b/selfdrive/locationd/models/live_kf.h
old mode 100755
new mode 100644
diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py
index 6c6ac33431..99047c37f3 100755
--- a/selfdrive/locationd/test/test_locationd.py
+++ b/selfdrive/locationd/test/test_locationd.py
@@ -80,7 +80,7 @@ class TestLocationdProc(unittest.TestCase):
     for msg in sorted(msgs, key=lambda x: x.logMonoTime):
       self.pm.send(msg.which(), msg)
       if msg.which() == "cameraOdometry":
-        self.pm.wait_for_readers_to_update(msg.which(), 0.1)
+        self.pm.wait_for_readers_to_update(msg.which(), 0.1, dt=0.005)
     time.sleep(1)  # wait for async params write
 
     lastGPS = json.loads(self.params.get('LastGPSPosition'))
diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py
index 50e684fcb5..fd57cb9a8d 100644
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@@ -58,7 +58,7 @@ procs = [
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
   NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
   NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], only_onroad),
-  NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], only_onroad),
+  PythonProcess("navmodeld", "selfdrive.modeld.navmodeld", only_onroad),
   NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
   NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], only_onroad),
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 03836b6593..1c4d46795e 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -69,11 +69,6 @@ lenv.Program('_dmonitoringmodeld', [
     "models/dmonitoring.cc",
   ]+common_model, LIBS=libs + snpe_lib)
 
-lenv.Program('_navmodeld', [
-    "navmodeld.cc",
-    "models/nav.cc",
-  ]+common_model, LIBS=libs + snpe_lib)
-
 # Build thneed model
 if arch == "larch64" or GetOption('pc_thneed'):
   fn = File("models/supercombo").abspath
diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h
index f13cd155f1..de0250d212 100644
--- a/selfdrive/modeld/models/driving.h
+++ b/selfdrive/modeld/models/driving.h
@@ -6,13 +6,16 @@
 #include "cereal/messaging/messaging.h"
 #include "common/modeldata.h"
 #include "common/util.h"
-#include "selfdrive/modeld/models/nav.h"
+#include "selfdrive/modeld/models/commonmodel.h"
+#include "selfdrive/modeld/runners/run.h"
 
 constexpr int FEATURE_LEN = 128;
 constexpr int HISTORY_BUFFER_LEN = 99;
 constexpr int DESIRE_LEN = 8;
 constexpr int DESIRE_PRED_LEN = 4;
 constexpr int TRAFFIC_CONVENTION_LEN = 2;
+constexpr int NAV_FEATURE_LEN = 256;
+constexpr int NAV_INSTRUCTION_LEN = 150;
 constexpr int DRIVING_STYLE_LEN = 12;
 constexpr int MODEL_FREQ = 20;
 
diff --git a/selfdrive/modeld/models/nav.cc b/selfdrive/modeld/models/nav.cc
deleted file mode 100644
index 8208b0bfef..0000000000
--- a/selfdrive/modeld/models/nav.cc
+++ /dev/null
@@ -1,71 +0,0 @@
-#include "selfdrive/modeld/models/nav.h"
-
-#include <cstdio>
-#include <cstring>
-
-#include "common/mat.h"
-#include "common/modeldata.h"
-#include "common/timing.h"
-
-
-void navmodel_init(NavModelState* s) {
-  #ifdef USE_ONNX_MODEL
-    s->m = new ONNXModel("models/navmodel.onnx", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, true);
-  #else
-    s->m = new SNPEModel("models/navmodel_q.dlc", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, true);
-  #endif
-
-  s->m->addInput("map", NULL, 0);
-}
-
-NavModelResult* navmodel_eval_frame(NavModelState* s, VisionBuf* buf) {
-  memcpy(s->net_input_buf, buf->addr, NAV_INPUT_SIZE);
-
-  double t1 = millis_since_boot();
-  s->m->setInputBuffer("map", (float*)s->net_input_buf, NAV_INPUT_SIZE/sizeof(float));
-  s->m->execute();
-  double t2 = millis_since_boot();
-
-  NavModelResult *model_res = (NavModelResult*)&s->output;
-  model_res->dsp_execution_time = (t2 - t1) / 1000.;
-  return model_res;
-}
-
-void fill_plan(cereal::NavModelData::Builder &framed, const NavModelOutputPlan &plan) {
-  std::array<float, TRAJECTORY_SIZE> pos_x, pos_y;
-  std::array<float, TRAJECTORY_SIZE> pos_x_std, pos_y_std;
-
-  for (int i=0; i<TRAJECTORY_SIZE; i++) {
-    pos_x[i] = plan.mean[i].x;
-    pos_y[i] = plan.mean[i].y;
-    pos_x_std[i] = exp(plan.std[i].x);
-    pos_y_std[i] = exp(plan.std[i].y);
-  }
-
-  auto position = framed.initPosition();
-  position.setX(to_kj_array_ptr(pos_x));
-  position.setY(to_kj_array_ptr(pos_y));
-  position.setXStd(to_kj_array_ptr(pos_x_std));
-  position.setYStd(to_kj_array_ptr(pos_y_std));
-}
-
-void navmodel_publish(PubMaster &pm, VisionIpcBufExtra &extra, const NavModelResult &model_res, float execution_time, bool route_valid) {
-  // make msg
-  MessageBuilder msg;
-  auto evt = msg.initEvent();
-  auto framed = evt.initNavModel();
-  evt.setValid(extra.valid && route_valid);
-  framed.setFrameId(extra.frame_id);
-  framed.setLocationMonoTime(extra.timestamp_sof);
-  framed.setModelExecutionTime(execution_time);
-  framed.setDspExecutionTime(model_res.dsp_execution_time);
-  framed.setFeatures(to_kj_array_ptr(model_res.features.values));
-  framed.setDesirePrediction(to_kj_array_ptr(model_res.desire_pred.values));
-  fill_plan(framed, model_res.plan);
-
-  pm.send("navModel", msg);
-}
-
-void navmodel_free(NavModelState* s) {
-  delete s->m;
-}
diff --git a/selfdrive/modeld/models/nav.h b/selfdrive/modeld/models/nav.h
deleted file mode 100644
index 800abec252..0000000000
--- a/selfdrive/modeld/models/nav.h
+++ /dev/null
@@ -1,57 +0,0 @@
-#pragma once
-
-#include "cereal/messaging/messaging.h"
-#include "cereal/visionipc/visionipc_client.h"
-#include "common/util.h"
-#include "common/modeldata.h"
-#include "selfdrive/modeld/models/commonmodel.h"
-#include "selfdrive/modeld/runners/run.h"
-
-constexpr int NAV_INPUT_SIZE = 256*256;
-constexpr int NAV_FEATURE_LEN = 256;
-constexpr int NAV_INSTRUCTION_LEN = 150;
-constexpr int NAV_DESIRE_LEN = 32;
-
-struct NavModelOutputXY {
-  float x;
-  float y;
-};
-static_assert(sizeof(NavModelOutputXY) == sizeof(float)*2);
-
-struct NavModelOutputPlan {
-  std::array<NavModelOutputXY, TRAJECTORY_SIZE> mean;
-  std::array<NavModelOutputXY, TRAJECTORY_SIZE> std;
-};
-static_assert(sizeof(NavModelOutputPlan) == sizeof(NavModelOutputXY)*TRAJECTORY_SIZE*2);
-
-struct NavModelOutputDesirePrediction {
-  std::array<float, NAV_DESIRE_LEN> values;
-};
-static_assert(sizeof(NavModelOutputDesirePrediction) == sizeof(float)*NAV_DESIRE_LEN);
-
-struct NavModelOutputFeatures {
-  std::array<float, NAV_FEATURE_LEN> values;
-};
-static_assert(sizeof(NavModelOutputFeatures) == sizeof(float)*NAV_FEATURE_LEN);
-
-struct NavModelResult {
-  const NavModelOutputPlan plan;
-  const NavModelOutputDesirePrediction desire_pred;
-  const NavModelOutputFeatures features;
-  float dsp_execution_time;
-};
-static_assert(sizeof(NavModelResult) == sizeof(NavModelOutputPlan) + sizeof(NavModelOutputDesirePrediction) + sizeof(NavModelOutputFeatures) + sizeof(float));
-
-constexpr int NAV_OUTPUT_SIZE = sizeof(NavModelResult) / sizeof(float);
-constexpr int NAV_NET_OUTPUT_SIZE = NAV_OUTPUT_SIZE - 1;
-
-struct NavModelState {
-  RunModel *m;
-  uint8_t net_input_buf[NAV_INPUT_SIZE];
-  float output[NAV_OUTPUT_SIZE];
-};
-
-void navmodel_init(NavModelState* s);
-NavModelResult* navmodel_eval_frame(NavModelState* s, VisionBuf* buf);
-void navmodel_publish(PubMaster &pm, VisionIpcBufExtra &extra, const NavModelResult &model_res, float execution_time, bool route_valid);
-void navmodel_free(NavModelState* s);
diff --git a/selfdrive/modeld/navmodeld b/selfdrive/modeld/navmodeld
deleted file mode 100755
index 58215c2e9d..0000000000
--- a/selfdrive/modeld/navmodeld
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/usr/bin/env bash
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd $DIR
-
-if [ -f /TICI ]; then
-  export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/third_party/snpe/larch64:$LD_LIBRARY_PATH"
-  export ADSP_LIBRARY_PATH="/data/pythonpath/third_party/snpe/dsp/"
-else
-  export LD_LIBRARY_PATH="$DIR/../../third_party/snpe/x86_64-linux-clang:$DIR/../../openpilot/third_party/snpe/x86_64:$LD_LIBRARY_PATH"
-fi
-exec ./_navmodeld
diff --git a/selfdrive/modeld/navmodeld.cc b/selfdrive/modeld/navmodeld.cc
deleted file mode 100644
index 4610f503d1..0000000000
--- a/selfdrive/modeld/navmodeld.cc
+++ /dev/null
@@ -1,70 +0,0 @@
-#include <sys/resource.h>
-#include <limits.h>
-
-#include <cstdio>
-#include <cstdlib>
-
-#include "cereal/visionipc/visionipc_client.h"
-#include "common/params.h"
-#include "common/swaglog.h"
-#include "common/util.h"
-#include "selfdrive/modeld/models/nav.h"
-
-ExitHandler do_exit;
-
-void run_model(NavModelState &model, VisionIpcClient &vipc_client) {
-  SubMaster sm({"navInstruction"});
-  PubMaster pm({"navModel"});
-
-  //double last_ts = 0;
-  //uint32_t last_frame_id = 0;
-  VisionIpcBufExtra extra = {};
-
-  while (!do_exit) {
-    VisionBuf *buf = vipc_client.recv(&extra);
-    if (buf == nullptr) continue;
-
-    sm.update(0);
-
-    double t1 = millis_since_boot();
-    NavModelResult *model_res = navmodel_eval_frame(&model, buf);
-    double t2 = millis_since_boot();
-
-    // send navmodel packet
-    navmodel_publish(pm, extra, *model_res, (t2 - t1) / 1000.0, sm["navInstruction"].getValid());
-
-    //printf("navmodel process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last_ts);
-    //last_ts = t1;
-    //last_frame_id = extra.frame_id;
-  }
-}
-
-int main(int argc, char **argv) {
-  setpriority(PRIO_PROCESS, 0, -15);
-
-  // there exists a race condition when two processes try to create a
-  // SNPE model runner at the same time, wait for dmonitoringmodeld to finish
-  LOGW("waiting for dmonitoringmodeld to initialize");
-  if (!Params().getBool("DmModelInitialized", true)) {
-    return 0;
-  }
-
-  // init the models
-  NavModelState model;
-  navmodel_init(&model);
-  LOGW("models loaded, navmodeld starting");
-
-  VisionIpcClient vipc_client = VisionIpcClient("navd", VISION_STREAM_MAP, true);
-  while (!do_exit && !vipc_client.connect(false)) {
-    util::sleep_for(100);
-  }
-
-  // run the models
-  if (vipc_client.connected) {
-    LOGW("connected with buffer size: %zu", vipc_client.buffers[0].len);
-    run_model(model, vipc_client);
-  }
-
-  navmodel_free(&model);
-  return 0;
-}
diff --git a/selfdrive/modeld/navmodeld.py b/selfdrive/modeld/navmodeld.py
new file mode 100755
index 0000000000..54f85f9ae8
--- /dev/null
+++ b/selfdrive/modeld/navmodeld.py
@@ -0,0 +1,118 @@
+#!/usr/bin/env python3
+import gc
+import math
+import time
+import ctypes
+import numpy as np
+from pathlib import Path
+from typing import Tuple, Dict
+
+from cereal import messaging
+from cereal.messaging import PubMaster, SubMaster
+from cereal.visionipc import VisionIpcClient, VisionStreamType
+from openpilot.system.swaglog import cloudlog
+from openpilot.common.params import Params
+from openpilot.common.realtime import set_realtime_priority
+from openpilot.selfdrive.modeld.constants import IDX_N
+from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
+
+NAV_INPUT_SIZE = 256*256
+NAV_FEATURE_LEN = 256
+NAV_DESIRE_LEN = 32
+NAV_OUTPUT_SIZE = 2*2*IDX_N + NAV_DESIRE_LEN + NAV_FEATURE_LEN
+MODEL_PATHS = {
+  ModelRunner.SNPE: Path(__file__).parent / 'models/navmodel_q.dlc',
+  ModelRunner.ONNX: Path(__file__).parent / 'models/navmodel.onnx'}
+
+class NavModelOutputXY(ctypes.Structure):
+  _fields_ = [
+    ("x", ctypes.c_float),
+    ("y", ctypes.c_float)]
+
+class NavModelOutputPlan(ctypes.Structure):
+  _fields_ = [
+    ("mean", NavModelOutputXY*IDX_N),
+    ("std", NavModelOutputXY*IDX_N)]
+
+class NavModelResult(ctypes.Structure):
+  _fields_ = [
+    ("plan", NavModelOutputPlan),
+    ("desire_pred", ctypes.c_float*NAV_DESIRE_LEN),
+    ("features", ctypes.c_float*NAV_FEATURE_LEN)]
+
+class ModelState:
+  inputs: Dict[str, np.ndarray]
+  output: np.ndarray
+  model: ModelRunner
+
+  def __init__(self):
+    assert ctypes.sizeof(NavModelResult) == NAV_OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
+    self.output = np.zeros(NAV_OUTPUT_SIZE, dtype=np.float32)
+    self.inputs = {'map': np.zeros(NAV_INPUT_SIZE, dtype=np.uint8)}
+    self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.DSP, True, None)
+    self.model.addInput("map", None)
+
+  def run(self, buf:np.ndarray) -> Tuple[np.ndarray, float]:
+    self.inputs['map'][:] = buf
+
+    t1 = time.perf_counter()
+    self.model.setInputBuffer("map", self.inputs['map'].view(np.float32))
+    self.model.execute()
+    t2 = time.perf_counter()
+    return self.output, t2 - t1
+
+def get_navmodel_packet(model_output: np.ndarray, valid: bool, frame_id: int, location_ts: int, execution_time: float, dsp_execution_time: float):
+  model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(NavModelResult)).contents
+  msg = messaging.new_message('navModel')
+  msg.valid = valid
+  msg.navModel.frameId = frame_id
+  msg.navModel.locationMonoTime = location_ts
+  msg.navModel.modelExecutionTime = execution_time
+  msg.navModel.dspExecutionTime = dsp_execution_time
+  msg.navModel.features = model_result.features[:]
+  msg.navModel.desirePrediction = model_result.desire_pred[:]
+  msg.navModel.position.x = [p.x for p in model_result.plan.mean]
+  msg.navModel.position.y = [p.y for p in model_result.plan.mean]
+  msg.navModel.position.xStd = [math.exp(p.x) for p in model_result.plan.std]
+  msg.navModel.position.yStd = [math.exp(p.y) for p in model_result.plan.std]
+  return msg
+
+
+def main():
+  gc.disable()
+  set_realtime_priority(1)
+
+  # there exists a race condition when two processes try to create a
+  # SNPE model runner at the same time, wait for dmonitoringmodeld to finish
+  cloudlog.warning("waiting for dmonitoringmodeld to initialize")
+  if not Params().get_bool("DmModelInitialized", True):
+    return
+
+  model = ModelState()
+  cloudlog.warning("models loaded, navmodeld starting")
+
+  vipc_client = VisionIpcClient("navd", VisionStreamType.VISION_STREAM_MAP, True)
+  while not vipc_client.connect(False):
+    time.sleep(0.1)
+  assert vipc_client.is_connected()
+  cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}")
+
+  sm = SubMaster(["navInstruction"])
+  pm = PubMaster(["navModel"])
+
+  while True:
+    buf = vipc_client.recv()
+    if buf is None:
+      continue
+
+    sm.update(0)
+    t1 = time.perf_counter()
+    model_output, dsp_execution_time = model.run(buf.data[:buf.uv_offset])
+    t2 = time.perf_counter()
+
+    valid = vipc_client.valid and sm.valid["navInstruction"]
+    pm.send("navModel", get_navmodel_packet(model_output, valid, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, dsp_execution_time))
+
+
+if __name__ == "__main__":
+  main()
diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py
index 6a6a0846b7..0ccd1f144b 100755
--- a/selfdrive/navd/navd.py
+++ b/selfdrive/navd/navd.py
@@ -5,14 +5,12 @@ import os
 import threading
 
 import requests
-import numpy as np
 
 import cereal.messaging as messaging
 from cereal import log
 from openpilot.common.api import Api
 from openpilot.common.params import Params
 from openpilot.common.realtime import Ratekeeper
-from openpilot.common.transformations.coordinates import ecef2geodetic
 from openpilot.selfdrive.navd.helpers import (Coordinate, coordinate_from_param,
                                     distance_along_geometry, maxspeed_to_ms,
                                     minimum_distance,
@@ -21,7 +19,6 @@ from openpilot.system.swaglog import cloudlog
 
 REROUTE_DISTANCE = 25
 MANEUVER_TRANSITION_THRESHOLD = 10
-VALID_POS_STD = 50.0
 REROUTE_COUNTER_MIN = 3
 
 
@@ -79,21 +76,13 @@ class RouteEngine:
 
   def update_location(self):
     location = self.sm['liveLocationKalman']
-    laikad = self.sm['gnssMeasurements']
+    self.gps_ok = location.gpsOK
 
-    locationd_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid
-    laikad_valid = laikad.positionECEF.valid and np.linalg.norm(laikad.positionECEF.std) < VALID_POS_STD
+    self.localizer_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid
 
-    self.localizer_valid = locationd_valid or laikad_valid
-    self.gps_ok = location.gpsOK or laikad_valid
-
-    if locationd_valid:
+    if self.localizer_valid:
       self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2])
       self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1])
-    elif laikad_valid:
-      geodetic = ecef2geodetic(laikad.positionECEF.value)
-      self.last_position = Coordinate(geodetic[0], geodetic[1])
-      self.last_bearing = None
 
   def recompute_route(self):
     if self.last_position is None:
@@ -357,7 +346,7 @@ class RouteEngine:
 
 def main(sm=None, pm=None):
   if sm is None:
-    sm = messaging.SubMaster(['liveLocationKalman', 'gnssMeasurements', 'managerState'])
+    sm = messaging.SubMaster(['liveLocationKalman', 'managerState'])
   if pm is None:
     pm = messaging.PubMaster(['navInstruction', 'navRoute'])
 
diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py
index 1fbf2c4d20..eb07432c40 100644
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -1,9 +1,6 @@
 import os
 import time
-import tempfile
-from typing import List, Union
 
-from unittest import mock
 from functools import wraps
 
 import cereal.messaging as messaging
@@ -72,46 +69,3 @@ def with_processes(processes, init_time=0, ignore_stopped=None):
 
     return wrap
   return wrapper
-
-
-def temporary_mock_dir(mock_paths_in: Union[List[str], str], kwarg: Union[str, None] = None, generator = tempfile.TemporaryDirectory):
-  """
-  mock_paths_in: string or string list representing the full path of the variable you want to mock.
-  kwarg: str or None representing the kwarg that gets passed into the test function, in case the test needs access to the temporary directory.
-  generator: a context to use to generate the temporary directory
-  """
-  def wrapper(func):
-    @wraps(func)
-    def wrap(*args, **kwargs):
-      mock_paths = mock_paths_in if isinstance(mock_paths_in, list) else [mock_paths_in]
-      with generator() as temp_dir:
-        mocks = []
-        for mock_path in mock_paths:
-          mocks.append(mock.patch(mock_path, str(temp_dir)))
-        [mock.start() for mock in mocks]
-        try:
-          if kwarg is not None:
-            kwargs[kwarg] = temp_dir
-          func(*args, **kwargs)
-        finally:
-          [mock.stop() for mock in mocks]
-
-    return wrap
-  return wrapper
-
-def string_context(context):
-  class StringContext:
-    def __enter__(self):
-      return context
-
-    def __exit__(self, *args):
-      pass
-
-  return StringContext
-
-temporary_dir = temporary_mock_dir([], "temp_dir")
-temporary_cache_dir = temporary_mock_dir("openpilot.tools.lib.url_file.CACHE_DIR")
-temporary_swaglog_dir = temporary_mock_dir("openpilot.system.swaglog.SWAGLOG_DIR", "temp_dir")
-temporary_laikad_downloads_dir = temporary_mock_dir("openpilot.selfdrive.locationd.laikad.DOWNLOADS_CACHE_FOLDER")
-temporary_swaglog_ipc = temporary_mock_dir(["openpilot.system.swaglog.SWAGLOG_IPC", "system.logmessaged.SWAGLOG_IPC"],
-                                           generator=string_context("/tmp/test_swaglog_ipc"))
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 8ad27d5135..eb49d0dedb 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -17,12 +17,12 @@ from cereal import car
 from cereal.services import service_list
 from cereal.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
 from openpilot.common.params import Params
+from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
 from openpilot.common.realtime import DT_CTRL
 from panda.python import ALTERNATIVE_EXPERIENCE
 from openpilot.selfdrive.car.car_helpers import get_car, interfaces
 from openpilot.selfdrive.manager.process_config import managed_processes
-from openpilot.selfdrive.test.process_replay.helpers import OpenpilotPrefix, DummySocket
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
 from openpilot.selfdrive.test.process_replay.capture import ProcessOutputCapture
@@ -33,6 +33,18 @@ NUMPY_TOLERANCE = 1e-7
 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__))
 FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/")
 
+class DummySocket:
+  def __init__(self):
+    self.data: List[bytes] = []
+
+  def receive(self, non_blocking: bool = False) -> Optional[bytes]:
+    if non_blocking:
+      return None
+
+    return self.data.pop()
+
+  def send(self, data: bytes):
+    self.data.append(data)
 
 class LauncherWithCapture:
   def __init__(self, capture: ProcessOutputCapture, launcher: Callable):
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index cee528c62d..19a8a56e55 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-20022e4a1b5f5df343465180a3865b0c78890544
\ No newline at end of file
+98c21236f831ca3cff63939cb760b213460e84de
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/regen_all.py b/selfdrive/test/process_replay/regen_all.py
index f42686ac6a..df7c76a14d 100755
--- a/selfdrive/test/process_replay/regen_all.py
+++ b/selfdrive/test/process_replay/regen_all.py
@@ -6,7 +6,7 @@ import random
 import traceback
 from tqdm import tqdm
 
-from openpilot.selfdrive.test.process_replay.helpers import OpenpilotPrefix
+from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.selfdrive.test.process_replay.regen import regen_and_save
 from openpilot.selfdrive.test.process_replay.test_processes import FAKEDATA, source_segments as segments
 from openpilot.tools.lib.route import SegmentName
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 22055d8f20..9fa48b43d8 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -19,8 +19,8 @@ from openpilot.common.timeout import Timeout
 from openpilot.common.params import Params
 from openpilot.selfdrive.controls.lib.events import EVENTS, ET
 from openpilot.system.hardware import HARDWARE
-from openpilot.system.loggerd.config import ROOT
 from openpilot.selfdrive.test.helpers import set_params_enabled, release_only
+from openpilot.system.hardware.hw import Paths
 from openpilot.tools.lib.logreader import LogReader
 
 # Baseline CPU usage by process
@@ -38,7 +38,7 @@ PROCS = {
   "selfdrive.controls.radard": 4.5,
   "selfdrive.modeld.modeld": 8.0,
   "./_dmonitoringmodeld": 5.0,
-  "./_navmodeld": 1.0,
+  "selfdrive.modeld.navmodeld": 1.0,
   "selfdrive.thermald.thermald": 3.87,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
@@ -102,7 +102,7 @@ class TestOnroad(unittest.TestCase):
   @classmethod
   def setUpClass(cls):
     if "DEBUG" in os.environ:
-      segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(ROOT).iterdir())
+      segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(Paths.log_root()).iterdir())
       segs = sorted(segs, key=lambda x: x.stat().st_mtime)
       print(segs[-3])
       cls.lr = list(LogReader(os.path.join(segs[-3], "rlog")))
@@ -115,8 +115,8 @@ class TestOnroad(unittest.TestCase):
     params.remove("CurrentRoute")
     set_params_enabled()
     os.environ['TESTING_CLOSET'] = '1'
-    if os.path.exists(ROOT):
-      shutil.rmtree(ROOT)
+    if os.path.exists(Paths.log_root()):
+      shutil.rmtree(Paths.log_root())
     os.system("rm /dev/shm/*")
 
     # Make sure athena isn't running
@@ -143,8 +143,8 @@ class TestOnroad(unittest.TestCase):
 
         while len(cls.segments) < 3:
           segs = set()
-          if Path(ROOT).exists():
-            segs = set(Path(ROOT).glob(f"{route}--*"))
+          if Path(Paths.log_root()).exists():
+            segs = set(Path(Paths.log_root()).glob(f"{route}--*"))
           cls.segments = sorted(segs, key=lambda s: int(str(s).rsplit('--')[-1]))
           time.sleep(2)
 
diff --git a/selfdrive/thermald/fan_controller.py b/selfdrive/thermald/fan_controller.py
old mode 100644
new mode 100755
diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py
index 5d6531ff49..c3a890f068 100755
--- a/selfdrive/thermald/tests/test_power_monitoring.py
+++ b/selfdrive/thermald/tests/test_power_monitoring.py
@@ -25,12 +25,9 @@ def pm_patch(name, value, constant=False):
 
 
 @patch("time.monotonic", new=mock_time_monotonic)
-@patch("openpilot.selfdrive.thermald.power_monitoring.put_nonblocking", new=lambda x, y: Params().put(x, y))
 class TestPowerMonitoring(unittest.TestCase):
   def setUp(self):
     self.params = Params()
-    self.params.remove("CarBatteryCapacity")
-    self.params.remove("DisablePowerDown")
 
   # Test to see that it doesn't do anything when pandaState is None
   def test_pandaState_present(self):
diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py
index 3f99e16831..a1479003ee 100755
--- a/selfdrive/tombstoned.py
+++ b/selfdrive/tombstoned.py
@@ -10,8 +10,8 @@ import glob
 from typing import NoReturn
 
 from openpilot.common.file_helpers import mkdirs_exists_ok
-from openpilot.system.loggerd.config import ROOT
 import openpilot.selfdrive.sentry as sentry
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.swaglog import cloudlog
 from openpilot.system.version import get_commit
 
@@ -130,7 +130,7 @@ def report_tombstone_apport(fn):
 
   new_fn = f"{date}_{get_commit(default='nocommit')[:8]}_{safe_fn(clean_path)}"[:MAX_TOMBSTONE_FN_LEN]
 
-  crashlog_dir = os.path.join(ROOT, "crash")
+  crashlog_dir = os.path.join(Paths.log_root(), "crash")
   mkdirs_exists_ok(crashlog_dir)
 
   # Files could be on different filesystems, copy, then delete
diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
index d5e81bc9e0..db56fcdcfc 100644
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@@ -5,7 +5,6 @@
 
 #include <QDebug>
 
-#include "common/transformations/coordinates.hpp"
 #include "selfdrive/ui/qt/maps/map_helpers.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/ui.h"
diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc
index a23c8990d3..ed843610a8 100644
--- a/selfdrive/ui/qt/maps/map_helpers.cc
+++ b/selfdrive/ui/qt/maps/map_helpers.cc
@@ -149,8 +149,3 @@ std::pair<QString, QString> map_format_distance(float d, bool is_metric) {
                         : std::pair{QString::number(50 * std::nearbyint(d / 50)), QObject::tr("ft")};
   }
 }
-
-double angle_difference(double angle1, double angle2) {
-  double diff = fmod(angle2 - angle1 + 180.0, 360.0) - 180.0;
-  return diff < -180.0 ? diff + 360.0 : diff;
-}
diff --git a/selfdrive/ui/qt/maps/map_helpers.h b/selfdrive/ui/qt/maps/map_helpers.h
index 6c6a8d12fb..4d6e9b5382 100644
--- a/selfdrive/ui/qt/maps/map_helpers.h
+++ b/selfdrive/ui/qt/maps/map_helpers.h
@@ -29,4 +29,3 @@ QMapbox::CoordinatesCollections coordinate_list_to_collection(const QList<QGeoCo
 QList<QGeoCoordinate> polyline_to_coordinate_list(const QString &polylineString);
 std::optional<QMapbox::Coordinate> coordinate_from_param(const std::string &param);
 std::pair<QString, QString> map_format_distance(float d, bool is_metric);
-double angle_difference(double angle1, double angle2);
diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index 38824aa8db..ab1bafb883 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -41,6 +41,8 @@ const char frame_fragment_shader[] =
   "out vec4 colorOut;\n"
   "void main() {\n"
   "  colorOut = texture(uTexture, vTexCoord);\n"
+  // gamma to improve worst case visibility when dark
+  "  colorOut.rgb = pow(colorOut.rgb, vec3(1.0/1.28));\n"
   "}\n";
 #else
 const char frame_fragment_shader[] =
@@ -205,7 +207,9 @@ void CameraWidget::updateFrameMat() {
 
   if (zoomed_view) {
     if (active_stream_type == VISION_STREAM_DRIVER) {
-      frame_mat = get_driver_view_transform(w, h, stream_width, stream_height);
+      if (stream_width > 0 && stream_height > 0) {
+        frame_mat = get_driver_view_transform(w, h, stream_width, stream_height);
+      }
     } else {
       // Project point at "infinity" to compute x and y offsets
       // to ensure this ends up in the middle of the screen
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index 647653cdd3..fcd5b1b18f 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -65,7 +65,7 @@ protected:
   bool zoomed_view;
   GLuint frame_vao, frame_vbo, frame_ibo;
   GLuint textures[2];
-  mat4 frame_mat;
+  mat4 frame_mat = {};
   std::unique_ptr<QOpenGLShaderProgram> program;
   QColor bg = QColor("#000000");
 
diff --git a/selfdrive/ui/soundd/sound.cc b/selfdrive/ui/soundd/sound.cc
index d3c6486023..a5884f113f 100644
--- a/selfdrive/ui/soundd/sound.cc
+++ b/selfdrive/ui/soundd/sound.cc
@@ -15,12 +15,13 @@
 Sound::Sound(QObject *parent) : sm({"controlsState", "microphone"}) {
   qInfo() << "default audio device: " << QAudioDeviceInfo::defaultOutputDevice().deviceName();
 
-  for (auto &[alert, fn, loops] : sound_list) {
+  for (auto &[alert, fn, loops, volume] : sound_list) {
     QSoundEffect *s = new QSoundEffect(this);
     QObject::connect(s, &QSoundEffect::statusChanged, [=]() {
       assert(s->status() != QSoundEffect::Error);
     });
     s->setSource(QUrl::fromLocalFile("../../assets/sounds/" + fn));
+    s->setVolume(volume);
     sounds[alert] = {s, loops};
   }
 
diff --git a/selfdrive/ui/soundd/sound.h b/selfdrive/ui/soundd/sound.h
index 81a5f1a86b..4fcb2e1bce 100644
--- a/selfdrive/ui/soundd/sound.h
+++ b/selfdrive/ui/soundd/sound.h
@@ -9,18 +9,21 @@
 #include "system/hardware/hw.h"
 #include "selfdrive/ui/ui.h"
 
-const std::tuple<AudibleAlert, QString, int> sound_list[] = {
+
+const float MAX_VOLUME = 1.0;
+
+const std::tuple<AudibleAlert, QString, int, float> sound_list[] = {
   // AudibleAlert, file name, loop count
-  {AudibleAlert::ENGAGE, "engage.wav", 0},
-  {AudibleAlert::DISENGAGE, "disengage.wav", 0},
-  {AudibleAlert::REFUSE, "refuse.wav", 0},
+  {AudibleAlert::ENGAGE, "engage.wav", 0, MAX_VOLUME},
+  {AudibleAlert::DISENGAGE, "disengage.wav", 0, MAX_VOLUME},
+  {AudibleAlert::REFUSE, "refuse.wav", 0, MAX_VOLUME},
 
-  {AudibleAlert::PROMPT, "prompt.wav", 0},
-  {AudibleAlert::PROMPT_REPEAT, "prompt.wav", QSoundEffect::Infinite},
-  {AudibleAlert::PROMPT_DISTRACTED, "prompt_distracted.wav", QSoundEffect::Infinite},
+  {AudibleAlert::PROMPT, "prompt.wav", 0, MAX_VOLUME},
+  {AudibleAlert::PROMPT_REPEAT, "prompt.wav", QSoundEffect::Infinite, MAX_VOLUME},
+  {AudibleAlert::PROMPT_DISTRACTED, "prompt_distracted.wav", QSoundEffect::Infinite, MAX_VOLUME},
 
-  {AudibleAlert::WARNING_SOFT, "warning_soft.wav", QSoundEffect::Infinite},
-  {AudibleAlert::WARNING_IMMEDIATE, "warning_immediate.wav", QSoundEffect::Infinite},
+  {AudibleAlert::WARNING_SOFT, "warning_soft.wav", QSoundEffect::Infinite, MAX_VOLUME},
+  {AudibleAlert::WARNING_IMMEDIATE, "warning_immediate.wav", QSoundEffect::Infinite, MAX_VOLUME},
 };
 
 class Sound : public QObject {
diff --git a/selfdrive/ui/tests/test_sound.cc b/selfdrive/ui/tests/test_sound.cc
index 43599f3828..d9cb5c0a7f 100644
--- a/selfdrive/ui/tests/test_sound.cc
+++ b/selfdrive/ui/tests/test_sound.cc
@@ -31,7 +31,7 @@ void controls_thread(int loop_cnt) {
 
   const int DT_CTRL = 10;  // ms
   for (int i = 0; i < loop_cnt; ++i) {
-    for (auto &[alert, fn, loops] : sound_list) {
+    for (auto &[alert, fn, loops, volume] : sound_list) {
       printf("testing %s\n", qPrintable(fn));
       for (int j = 0; j < 1000 / DT_CTRL; ++j) {
         MessageBuilder msg;
diff --git a/system/hardware/hw.h b/system/hardware/hw.h
index 1274851787..2f6ccfffda 100644
--- a/system/hardware/hw.h
+++ b/system/hardware/hw.h
@@ -14,16 +14,37 @@
 #endif
 
 namespace Path {
-inline std::string log_root() {
-  if (const char *env = getenv("LOG_ROOT")) {
-    return env;
+  inline std::string openpilot_prefix() {
+    return util::getenv("OPENPILOT_PREFIX", "");
+  }
+
+  inline std::string comma_home() {
+    return util::getenv("HOME") + "/.comma" + Path::openpilot_prefix();
+  }
+
+  inline std::string log_root() {
+    if (const char *env = getenv("LOG_ROOT")) {
+      return env;
+    }
+    return Hardware::PC() ? Path::comma_home() + "/media/0/realdata" : "/data/media/0/realdata";
+  }
+
+  inline std::string params() {
+    return Hardware::PC() ? util::getenv("PARAMS_ROOT", Path::comma_home() + "/params") : "/data/params";
+  }
+
+  inline std::string rsa_file() {
+    return Hardware::PC() ? Path::comma_home() + "/persist/comma/id_rsa" : "/persist/comma/id_rsa";
+  }
+  
+  inline std::string swaglog_ipc() {
+    return "ipc:///tmp/logmessage" + Path::openpilot_prefix();
+  }
+
+  inline std::string download_cache_root() {
+    if (const char *env = getenv("COMMA_CACHE")) {
+      return env;
+    }
+    return "/tmp/comma_download_cache" + Path::openpilot_prefix() + "/";
   }
-  return Hardware::PC() ? util::getenv("HOME") + "/.comma/media/0/realdata" : "/data/media/0/realdata";
-}
-inline std::string params() {
-  return Hardware::PC() ? util::getenv("PARAMS_ROOT", util::getenv("HOME") + "/.comma/params") : "/data/params";
-}
-inline std::string rsa_file() {
-  return Hardware::PC() ? util::getenv("HOME") + "/.comma/persist/comma/id_rsa" : "/persist/comma/id_rsa";
-}
 }  // namespace Path
diff --git a/system/hardware/hw.py b/system/hardware/hw.py
new file mode 100644
index 0000000000..3f7eac02e9
--- /dev/null
+++ b/system/hardware/hw.py
@@ -0,0 +1,35 @@
+import os
+from pathlib import Path
+
+from openpilot.selfdrive.hardware import PC
+
+class Paths:
+  @staticmethod
+  def comma_home() -> str:
+    return os.path.join(str(Path.home()), ".comma" + os.environ.get("OPENPILOT_PREFIX", ""))
+
+  @staticmethod
+  def log_root() -> str:
+    if os.environ.get('LOG_ROOT', False):
+      return os.environ['LOG_ROOT']
+    elif PC:
+      return str(Path(Paths.comma_home()) / "media" / "0" / "realdata")
+    else:
+      return '/data/media/0/realdata/'
+
+  @staticmethod
+  def swaglog_root() -> str:
+    if PC:
+      return os.path.join(Paths.comma_home(), "log")
+    else:
+      return "/data/log/"
+
+  @staticmethod
+  def swaglog_ipc() -> str:
+    return "ipc:///tmp/logmessage" + os.environ.get("OPENPILOT_PREFIX", "")
+
+  @staticmethod
+  def download_cache_root() -> str:
+    if os.environ.get('COMMA_CACHE', False):
+      return os.environ['COMMA_CACHE']
+    return "/tmp/comma_download_cache" + os.environ.get("OPENPILOT_PREFIX", "") + "/"
diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py
index 5b656a40fa..e003f131cc 100755
--- a/system/hardware/tici/amplifier.py
+++ b/system/hardware/tici/amplifier.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 import time
 from smbus2 import SMBus
 from collections import namedtuple
diff --git a/system/loggerd/bootlog.cc b/system/loggerd/bootlog.cc
index becd293c02..771594d20c 100644
--- a/system/loggerd/bootlog.cc
+++ b/system/loggerd/bootlog.cc
@@ -50,11 +50,11 @@ static kj::Array<capnp::word> build_boot_log() {
 
 int main(int argc, char** argv) {
   const std::string timestr = logger_get_route_name();
-  const std::string path = LOG_ROOT + "/boot/" + timestr;
+  const std::string path = Path::log_root() + "/boot/" + timestr;
   LOGW("bootlog to %s", path.c_str());
 
   // Open bootlog
-  bool r = util::create_directories(LOG_ROOT + "/boot/", 0775);
+  bool r = util::create_directories(Path::log_root() + "/boot/", 0775);
   assert(r);
 
   RawFile file(path.c_str());
diff --git a/system/loggerd/config.py b/system/loggerd/config.py
index dfc117f2c1..0245585fc0 100644
--- a/system/loggerd/config.py
+++ b/system/loggerd/config.py
@@ -1,13 +1,7 @@
 import os
 from pathlib import Path
 from openpilot.system.hardware import PC
-
-if os.environ.get('LOG_ROOT', False):
-  ROOT = os.environ['LOG_ROOT']
-elif PC:
-  ROOT = str(Path.home() / ".comma" / "media" / "0" / "realdata")
-else:
-  ROOT = '/data/media/0/realdata/'
+from openpilot.selfdrive.hardware.hw import Paths
 
 
 CAMERA_FPS = 20
@@ -23,7 +17,7 @@ STATS_FLUSH_TIME_S = 60
 
 def get_available_percent(default=None):
   try:
-    statvfs = os.statvfs(ROOT)
+    statvfs = os.statvfs(Paths.log_root())
     available_percent = 100.0 * statvfs.f_bavail / statvfs.f_blocks
   except OSError:
     available_percent = default
@@ -33,7 +27,7 @@ def get_available_percent(default=None):
 
 def get_available_bytes(default=None):
   try:
-    statvfs = os.statvfs(ROOT)
+    statvfs = os.statvfs(Paths.log_root())
     available_bytes = statvfs.f_bavail * statvfs.f_frsize
   except OSError:
     available_bytes = default
diff --git a/system/loggerd/deleter.py b/system/loggerd/deleter.py
old mode 100644
new mode 100755
index ab4a0b97c1..b060232b6e
--- a/system/loggerd/deleter.py
+++ b/system/loggerd/deleter.py
@@ -3,9 +3,9 @@ import os
 import shutil
 import threading
 from typing import List
-
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.swaglog import cloudlog
-from openpilot.system.loggerd.config import ROOT, get_available_bytes, get_available_percent
+from openpilot.system.loggerd.config import get_available_bytes, get_available_percent
 from openpilot.system.loggerd.uploader import listdir_by_creation
 from openpilot.system.loggerd.xattr_cache import getxattr
 
@@ -20,7 +20,7 @@ PRESERVE_COUNT = 5
 
 
 def has_preserve_xattr(d: str) -> bool:
-  return getxattr(os.path.join(ROOT, d), PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE
+  return getxattr(os.path.join(Paths.log_root(), d), PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE
 
 
 def get_preserved_segments(dirs_by_creation: List[str]) -> List[str]:
@@ -51,14 +51,14 @@ def deleter_thread(exit_event):
     out_of_percent = get_available_percent(default=MIN_PERCENT + 1) < MIN_PERCENT
 
     if out_of_percent or out_of_bytes:
-      dirs = listdir_by_creation(ROOT)
+      dirs = listdir_by_creation(Paths.log_root())
 
       # skip deleting most recent N preserved segments (and their prior segment)
       preserved_dirs = get_preserved_segments(dirs)
 
       # remove the earliest directory we can
       for delete_dir in sorted(dirs, key=lambda d: (d in DELETE_LAST, d in preserved_dirs)):
-        delete_path = os.path.join(ROOT, delete_dir)
+        delete_path = os.path.join(Paths.log_root(), delete_dir)
 
         if any(name.endswith(".lock") for name in os.listdir(delete_path)):
           continue
diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc
index dc20ea8791..f44f2fbed7 100644
--- a/system/loggerd/encoder/ffmpeg_encoder.cc
+++ b/system/loggerd/encoder/ffmpeg_encoder.cc
@@ -135,7 +135,7 @@ int FfmpegEncoder::encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) {
     }
 
     if (env_debug_encoder) {
-      printf("%20s got %8d bytes flags %8x idx %4d id %8d\n", encoder_info.filename, pkt.size, pkt.flags, counter, extra->frame_id);
+      printf("%20s got %8d bytes flags %8x idx %4d id %8d\n", encoder_info.publish_name, pkt.size, pkt.flags, counter, extra->frame_id);
     }
 
     publisher_publish(this, segment_num, counter, *extra,
diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc
index 6e5cefa87d..571f5979e2 100644
--- a/system/loggerd/encoder/v4l_encoder.cc
+++ b/system/loggerd/encoder/v4l_encoder.cc
@@ -75,7 +75,7 @@ static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count)
 }
 
 void V4LEncoder::dequeue_handler(V4LEncoder *e) {
-  std::string dequeue_thread_name = "dq-"+std::string(e->encoder_info.filename);
+  std::string dequeue_thread_name = "dq-"+std::string(e->encoder_info.publish_name);
   util::set_thread_name(dequeue_thread_name.c_str());
 
   e->segment_num++;
@@ -105,7 +105,7 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {
     }
 
     if (env_debug_encoder >= 2) {
-      printf("%20s poll %x at %.2f ms\n", e->encoder_info.filename, pfd.revents, millis_since_boot());
+      printf("%20s poll %x at %.2f ms\n", e->encoder_info.publish_name, pfd.revents, millis_since_boot());
     }
 
     int frame_id = -1;
@@ -133,7 +133,7 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {
 
       if (env_debug_encoder) {
         printf("%20s got(%d) %6d bytes flags %8x idx %3d/%4d id %8d ts %ld lat %.2f ms (%lu frames free)\n",
-          e->encoder_info.filename, index, bytesused, flags, e->segment_num, idx, frame_id, ts, millis_since_boot()-(ts/1000.), e->free_buf_in.size());
+          e->encoder_info.publish_name, index, bytesused, flags, e->segment_num, idx, frame_id, ts, millis_since_boot()-(ts/1000.), e->free_buf_in.size());
       }
 
       // requeue the buffer
diff --git a/system/loggerd/logger.h b/system/loggerd/logger.h
index 36db1a5a74..06b11e72f9 100644
--- a/system/loggerd/logger.h
+++ b/system/loggerd/logger.h
@@ -16,8 +16,6 @@
 #include "common/swaglog.h"
 #include "system/hardware/hw.h"
 
-const std::string LOG_ROOT = Path::log_root();
-
 #define LOGGER_MAX_HANDLES 16
 
 class RawFile {
diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc
index 053bc6b1eb..adb24c913c 100644
--- a/system/loggerd/loggerd.cc
+++ b/system/loggerd/loggerd.cc
@@ -24,7 +24,7 @@ struct LoggerdState {
 
 void logger_rotate(LoggerdState *s) {
   int segment = -1;
-  int err = logger_next(&s->logger, LOG_ROOT.c_str(), s->segment_path, sizeof(s->segment_path), &segment);
+  int err = logger_next(&s->logger, Path::log_root().c_str(), s->segment_path, sizeof(s->segment_path), &segment);
   assert(err == 0);
   s->rotate_segment = segment;
   s->ready_to_rotate = 0;
@@ -116,6 +116,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
         }
         // if we aren't actually recording, don't create the writer
         if (encoder_info.record) {
+          assert(encoder_info.filename != NULL);
           re.writer.reset(new VideoWriter(s->segment_path,
             encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
             encoder_info.frame_width, encoder_info.frame_height, encoder_info.fps, idx.getType()));
diff --git a/system/loggerd/tests/fill.py b/system/loggerd/tests/fill.py
index c749f42b97..5e6f887b12 100755
--- a/system/loggerd/tests/fill.py
+++ b/system/loggerd/tests/fill.py
@@ -3,7 +3,8 @@
 
 from pathlib import Path
 
-from openpilot.system.loggerd.config import ROOT, get_available_percent
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.loggerd.config import get_available_percent
 from openpilot.system.loggerd.tests.loggerd_tests_common import create_random_file
 
 
@@ -11,7 +12,7 @@ if __name__ == "__main__":
   segment_idx = 0
   while True:
     seg_name = f"1970-01-01--00-00-00--{segment_idx}"
-    seg_path = Path(ROOT) / seg_name
+    seg_path = Path(Paths.log_root()) / seg_name
 
     print(seg_path)
 
diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py
index 89ddbd658c..8bfb571861 100644
--- a/system/loggerd/tests/loggerd_tests_common.py
+++ b/system/loggerd/tests/loggerd_tests_common.py
@@ -1,11 +1,9 @@
 import os
-import errno
-import shutil
 import random
-import tempfile
 import unittest
 from pathlib import Path
 from typing import Optional
+from openpilot.system.hardware.hw import Paths
 
 import openpilot.system.loggerd.deleter as deleter
 import openpilot.system.loggerd.uploader as uploader
@@ -87,8 +85,6 @@ class UploaderTestCase(unittest.TestCase):
     uploader.Api = MockApiIgnore
 
   def setUp(self):
-    self.root = Path(tempfile.mkdtemp())
-    uploader.ROOT = str(self.root)  # Monkey patch root dir
     uploader.Api = MockApi
     uploader.Params = MockParams
     uploader.fake_upload = True
@@ -99,16 +95,9 @@ class UploaderTestCase(unittest.TestCase):
     self.seg_format2 = "2019-05-18--11-22-33--{}"
     self.seg_dir = self.seg_format.format(self.seg_num)
 
-  def tearDown(self):
-    try:
-      shutil.rmtree(self.root)
-    except OSError as e:
-      if e.errno != errno.ENOENT:
-        raise
-
   def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False,
                           upload_xattr: Optional[bytes] = None, preserve_xattr: Optional[bytes] = None) -> Path:
-    file_path = self.root / f_dir / fn
+    file_path = Path(Paths.log_root()) / f_dir / fn
     create_random_file(file_path, size_mb, lock, upload_xattr)
 
     if preserve_xattr is not None:
diff --git a/system/loggerd/tests/test_deleter.py b/system/loggerd/tests/test_deleter.py
index 86152b05f8..e4112b7b4e 100755
--- a/system/loggerd/tests/test_deleter.py
+++ b/system/loggerd/tests/test_deleter.py
@@ -22,7 +22,6 @@ class TestDeleter(UploaderTestCase):
     super().setUp()
     self.fake_stats = Stats(f_bavail=0, f_blocks=10, f_frsize=4096)
     deleter.os.statvfs = self.fake_statvfs
-    deleter.ROOT = str(self.root)
 
   def start_thread(self):
     self.end_event = threading.Event()
diff --git a/system/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py
index 41b83c0821..bec956a316 100755
--- a/system/loggerd/tests/test_encoder.py
+++ b/system/loggerd/tests/test_encoder.py
@@ -14,9 +14,9 @@ from tqdm import trange
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.system.hardware import TICI
-from openpilot.system.loggerd.config import ROOT
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.tools.lib.logreader import LogReader
+from openpilot.selfdrive.hardware.hw import Paths
 
 SEGMENT_LENGTH = 2
 FULL_SIZE = 2507572
@@ -48,12 +48,12 @@ class TestEncoder(unittest.TestCase):
     self._clear_logs()
 
   def _clear_logs(self):
-    if os.path.exists(ROOT):
-      shutil.rmtree(ROOT)
+    if os.path.exists(Paths.log_root()):
+      shutil.rmtree(Paths.log_root())
 
   def _get_latest_segment_path(self):
-    last_route = sorted(Path(ROOT).iterdir())[-1]
-    return os.path.join(ROOT, last_route)
+    last_route = sorted(Path(Paths.log_root()).iterdir())[-1]
+    return os.path.join(Paths.log_root(), last_route)
 
   # TODO: this should run faster than real time
   @parameterized.expand([(True, ), (False, )])
@@ -146,7 +146,7 @@ class TestEncoder(unittest.TestCase):
       for i in trange(num_segments):
         # poll for next segment
         with Timeout(int(SEGMENT_LENGTH*10), error_msg=f"timed out waiting for segment {i}"):
-          while Path(f"{route_prefix_path}--{i+1}") not in Path(ROOT).iterdir():
+          while Path(f"{route_prefix_path}--{i+1}") not in Path(Paths.log_root()).iterdir():
             time.sleep(0.1)
         check_seg(i)
     finally:
diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index 816a4d4198..3ea29b0d82 100755
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -16,7 +16,7 @@ from cereal.services import service_list
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
-from openpilot.system.loggerd.config import ROOT
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import getxattr
 from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE
 from openpilot.selfdrive.manager.process_config import managed_processes
@@ -32,8 +32,11 @@ CEREAL_SERVICES = [f for f in log.Event.schema.union_fields if f in service_list
 
 
 class TestLoggerd(unittest.TestCase):
+  def setUp(self):
+    os.environ.pop("LOG_ROOT", None)
+
   def _get_latest_log_dir(self):
-    log_dirs = sorted(Path(ROOT).iterdir(), key=lambda f: f.stat().st_mtime)
+    log_dirs = sorted(Path(Paths.log_root()).iterdir(), key=lambda f: f.stat().st_mtime)
     return log_dirs[-1]
 
   def _get_log_dir(self, x):
diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py
index 6e2f86d6ca..a7349fc5e4 100755
--- a/system/loggerd/tests/test_uploader.py
+++ b/system/loggerd/tests/test_uploader.py
@@ -7,6 +7,7 @@ import logging
 import json
 from pathlib import Path
 from typing import List, Optional
+from openpilot.system.hardware.hw import Paths
 
 from openpilot.system.swaglog import cloudlog
 from openpilot.system.loggerd.uploader import uploader_fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE
@@ -84,7 +85,7 @@ class TestUploader(UploaderTestCase):
     self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload")
     self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice")
     for f_path in exp_order:
-      self.assertEqual(os.getxattr((self.root / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
+      self.assertEqual(os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
 
     self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order")
 
@@ -102,7 +103,7 @@ class TestUploader(UploaderTestCase):
     self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload")
     self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice")
     for f_path in exp_order:
-      self.assertEqual(os.getxattr((self.root / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
+      self.assertEqual(os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
 
     self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order")
 
@@ -121,7 +122,7 @@ class TestUploader(UploaderTestCase):
     self.assertFalse(len(log_handler.upload_ignored) < len(exp_order), "Some files failed to ignore")
     self.assertFalse(len(log_handler.upload_ignored) > len(exp_order), "Some files were ignored twice")
     for f_path in exp_order:
-      self.assertEqual(os.getxattr((self.root / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not ignored")
+      self.assertEqual(os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not ignored")
 
     self.assertTrue(log_handler.upload_ignored == exp_order, "Files ignored in wrong order")
 
@@ -146,7 +147,7 @@ class TestUploader(UploaderTestCase):
     self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload")
     self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice")
     for f_path in exp_order:
-      self.assertEqual(os.getxattr((self.root / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
+      self.assertEqual(os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
 
     self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order")
 
diff --git a/system/loggerd/tools/mark_all_uploaded.py b/system/loggerd/tools/mark_all_uploaded.py
index 84b9c20d78..0502184380 100644
--- a/system/loggerd/tools/mark_all_uploaded.py
+++ b/system/loggerd/tools/mark_all_uploaded.py
@@ -1,8 +1,8 @@
 import os
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE
 
-from openpilot.system.loggerd.config import ROOT
-for folder in os.walk(ROOT):
+for folder in os.walk(Paths.log_root()):
   for file1 in folder[2]:
     full_path = os.path.join(folder[0], file1)
     os.setxattr(full_path, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE)
diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py
old mode 100644
new mode 100755
index 8ed60dac56..12c6ecdca9
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -17,8 +17,8 @@ from openpilot.common.api import Api
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.system.hardware import TICI
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
-from openpilot.system.loggerd.config import ROOT
 from openpilot.system.swaglog import cloudlog
 
 NetworkType = log.DeviceState.NetworkType
@@ -244,7 +244,7 @@ def uploader_fn(exit_event: threading.Event) -> None:
   except Exception:
     cloudlog.exception("failed to set core affinity")
 
-  clear_locks(ROOT)
+  clear_locks(Paths.log_root())
 
   params = Params()
   dongle_id = params.get("DongleId", encoding='utf8')
@@ -258,7 +258,7 @@ def uploader_fn(exit_event: threading.Event) -> None:
 
   sm = messaging.SubMaster(['deviceState'])
   pm = messaging.PubMaster(['uploaderState'])
-  uploader = Uploader(dongle_id, ROOT)
+  uploader = Uploader(dongle_id, Paths.log_root())
 
   backoff = 0.1
   while not exit_event.is_set():
diff --git a/system/logmessaged.py b/system/logmessaged.py
index cab8cdd80d..c53e20e483 100755
--- a/system/logmessaged.py
+++ b/system/logmessaged.py
@@ -4,6 +4,7 @@ from typing import NoReturn
 
 import cereal.messaging as messaging
 from openpilot.common.logging_extra import SwagLogFileFormatter
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.swaglog import get_file_handler
 
 
@@ -14,7 +15,7 @@ def main() -> NoReturn:
 
   ctx = zmq.Context.instance()
   sock = ctx.socket(zmq.PULL)
-  sock.bind("ipc:///tmp/logmessage")
+  sock.bind(Paths.swaglog_ipc())
 
   # and we publish them
   log_message_sock = messaging.pub_sock('logMessage')
diff --git a/system/sensord/rawgps/nmeaport.py b/system/sensord/rawgps/nmeaport.py
new file mode 100644
index 0000000000..01b9b179b9
--- /dev/null
+++ b/system/sensord/rawgps/nmeaport.py
@@ -0,0 +1,169 @@
+import os
+import sys
+from dataclasses import dataclass, fields
+from subprocess import check_output, CalledProcessError
+from time import sleep
+from typing import NoReturn
+
+DEBUG = int(os.environ.get("DEBUG", "0"))
+
+@dataclass
+class GnssClockNmeaPort:
+  # flags bit mask:
+  # 0x01 = leap_seconds valid
+  # 0x02 = time_uncertainty_ns valid
+  # 0x04 = full_bias_ns valid
+  # 0x08 = bias_ns valid
+  # 0x10 = bias_uncertainty_ns valid
+  # 0x20 = drift_nsps valid
+  # 0x40 = drift_uncertainty_nsps valid
+  flags: int
+  leap_seconds: int
+  time_ns: int
+  time_uncertainty_ns: int # 1-sigma
+  full_bias_ns: int
+  bias_ns: float
+  bias_uncertainty_ns: float # 1-sigma
+  drift_nsps: float
+  drift_uncertainty_nsps: float # 1-sigma
+
+  def __post_init__(self):
+    for field in fields(self):
+      val = getattr(self, field.name)
+      setattr(self, field.name, field.type(val) if val else None)
+
+@dataclass
+class GnssMeasNmeaPort:
+  messageCount: int
+  messageNum: int
+  svCount: int
+  # constellation enum:
+  # 1 = GPS
+  # 2 = SBAS
+  # 3 = GLONASS
+  # 4 = QZSS
+  # 5 = BEIDOU
+  # 6 = GALILEO
+  constellation: int
+  svId: int
+  flags: int # always zero
+  time_offset_ns: int
+  # state bit mask:
+  # 0x0001 = CODE LOCK
+  # 0x0002 = BIT SYNC
+  # 0x0004 = SUBFRAME SYNC
+  # 0x0008 = TIME OF WEEK DECODED
+  # 0x0010 = MSEC AMBIGUOUS
+  # 0x0020 = SYMBOL SYNC
+  # 0x0040 = GLONASS STRING SYNC
+  # 0x0080 = GLONASS TIME OF DAY DECODED
+  # 0x0100 = BEIDOU D2 BIT SYNC
+  # 0x0200 = BEIDOU D2 SUBFRAME SYNC
+  # 0x0400 = GALILEO E1BC CODE LOCK
+  # 0x0800 = GALILEO E1C 2ND CODE LOCK
+  # 0x1000 = GALILEO E1B PAGE SYNC
+  # 0x2000 = GALILEO E1B PAGE SYNC
+  state: int
+  time_of_week_ns: int
+  time_of_week_uncertainty_ns: int # 1-sigma
+  carrier_to_noise_ratio: float
+  pseudorange_rate: float
+  pseudorange_rate_uncertainty: float # 1-sigma
+
+  def __post_init__(self):
+    for field in fields(self):
+      val = getattr(self, field.name)
+      setattr(self, field.name, field.type(val) if val else None)
+
+def nmea_checksum_ok(s):
+  checksum = 0
+  for i, c in enumerate(s[1:]):
+    if c == "*":
+      if i != len(s) - 4: # should be 3rd to last character
+        print("ERROR: NMEA string does not have checksum delimiter in correct location:", s)
+        return False
+      break
+    checksum ^= ord(c)
+  else:
+    print("ERROR: NMEA string does not have checksum delimiter:", s)
+    return False
+
+  return True
+
+def process_nmea_port_messages(device:str="/dev/ttyUSB1") -> NoReturn:
+  while True:
+    try:
+      with open(device, "r") as nmeaport:
+        for line in nmeaport:
+          line = line.strip()
+          if DEBUG:
+            print(line)
+          if not line.startswith("$"): # all NMEA messages start with $
+            continue
+          if not nmea_checksum_ok(line):
+            continue
+
+          fields = line.split(",")
+          match fields[0]:
+            case "$GNCLK":
+              # fields at end are reserved (not used)
+              gnss_clock = GnssClockNmeaPort(*fields[1:10]) # type: ignore[arg-type]
+              print(gnss_clock)
+            case "$GNMEAS":
+              # fields at end are reserved (not used)
+              gnss_meas = GnssMeasNmeaPort(*fields[1:14]) # type: ignore[arg-type]
+              print(gnss_meas)
+    except Exception as e:
+      print(e)
+      sleep(1)
+
+def main() -> NoReturn:
+  from openpilot.common.gpio import gpio_init, gpio_set
+  from openpilot.system.hardware.tici.pins import GPIO
+  from openpilot.system.sensord.rawgps.rawgpsd import at_cmd
+
+  try:
+    check_output(["pidof", "rawgpsd"])
+    print("rawgpsd is running, please kill openpilot before running this script! (aborted)")
+    sys.exit(1)
+  except CalledProcessError as e:
+    if e.returncode != 1: # 1 == no process found (boardd not running)
+      raise e
+
+  print("power up antenna ...")
+  gpio_init(GPIO.GNSS_PWR_EN, True)
+  gpio_set(GPIO.GNSS_PWR_EN, True)
+
+  if b"+QGPS: 0" not in (at_cmd("AT+QGPS?") or b""):
+    print("stop location tracking ...")
+    at_cmd("AT+QGPSEND")
+
+  if b'+QGPSCFG: "outport",usbnmea' not in (at_cmd('AT+QGPSCFG="outport"') or b""):
+    print("configure outport ...")
+    at_cmd('AT+QGPSCFG="outport","usbnmea"') # usbnmea = /dev/ttyUSB1
+
+  if b'+QGPSCFG: "gnssrawdata",3,0' not in (at_cmd('AT+QGPSCFG="gnssrawdata"') or b""):
+    print("configure gnssrawdata ...")
+    # AT+QGPSCFG="gnssrawdata",<constellation-mask>,<port>'
+    # <constellation-mask> values:
+    # 0x01 = GPS
+    # 0x02 = GLONASS
+    # 0x04 = BEIDOU
+    # 0x08 = GALILEO
+    # 0x10 = QZSS
+    # <port> values:
+    # 0 = NMEA port
+    # 1 = AT port
+    at_cmd('AT+QGPSCFG="gnssrawdata",3,0') # enable all constellations, output data to NMEA port
+    print("rebooting ...")
+    at_cmd('AT+CFUN=1,1')
+    print("re-run this script when it is back up")
+    sys.exit(2)
+
+  print("starting location tracking ...")
+  at_cmd("AT+QGPS=1")
+
+  process_nmea_port_messages()
+
+if __name__ == "__main__":
+  main()
diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py
index e3cd77a1a3..ccdce3b4e5 100755
--- a/system/sensord/tests/test_sensord.py
+++ b/system/sensord/tests/test_sensord.py
@@ -9,6 +9,7 @@ import cereal.messaging as messaging
 from cereal import log
 from cereal.services import service_list
 from openpilot.common.gpio import get_irqs_for_action
+from openpilot.common.timeout import Timeout
 from openpilot.system.hardware import TICI
 from openpilot.selfdrive.manager.process_config import managed_processes
 
@@ -73,15 +74,24 @@ def get_irq_count(irq: int):
 def read_sensor_events(duration_sec):
   sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'accelerometer2',
                   'gyroscope2', 'temperatureSensor', 'temperatureSensor2']
-  esocks = {}
+  socks = {}
+  poller = messaging.Poller()
   events = defaultdict(list)
   for stype in sensor_types:
-    esocks[stype] = messaging.sub_sock(stype, timeout=0.1)
-
-  start_time_sec = time.monotonic()
-  while time.monotonic() - start_time_sec < duration_sec:
-    for esock in esocks:
-      events[esock] += messaging.drain_sock(esocks[esock])
+    socks[stype] = messaging.sub_sock(stype, poller=poller, timeout=100)
+
+  # wait for sensors to come up
+  with Timeout(60, "sensors didn't come up"):
+    while len(poller.poll(250)) == 0:
+      pass
+  time.sleep(1)
+  for s in socks.values():
+    messaging.drain_sock_raw(s)
+
+  st = time.monotonic()
+  while time.monotonic() - st < duration_sec:
+    for s in socks:
+      events[s] += messaging.drain_sock(socks[s])
     time.sleep(0.1)
 
   assert sum(map(len, events.values())) != 0, "No sensor events collected!"
@@ -101,8 +111,7 @@ class TestSensord(unittest.TestCase):
     os.system("pkill -f ./_sensord")
     try:
       managed_processes["sensord"].start()
-      time.sleep(3)
-      cls.sample_secs = 10
+      cls.sample_secs = int(os.getenv("SAMPLE_SECS", "10"))
       cls.events = read_sensor_events(cls.sample_secs)
 
       # determine sensord's irq
diff --git a/system/swaglog.py b/system/swaglog.py
index 3d45ad9826..8130aeb0fb 100644
--- a/system/swaglog.py
+++ b/system/swaglog.py
@@ -8,16 +8,12 @@ from logging.handlers import BaseRotatingHandler
 import zmq
 
 from openpilot.common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter
-from openpilot.system.hardware import PC
+from system.hardware.hw import Paths
 
-if PC:
-  SWAGLOG_DIR = os.path.join(str(Path.home()), ".comma", "log")
-else:
-  SWAGLOG_DIR = "/data/log/"
 
 def get_file_handler():
-  Path(SWAGLOG_DIR).mkdir(parents=True, exist_ok=True)
-  base_filename = os.path.join(SWAGLOG_DIR, "swaglog")
+  Path(Paths.swaglog_root()).mkdir(parents=True, exist_ok=True)
+  base_filename = os.path.join(Paths.swaglog_root(), "swaglog")
   handler = SwaglogRotatingFileHandler(base_filename)
   return handler
 
@@ -89,7 +85,7 @@ class UnixDomainSocketHandler(logging.Handler):
     self.zctx = zmq.Context()
     self.sock = self.zctx.socket(zmq.PUSH)
     self.sock.setsockopt(zmq.LINGER, 10)
-    self.sock.connect("ipc:///tmp/logmessage")
+    self.sock.connect(Paths.swaglog_ipc())
     self.pid = os.getpid()
 
   def emit(self, record):
diff --git a/system/tests/test_logmessaged.py b/system/tests/test_logmessaged.py
index 330f151368..5d0e1bfc82 100755
--- a/system/tests/test_logmessaged.py
+++ b/system/tests/test_logmessaged.py
@@ -6,23 +6,22 @@ import unittest
 
 import cereal.messaging as messaging
 from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.swaglog import cloudlog, ipchandler
-from selfdrive.test.helpers import temporary_swaglog_dir
 
 
 class TestLogmessaged(unittest.TestCase):
-  def _setup(self, temp_dir):
+  def setUp(self):
     # clear the IPC buffer in case some other tests used cloudlog and filled it
     ipchandler.close()
     ipchandler.connect()
 
-    self.temp_dir = temp_dir
     managed_processes['logmessaged'].start()
     self.sock = messaging.sub_sock("logMessage", timeout=1000, conflate=False)
     self.error_sock = messaging.sub_sock("logMessage", timeout=1000, conflate=False)
 
     # ensure sockets are connected
-    time.sleep(0.2)
+    time.sleep(1)
     messaging.drain_sock(self.sock)
     messaging.drain_sock(self.error_sock)
 
@@ -32,11 +31,9 @@ class TestLogmessaged(unittest.TestCase):
     managed_processes['logmessaged'].stop(block=True)
 
   def _get_log_files(self):
-    return list(glob.glob(os.path.join(self.temp_dir, "swaglog.*")))
+    return list(glob.glob(os.path.join(Paths.swaglog_root(), "swaglog.*")))
 
-  @temporary_swaglog_dir
-  def test_simple_log(self, temp_dir):
-    self._setup(temp_dir)
+  def test_simple_log(self):
     msgs = [f"abc {i}" for i in range(10)]
     for m in msgs:
       cloudlog.error(m)
@@ -45,9 +42,7 @@ class TestLogmessaged(unittest.TestCase):
     assert len(m) == len(msgs)
     assert len(self._get_log_files()) >= 1
 
-  @temporary_swaglog_dir
-  def test_big_log(self, temp_dir):
-    self._setup(temp_dir)
+  def test_big_log(self):
     n = 10
     msg = "a"*3*1024*1024
     for _ in range(n):
diff --git a/system/ubloxd/tests/test_ublox_processing.py b/system/ubloxd/tests/test_ublox_processing.py
index b1709cd9bb..311604881a 100755
--- a/system/ubloxd/tests/test_ublox_processing.py
+++ b/system/ubloxd/tests/test_ublox_processing.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 import unittest
 import time
 import numpy as np
@@ -7,6 +8,7 @@ from laika.helpers import ConstellationId
 from laika.raw_gnss import correct_measurements, process_measurements, read_raw_ublox
 from laika.opt import calc_pos_fix
 from openpilot.selfdrive.test.openpilotci import get_url
+from openpilot.system.hardware.hw import Paths
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.selfdrive.test.helpers import with_processes
 import cereal.messaging as messaging
@@ -55,7 +57,7 @@ class TestUbloxProcessing(unittest.TestCase):
     self.assertEqual(count_glonass, 3651)
 
   def test_get_fix(self):
-    dog = AstroDog()
+    dog = AstroDog(cache_dir=Paths.download_cache_root())
     position_fix_found = 0
     count_processed_measurements = 0
     count_corrected_measurements = 0
@@ -97,7 +99,7 @@ class TestUbloxProcessing(unittest.TestCase):
       rcv_msgs = []
       for msg in self.ublox_raw:
         ur_pm.send(msg.which(), msg.as_builder())
-        time.sleep(0.01)
+        time.sleep(0.001)
         rcv_msgs += messaging.drain_sock(ugs)
 
       time.sleep(0.1)
diff --git a/system/ubloxd/tests/ublox.py b/system/ubloxd/tests/ublox.py
deleted file mode 100644
index 3243500e74..0000000000
--- a/system/ubloxd/tests/ublox.py
+++ /dev/null
@@ -1,938 +0,0 @@
-#!/usr/bin/env python3
-'''
-UBlox binary protocol handling
-
-Copyright Andrew Tridgell, October 2012
-Released under GNU GPL version 3 or later
-
-WARNING: This code has originally intended for
-ublox version 7, it has been adapted to work
-for ublox version 8, not all functions may work.
-'''
-
-
-import struct
-import time
-
-# protocol constants
-PREAMBLE1 = 0xb5
-PREAMBLE2 = 0x62
-
-# message classes
-CLASS_NAV = 0x01
-CLASS_RXM = 0x02
-CLASS_INF = 0x04
-CLASS_ACK = 0x05
-CLASS_CFG = 0x06
-CLASS_MON = 0x0A
-CLASS_AID = 0x0B
-CLASS_TIM = 0x0D
-CLASS_ESF = 0x10
-
-# ACK messages
-MSG_ACK_NACK = 0x00
-MSG_ACK_ACK = 0x01
-
-# NAV messages
-MSG_NAV_POSECEF = 0x1
-MSG_NAV_POSLLH = 0x2
-MSG_NAV_STATUS = 0x3
-MSG_NAV_DOP = 0x4
-MSG_NAV_SOL = 0x6
-MSG_NAV_PVT = 0x7
-MSG_NAV_POSUTM = 0x8
-MSG_NAV_VELNED = 0x12
-MSG_NAV_VELECEF = 0x11
-MSG_NAV_TIMEGPS = 0x20
-MSG_NAV_TIMEUTC = 0x21
-MSG_NAV_CLOCK = 0x22
-MSG_NAV_SVINFO = 0x30
-MSG_NAV_SAT = 0x35
-MSG_NAV_AOPSTATUS = 0x60
-MSG_NAV_DGPS = 0x31
-MSG_NAV_DOP = 0x04
-MSG_NAV_EKFSTATUS = 0x40
-MSG_NAV_SBAS = 0x32
-MSG_NAV_SOL = 0x06
-MSG_NAV_SAT = 0x35
-
-# RXM messages
-MSG_RXM_RAW = 0x15
-MSG_RXM_SFRB = 0x11
-MSG_RXM_SFRBX = 0x13
-MSG_RXM_SVSI = 0x20
-MSG_RXM_EPH = 0x31
-MSG_RXM_ALM = 0x30
-MSG_RXM_PMREQ = 0x41
-
-# AID messages
-MSG_AID_ALM = 0x30
-MSG_AID_EPH = 0x31
-MSG_AID_ALPSRV = 0x32
-MSG_AID_AOP = 0x33
-MSG_AID_DATA = 0x10
-MSG_AID_ALP = 0x50
-MSG_AID_DATA = 0x10
-MSG_AID_HUI = 0x02
-MSG_AID_INI = 0x01
-MSG_AID_REQ = 0x00
-
-# CFG messages
-MSG_CFG_PRT = 0x00
-MSG_CFG_ANT = 0x13
-MSG_CFG_DAT = 0x06
-MSG_CFG_EKF = 0x12
-MSG_CFG_ESFGWT = 0x29
-MSG_CFG_CFG = 0x09
-MSG_CFG_USB = 0x1b
-MSG_CFG_RATE = 0x08
-MSG_CFG_SET_RATE = 0x01
-MSG_CFG_NAV5 = 0x24
-MSG_CFG_FXN = 0x0E
-MSG_CFG_INF = 0x02
-MSG_CFG_ITFM = 0x39
-MSG_CFG_MSG = 0x01
-MSG_CFG_NAVX5 = 0x23
-MSG_CFG_NMEA = 0x17
-MSG_CFG_NVS = 0x22
-MSG_CFG_PM2 = 0x3B
-MSG_CFG_PM = 0x32
-MSG_CFG_ITMF = 0x39
-MSG_CFG_RINV = 0x34
-MSG_CFG_RST = 0x04
-MSG_CFG_RXM = 0x11
-MSG_CFG_SBAS = 0x16
-MSG_CFG_TMODE2 = 0x3D
-MSG_CFG_TMODE = 0x1D
-MSG_CFG_TPS = 0x31
-MSG_CFG_TP = 0x07
-MSG_CFG_GNSS = 0x3E
-MSG_CFG_ODO = 0x1E
-
-# ESF messages
-MSG_ESF_MEAS = 0x02
-MSG_ESF_STATUS = 0x10
-
-# INF messages
-MSG_INF_DEBUG = 0x04
-MSG_INF_ERROR = 0x00
-MSG_INF_NOTICE = 0x02
-MSG_INF_TEST = 0x03
-MSG_INF_WARNING = 0x01
-
-# MON messages
-MSG_MON_SCHD = 0x01
-MSG_MON_HW = 0x09
-MSG_MON_HW2 = 0x0B
-MSG_MON_IO = 0x02
-MSG_MON_MSGPP = 0x06
-MSG_MON_RXBUF = 0x07
-MSG_MON_RXR = 0x21
-MSG_MON_TXBUF = 0x08
-MSG_MON_VER = 0x04
-
-# TIM messages
-MSG_TIM_TP = 0x01
-MSG_TIM_TM2 = 0x03
-MSG_TIM_SVIN = 0x04
-MSG_TIM_VRFY = 0x06
-
-# port IDs
-PORT_DDC = 0
-PORT_SERIAL1 = 1
-PORT_SERIAL2 = 2
-PORT_USB = 3
-PORT_SPI = 4
-
-# dynamic models
-DYNAMIC_MODEL_PORTABLE = 0
-DYNAMIC_MODEL_STATIONARY = 2
-DYNAMIC_MODEL_PEDESTRIAN = 3
-DYNAMIC_MODEL_AUTOMOTIVE = 4
-DYNAMIC_MODEL_SEA = 5
-DYNAMIC_MODEL_AIRBORNE1G = 6
-DYNAMIC_MODEL_AIRBORNE2G = 7
-DYNAMIC_MODEL_AIRBORNE4G = 8
-
-#reset items
-RESET_HOT = 0
-RESET_WARM = 1
-RESET_COLD = 0xFFFF
-
-RESET_HW = 0
-RESET_SW = 1
-RESET_SW_GPS = 2
-RESET_HW_GRACEFUL = 4
-RESET_GPS_STOP = 8
-RESET_GPS_START = 9
-
-
-class UBloxError(Exception):
-  '''Ublox error class'''
-
-  def __init__(self, msg):
-    Exception.__init__(self, msg)
-    self.message = msg
-
-
-class UBloxAttrDict(dict):
-  '''allow dictionary members as attributes'''
-
-  def __init__(self):
-    dict.__init__(self)
-
-  def __getattr__(self, name):
-    try:
-      return self.__getitem__(name)
-    except KeyError as e:
-      raise RuntimeError(f"ublock invalid attr: {name}") from e
-
-  def __setattr__(self, name, value):
-    if name in self.__dict__:
-      # allow set on normal attributes
-      dict.__setattr__(self, name, value)
-    else:
-      self.__setitem__(name, value)
-
-
-def ArrayParse(field):
-  '''parse an array descriptor'''
-  arridx = field.find('[')
-  if arridx == -1:
-    return (field, -1)
-  alen = int(field[arridx + 1:-1])
-  fieldname = field[:arridx]
-  return (fieldname, alen)
-
-
-class UBloxDescriptor:
-  '''class used to describe the layout of a UBlox message'''
-
-  def __init__(self,
-               name,
-               msg_format,
-               fields=None,
-               count_field=None,
-               format2=None,
-               fields2=None):
-    if fields is None:
-      fields = []
-
-    self.name = name
-    self.msg_format = msg_format
-    self.fields = fields
-    self.count_field = count_field
-    self.format2 = format2
-    self.fields2 = fields2
-
-  def unpack(self, msg):
-    '''unpack a UBloxMessage, creating the .fields and ._recs attributes in msg'''
-    msg._fields = {}
-
-    # unpack main message blocks. A comm
-    formats = self.msg_format.split(',')
-    buf = msg._buf[6:-2]
-    count = 0
-    msg._recs = []
-    fields = self.fields[:]
-
-    for fmt in formats:
-      size1 = struct.calcsize(fmt)
-      if size1 > len(buf):
-        raise UBloxError("%s INVALID_SIZE1=%u" % (self.name, len(buf)))
-      f1 = list(struct.unpack(fmt, buf[:size1]))
-      i = 0
-      while i < len(f1):
-        field = fields.pop(0)
-        (fieldname, alen) = ArrayParse(field)
-        if alen == -1:
-          msg._fields[fieldname] = f1[i]
-          if self.count_field == fieldname:
-            count = int(f1[i])
-          i += 1
-        else:
-          msg._fields[fieldname] = [0] * alen
-          for a in range(alen):
-            msg._fields[fieldname][a] = f1[i]
-            i += 1
-      buf = buf[size1:]
-      if len(buf) == 0:
-        break
-
-    if self.count_field == '_remaining':
-      count = len(buf) // struct.calcsize(self.format2)
-
-    if count == 0:
-      msg._unpacked = True
-      if len(buf) != 0:
-        raise UBloxError("EXTRA_BYTES=%u" % len(buf))
-      return
-
-    size2 = struct.calcsize(self.format2)
-    for _ in range(count):
-      r = UBloxAttrDict()
-      if size2 > len(buf):
-        raise UBloxError("INVALID_SIZE=%u, " % len(buf))
-      f2 = list(struct.unpack(self.format2, buf[:size2]))
-      for i in range(len(self.fields2)):
-        r[self.fields2[i]] = f2[i]
-      buf = buf[size2:]
-      msg._recs.append(r)
-    if len(buf) != 0:
-      raise UBloxError("EXTRA_BYTES=%u" % len(buf))
-    msg._unpacked = True
-
-  def pack(self, msg, msg_class=None, msg_id=None):
-    '''pack a UBloxMessage from the .fields and ._recs attributes in msg'''
-    f1 = []
-    if msg_class is None:
-      msg_class = msg.msg_class()
-    if msg_id is None:
-      msg_id = msg.msg_id()
-    msg._buf = ''
-
-    fields = self.fields[:]
-    for f in fields:
-      (fieldname, alen) = ArrayParse(f)
-      if fieldname not in msg._fields:
-        break
-      if alen == -1:
-        f1.append(msg._fields[fieldname])
-      else:
-        for a in range(alen):
-          f1.append(msg._fields[fieldname][a])
-    try:
-      # try full length message
-      fmt = self.msg_format.replace(',', '')
-      msg._buf = struct.pack(fmt, *tuple(f1))
-    except Exception:
-      # try without optional part
-      fmt = self.msg_format.split(',')[0]
-      msg._buf = struct.pack(fmt, *tuple(f1))
-
-    length = len(msg._buf)
-    if msg._recs:
-      length += len(msg._recs) * struct.calcsize(self.format2)
-    header = struct.pack('<BBBBH', PREAMBLE1, PREAMBLE2, msg_class, msg_id, length)
-    msg._buf = header + msg._buf
-
-    for r in msg._recs:
-      f2 = []
-      for f in self.fields2:
-        f2.append(r[f])
-      msg._buf += struct.pack(self.format2, *tuple(f2))
-    msg._buf += struct.pack('<BB', *msg.checksum(data=msg._buf[2:]))
-
-  def format_json(self, msg):
-    '''return a formatted string for a message'''
-    if not msg._unpacked:
-      self.unpack(msg)
-    ret = self.name + ': '
-    for f in self.fields:
-      (fieldname, alen) = ArrayParse(f)
-      if fieldname not in msg._fields:
-        continue
-      v = msg._fields[fieldname]
-      if isinstance(v, list):
-        ret += '%s=[' % fieldname
-        for a in range(alen):
-          ret += '%s, ' % v[a]
-        ret = ret[:-2] + '], '
-      elif isinstance(v, str):
-        ret += '{}="{}", '.format(f, v.rstrip(' \0'))
-      else:
-        ret += '%s=%s, ' % (f, v)
-    for r in msg._recs:
-      ret += '[ '
-      for f in self.fields2:
-        v = r[f]
-        ret += '%s=%s, ' % (f, v)
-      ret = ret[:-2] + ' ], '
-    return ret[:-2]
-
-
-# list of supported message types.
-msg_types = {
-  (CLASS_ACK, MSG_ACK_ACK):
-  UBloxDescriptor('ACK_ACK', '<BB', ['clsID', 'msgID']),
-  (CLASS_ACK, MSG_ACK_NACK):
-  UBloxDescriptor('ACK_NACK', '<BB', ['clsID', 'msgID']),
-  (CLASS_CFG, MSG_CFG_USB):
-  UBloxDescriptor('CFG_USB', '<HHHHHH32s32s32s', [
-    'vendorID', 'productID', 'reserved1', 'reserved2', 'powerConsumption', 'flags',
-    'vendorString', 'productString', 'serialNumber'
-  ]),
-  (CLASS_CFG, MSG_CFG_PRT):
-  UBloxDescriptor('CFG_PRT', '<BBHIIHHHH', [
-    'portID', 'reserved0', 'txReady', 'mode', 'baudRate', 'inProtoMask', 'outProtoMask',
-    'reserved4', 'reserved5'
-  ]),
-  (CLASS_CFG, MSG_CFG_ITMF):
-  UBloxDescriptor('CFG_ITMF', '<II', [
-    'config', 'config2'
-  ]),
-  (CLASS_CFG, MSG_CFG_CFG):
-  UBloxDescriptor('CFG_CFG', '<III,B',
-                  ['clearMask', 'saveMask', 'loadMask', 'deviceMask']),
-  (CLASS_CFG, MSG_CFG_RXM):
-  UBloxDescriptor('CFG_RXM', '<BB',
-                  ['reserved1', 'lpMode']),
-  (CLASS_CFG, MSG_CFG_RST):
-  UBloxDescriptor('CFG_RST', '<HBB', ['navBbrMask ', 'resetMode', 'reserved1']),
-  (CLASS_CFG, MSG_CFG_SBAS):
-  UBloxDescriptor('CFG_SBAS', '<BBBBI',
-                  ['mode', 'usage', 'maxSBAS', 'scanmode2', 'scanmode1']),
-  (CLASS_CFG, MSG_CFG_GNSS):
-  UBloxDescriptor('CFG_GNSS', '<BBBB',
-                  ['msgVer', 'numTrkChHw', 'numTrkChUse',
-                   'numConfigBlocks'], 'numConfigBlocks', '<BBBBI',
-                  ['gnssId', 'resTrkCh', 'maxTrkCh', 'reserved1', 'flags']),
-  (CLASS_CFG, MSG_CFG_RATE):
-  UBloxDescriptor('CFG_RATE', '<HHH', ['measRate', 'navRate', 'timeRef']),
-  (CLASS_CFG, MSG_CFG_MSG):
-  UBloxDescriptor('CFG_MSG', '<BB6B', ['msgClass', 'msgId', 'rates[6]']),
-  (CLASS_NAV, MSG_NAV_POSLLH):
-  UBloxDescriptor('NAV_POSLLH', '<IiiiiII',
-                  ['iTOW', 'Longitude', 'Latitude', 'height', 'hMSL', 'hAcc', 'vAcc']),
-  (CLASS_NAV, MSG_NAV_VELNED):
-  UBloxDescriptor('NAV_VELNED', '<IiiiIIiII', [
-    'iTOW', 'velN', 'velE', 'velD', 'speed', 'gSpeed', 'heading', 'sAcc', 'cAcc'
-  ]),
-  (CLASS_NAV, MSG_NAV_DOP):
-  UBloxDescriptor('NAV_DOP', '<IHHHHHHH',
-                  ['iTOW', 'gDOP', 'pDOP', 'tDOP', 'vDOP', 'hDOP', 'nDOP', 'eDOP']),
-  (CLASS_NAV, MSG_NAV_STATUS):
-  UBloxDescriptor('NAV_STATUS', '<IBBBBII',
-                  ['iTOW', 'gpsFix', 'flags', 'fixStat', 'flags2', 'ttff', 'msss']),
-  (CLASS_NAV, MSG_NAV_SOL):
-  UBloxDescriptor('NAV_SOL', '<IihBBiiiIiiiIHBBI', [
-    'iTOW', 'fTOW', 'week', 'gpsFix', 'flags', 'ecefX', 'ecefY', 'ecefZ', 'pAcc',
-    'ecefVX', 'ecefVY', 'ecefVZ', 'sAcc', 'pDOP', 'reserved1', 'numSV', 'reserved2'
-  ]),
-  (CLASS_NAV, MSG_NAV_PVT):
-  UBloxDescriptor('NAV_PVT', '<IHBBBBBBIiBBBBiiiiIIiiiiiIIH6BihH', [
-    'iTOW', 'year', 'month', 'day', 'hour', 'min', 'sec', 'valid', 'tAcc', 'nano',
-    'fixType', 'flags', 'flags2', 'numSV', 'lon', 'lat', 'height', 'hMSL', 'hAcc', 'vAcc',
-    'velN', 'velE', 'velD', 'gSpeed', 'headMot', 'sAcc', 'headAcc', 'pDOP',
-    'reserverd1[6]', 'headVeh', 'magDec', 'magAcc'
-  ]),
-  (CLASS_NAV, MSG_NAV_POSUTM):
-  UBloxDescriptor('NAV_POSUTM', '<Iiiibb',
-                  ['iTOW', 'East', 'North', 'Alt', 'Zone', 'Hem']),
-  (CLASS_NAV, MSG_NAV_SBAS):
-  UBloxDescriptor('NAV_SBAS', '<IBBbBBBBB', [
-    'iTOW', 'geo', 'mode', 'sys', 'service', 'cnt', 'reserved01', 'reserved02',
-    'reserved03'
-  ], 'cnt', 'BBBBBBhHh', [
-    'svid', 'flags', 'udre', 'svSys', 'svService', 'reserved1', 'prc', 'reserved2', 'ic'
-  ]),
-  (CLASS_NAV, MSG_NAV_POSECEF):
-  UBloxDescriptor('NAV_POSECEF', '<IiiiI', ['iTOW', 'ecefX', 'ecefY', 'ecefZ', 'pAcc']),
-  (CLASS_NAV, MSG_NAV_VELECEF):
-  UBloxDescriptor('NAV_VELECEF', '<IiiiI', ['iTOW', 'ecefVX', 'ecefVY', 'ecefVZ',
-                                            'sAcc']),
-  (CLASS_NAV, MSG_NAV_TIMEGPS):
-  UBloxDescriptor('NAV_TIMEGPS', '<IihbBI',
-                  ['iTOW', 'fTOW', 'week', 'leapS', 'valid', 'tAcc']),
-  (CLASS_NAV, MSG_NAV_TIMEUTC):
-  UBloxDescriptor('NAV_TIMEUTC', '<IIiHBBBBBB', [
-    'iTOW', 'tAcc', 'nano', 'year', 'month', 'day', 'hour', 'min', 'sec', 'valid'
-  ]),
-  (CLASS_NAV, MSG_NAV_CLOCK):
-  UBloxDescriptor('NAV_CLOCK', '<IiiII', ['iTOW', 'clkB', 'clkD', 'tAcc', 'fAcc']),
-  (CLASS_NAV, MSG_NAV_DGPS):
-  UBloxDescriptor('NAV_DGPS', '<IihhBBH',
-                  ['iTOW', 'age', 'baseId', 'baseHealth', 'numCh', 'status', 'reserved1'],
-                  'numCh', '<BBHff', ['svid', 'flags', 'ageC', 'prc', 'prrc']),
-  (CLASS_NAV, MSG_NAV_SVINFO):
-  UBloxDescriptor('NAV_SVINFO', '<IBBH', ['iTOW', 'numCh', 'globalFlags',
-                                          'reserved2'], 'numCh', '<BBBBBbhi',
-                  ['chn', 'svid', 'flags', 'quality', 'cno', 'elev', 'azim', 'prRes']),
-  (CLASS_RXM, MSG_RXM_SVSI):
-  UBloxDescriptor('RXM_SVSI', '<IhBB', ['iTOW', 'week', 'numVis', 'numSV'], 'numSV',
-                  '<BBhbB', ['svid', 'svFlag', 'azim', 'elev', 'age']),
-  (CLASS_RXM, MSG_RXM_EPH):
-  UBloxDescriptor('RXM_EPH', '<II , 8I 8I 8I',
-                  ['svid', 'how', 'sf1d[8]', 'sf2d[8]', 'sf3d[8]']),
-  (CLASS_AID, MSG_AID_EPH):
-  UBloxDescriptor('AID_EPH', '<II , 8I 8I 8I',
-                  ['svid', 'how', 'sf1d[8]', 'sf2d[8]', 'sf3d[8]']),
-  (CLASS_AID, MSG_AID_HUI):
-  UBloxDescriptor('AID_HUI', '<Iddi 6h 8f I',
-                  ['health', 'utcA0', 'utcA1', 'utcTOW', 'utcWNT', 'utcLS', 'utcWNF',
-                   'utcDN', 'utcLSF', 'utcSpare', 'klobA0', 'klobA1', 'klobA2', 'klobA3',
-                   'klobB0', 'klobB1', 'klobB2', 'klobB3', 'flags']),
-  (CLASS_AID, MSG_AID_AOP):
-  UBloxDescriptor('AID_AOP', '<B47B , 48B 48B 48B',
-                  ['svid', 'data[47]', 'optional0[48]', 'optional1[48]',
-                   'optional1[48]']),
-  (CLASS_RXM, MSG_RXM_RAW):
-  UBloxDescriptor('RXM_RAW', '<dHbBB3B', [
-    'rcvTow', 'week', 'leapS', 'numMeas', 'recStat', 'reserved1[3]'
-  ], 'numMeas', '<ddfBBBBHBBBBBB', [
-    'prMes', 'cpMes', 'doMes', 'gnssId', 'svId', 'sigId', 'freqId', 'locktime', 'cno',
-    'prStdev', 'cpStdev', 'doStdev', 'trkStat', 'reserved3'
-  ]),
-  (CLASS_RXM, MSG_RXM_SFRB):
-  UBloxDescriptor('RXM_SFRB', '<BB10I', ['chn', 'svid', 'dwrd[10]']),
-  (CLASS_RXM, MSG_RXM_SFRBX):
-  UBloxDescriptor('RXM_SFRBX', '<8B', ['gnssId', 'svid', 'reserved1', 'freqId', 'numWords',
-      'reserved2', 'version', 'reserved3'], 'numWords', 'I', ['dwrd']),
-  (CLASS_AID, MSG_AID_ALM):
-  UBloxDescriptor('AID_ALM', '<II', '_remaining', 'I', ['dwrd']),
-  (CLASS_RXM, MSG_RXM_ALM):
-  UBloxDescriptor('RXM_ALM', '<II , 8I', ['svid', 'week', 'dwrd[8]']),
-  (CLASS_CFG, MSG_CFG_ANT):
-  UBloxDescriptor('CFG_ANT', '<HH', ['flags', 'pins']),
-  (CLASS_CFG, MSG_CFG_ODO):
-  UBloxDescriptor('CFG_ODO', '<B3BBB6BBB2BBB2B', [
-    'version', 'reserved1[3]', 'flags', 'odoCfg', 'reserverd2[6]', 'cogMaxSpeed',
-    'cogMaxPosAcc', 'reserved3[2]', 'velLpGain', 'cogLpGain', 'reserved[2]'
-  ]),
-  (CLASS_CFG, MSG_CFG_NAV5):
-  UBloxDescriptor('CFG_NAV5', '<HBBiIbBHHHHBBIII', [
-    'mask', 'dynModel', 'fixMode', 'fixedAlt', 'fixedAltVar', 'minElev', 'drLimit',
-    'pDop', 'tDop', 'pAcc', 'tAcc', 'staticHoldThresh', 'dgpsTimeOut', 'reserved2',
-    'reserved3', 'reserved4'
-  ]),
-  (CLASS_CFG, MSG_CFG_NAVX5):
-  UBloxDescriptor('CFG_NAVX5', '<HHIBBBBBBBBBBHIBBBBBBHII', [
-    'version', 'mask1', 'reserved0', 'reserved1', 'reserved2', 'minSVs', 'maxSVs',
-    'minCNO', 'reserved5', 'iniFix3D', 'reserved6', 'reserved7', 'reserved8',
-    'wknRollover', 'reserved9', 'reserved10', 'reserved11', 'usePPP', 'useAOP',
-    'reserved12', 'reserved13', 'aopOrbMaxErr', 'reserved3', 'reserved4'
-  ]),
-  (CLASS_MON, MSG_MON_HW):
-  UBloxDescriptor('MON_HW', '<IIIIHHBBBBIB17BHIII', [
-    'pinSel', 'pinBank', 'pinDir', 'pinVal', 'noisePerMS', 'agcCnt', 'aStatus', 'aPower',
-    'flags', 'reserved1', 'usedMask', 'VP[17]', 'jamInd', 'reserved3', 'pinInq', 'pullH',
-    'pullL'
-  ]),
-  (CLASS_MON, MSG_MON_HW2):
-  UBloxDescriptor('MON_HW2', '<bBbBB3BI8BI4B', [
-    'ofsI', 'magI', 'ofsQ', 'magQ', 'cfgSource', 'reserved1[3]', 'lowLevCfg',
-    'reserved2[8]', 'postStatus', 'reserved3[4]'
-  ]),
-  (CLASS_MON, MSG_MON_SCHD):
-  UBloxDescriptor('MON_SCHD', '<IIIIHHHBB', [
-    'tskRun', 'tskSchd', 'tskOvrr', 'tskReg', 'stack', 'stackSize', 'CPUIdle', 'flySly',
-    'ptlSly'
-  ]),
-  (CLASS_MON, MSG_MON_VER):
-  UBloxDescriptor('MON_VER', '<30s10s,30s', ['swVersion', 'hwVersion', 'romVersion'],
-                  '_remaining', '30s', ['extension']),
-  (CLASS_TIM, MSG_TIM_TP):
-  UBloxDescriptor('TIM_TP', '<IIiHBB',
-                  ['towMS', 'towSubMS', 'qErr', 'week', 'flags', 'reserved1']),
-  (CLASS_TIM, MSG_TIM_TM2):
-  UBloxDescriptor('TIM_TM2', '<BBHHHIIIII', [
-    'ch', 'flags', 'count', 'wnR', 'wnF', 'towMsR', 'towSubMsR', 'towMsF', 'towSubMsF',
-    'accEst'
-  ]),
-  (CLASS_TIM, MSG_TIM_SVIN):
-  UBloxDescriptor('TIM_SVIN', '<IiiiIIBBH', [
-    'dur', 'meanX', 'meanY', 'meanZ', 'meanV', 'obs', 'valid', 'active', 'reserved1'
-  ]),
-  (CLASS_INF, MSG_INF_ERROR):
-  UBloxDescriptor('INF_ERR', '<18s', ['str']),
-  (CLASS_INF, MSG_INF_DEBUG):
-  UBloxDescriptor('INF_DEBUG', '<18s', ['str'])
-}
-
-
-class UBloxMessage:
-  '''UBlox message class - holds a UBX binary message'''
-
-  def __init__(self):
-    self._buf = b""
-    self._fields = {}
-    self._recs = []
-    self._unpacked = False
-    self.debug_level = 1
-
-  def __str__(self):
-    '''format a message as a string'''
-    if not self.valid():
-      return 'UBloxMessage(INVALID)'
-    msg_type = self.msg_type()
-    if msg_type in msg_types:
-      return msg_types[msg_type].format(self)
-    return 'UBloxMessage(UNKNOWN %s, %u)' % (str(msg_type), self.msg_length())
-
-  def as_dict(self):
-    '''format a message as a string'''
-    if not self.valid():
-      return 'UBloxMessage(INVALID)'
-    msg_type = self.msg_type()
-    if msg_type in msg_types:
-      return msg_types[msg_type].format(self)
-    return 'UBloxMessage(UNKNOWN %s, %u)' % (str(msg_type), self.msg_length())
-
-  def __getattr__(self, name):
-    '''allow access to message fields'''
-    try:
-      return self._fields[name]
-    except KeyError as e:
-      if name == 'recs':
-        return self._recs
-      raise AttributeError(name) from e
-
-  def __setattr__(self, name, value):
-    '''allow access to message fields'''
-    if name.startswith('_'):
-      self.__dict__[name] = value
-    else:
-      self._fields[name] = value
-
-  def have_field(self, name):
-    '''return True if a message contains the given field'''
-    return name in self._fields
-
-  def debug(self, level, msg):
-    '''write a debug message'''
-    if self.debug_level >= level:
-      print(msg)
-
-  def unpack(self):
-    '''unpack a message'''
-    if not self.valid():
-      raise UBloxError('INVALID MESSAGE')
-    msg_type = self.msg_type()
-    if msg_type not in msg_types:
-      raise UBloxError('Unknown message %s length=%u' % (str(msg_type), len(self._buf)))
-    msg_types[msg_type].unpack(self)
-    return self._fields, self._recs
-
-  def pack(self):
-    '''pack a message'''
-    if not self.valid():
-      raise UBloxError('INVALID MESSAGE')
-    msg_type = self.msg_type()
-    if msg_type not in msg_types:
-      raise UBloxError('Unknown message %s' % str(msg_type))
-    msg_types[msg_type].pack(self)
-
-  def name(self):
-    '''return the short string name for a message'''
-    if not self.valid():
-      raise UBloxError('INVALID MESSAGE')
-    msg_type = self.msg_type()
-    if msg_type not in msg_types:
-      raise UBloxError('Unknown message %s length=%u' % (str(msg_types), len(self._buf)))
-    return msg_types[msg_type].name
-
-  def msg_class(self):
-    '''return the message class'''
-    return self._buf[2]
-
-  def msg_id(self):
-    '''return the message id within the class'''
-    return self._buf[3]
-
-  def msg_type(self):
-    '''return the message type tuple (class, id)'''
-    return (self.msg_class(), self.msg_id())
-
-  def msg_length(self):
-    '''return the payload length'''
-    (payload_length, ) = struct.unpack('<H', self._buf[4:6])
-    return payload_length
-
-  def valid_so_far(self):
-    '''check if the message is valid so far'''
-    if len(self._buf) > 0 and self._buf[0] != PREAMBLE1:
-      return False
-    if len(self._buf) > 1 and self._buf[1] != PREAMBLE2:
-      self.debug(1, "bad pre2")
-      return False
-    if self.needed_bytes() == 0 and not self.valid():
-      if len(self._buf) > 8:
-        self.debug(1, "bad checksum len=%u needed=%u" % (len(self._buf),
-                                                         self.needed_bytes()))
-      else:
-        self.debug(1, "bad len len=%u needed=%u" % (len(self._buf), self.needed_bytes()))
-      return False
-    return True
-
-  def add(self, data):
-    '''add some bytes to a message'''
-    self._buf += data
-    while not self.valid_so_far() and len(self._buf) > 0:
-      '''handle corrupted streams'''
-      self._buf = self._buf[1:]
-    if self.needed_bytes() < 0:
-      self._buf = ""
-
-  def checksum(self, data=None):
-    '''return a checksum tuple for a message'''
-    if data is None:
-      data = self._buf[2:-2]
-    #cs = 0
-    ck_a = 0
-    ck_b = 0
-    for i in data:
-      ck_a = (ck_a + i) & 0xFF
-      ck_b = (ck_b + ck_a) & 0xFF
-    return (ck_a, ck_b)
-
-  def valid_checksum(self):
-    '''check if the checksum is OK'''
-    (ck_a, ck_b) = self.checksum()
-    #d = self._buf[2:-2]
-    (ck_a2, ck_b2) = struct.unpack('<BB', self._buf[-2:])
-    return ck_a == ck_a2 and ck_b == ck_b2
-
-  def needed_bytes(self):
-    '''return number of bytes still needed'''
-    if len(self._buf) < 6:
-      return 8 - len(self._buf)
-    return self.msg_length() + 8 - len(self._buf)
-
-  def valid(self):
-    '''check if a message is valid'''
-    return len(self._buf) >= 8 and self.needed_bytes() == 0 and self.valid_checksum()
-
-
-class UBlox:
-  def __init__(self, dev, baudrate):
-    self.dev = dev
-    self.baudrate = baudrate
-
-    self.use_sendrecv = False
-    self.read_only = False
-    self.debug_level = 0
-
-    self.logfile = None
-    self.log = None
-    self.preferred_dynamic_model = None
-    self.preferred_usePPP = None
-    self.preferred_dgps_timeout = None
-
-  def close(self):
-    '''close the device'''
-    self.dev.close()
-    self.dev = None
-
-  def set_debug(self, debug_level):
-    '''set debug level'''
-    self.debug_level = debug_level
-
-  def debug(self, level, msg):
-    '''write a debug message'''
-    if self.debug_level >= level:
-      print(msg)
-
-  def set_logfile(self, logfile, append=False):
-    '''setup logging to a file'''
-    if self.log is not None:
-      self.log.close()
-      self.log = None
-    self.logfile = logfile
-    if self.logfile is not None:
-      if append:
-        mode = 'ab'
-      else:
-        mode = 'wb'
-      self.log = open(self.logfile, mode=mode)
-
-  def set_preferred_dynamic_model(self, model):
-    '''set the preferred dynamic model for receiver'''
-    self.preferred_dynamic_model = model
-    if model is not None:
-      self.configure_poll(CLASS_CFG, MSG_CFG_NAV5)
-
-  def set_preferred_dgps_timeout(self, timeout):
-    '''set the preferred DGPS timeout for receiver'''
-    self.preferred_dgps_timeout = timeout
-    if timeout is not None:
-      self.configure_poll(CLASS_CFG, MSG_CFG_NAV5)
-
-  def set_preferred_usePPP(self, usePPP):
-    '''set the preferred usePPP setting for the receiver'''
-    if usePPP is None:
-      self.preferred_usePPP = None
-      return
-    self.preferred_usePPP = int(usePPP)
-    self.configure_poll(CLASS_CFG, MSG_CFG_NAVX5)
-
-  def nmea_checksum(self, msg):
-    d = msg[1:]
-    cs = 0
-    for i in d:
-      cs ^= ord(i)
-    return cs
-
-  def write(self, buf):
-    '''write some bytes'''
-    if not self.read_only:
-      if self.use_sendrecv:
-        return self.dev.send(buf)
-      if isinstance(buf, str):
-        return self.dev.write(str.encode(buf))
-      else:
-        return self.dev.write(buf)
-
-  def read(self, n):
-    '''read some bytes'''
-    if self.use_sendrecv:
-      try:
-        return self.dev.recv(n)
-      except OSError:
-        return ''
-    return self.dev.read(n)
-
-  def send_nmea(self, msg):
-    if not self.read_only:
-      s = msg + "*%02X" % self.nmea_checksum(msg) + "\r\n"
-      self.write(s)
-
-  def set_binary(self):
-    '''put a UBlox into binary mode using a NMEA string'''
-    if not self.read_only:
-      print("try set binary at %u" % self.baudrate)
-      self.send_nmea("$PUBX,41,0,0007,0001,%u,0" % self.baudrate)
-      self.send_nmea("$PUBX,41,1,0007,0001,%u,0" % self.baudrate)
-      self.send_nmea("$PUBX,41,2,0007,0001,%u,0" % self.baudrate)
-      self.send_nmea("$PUBX,41,3,0007,0001,%u,0" % self.baudrate)
-      self.send_nmea("$PUBX,41,4,0007,0001,%u,0" % self.baudrate)
-      self.send_nmea("$PUBX,41,5,0007,0001,%u,0" % self.baudrate)
-
-  def disable_nmea(self):
-    ''' stop sending all types of nmea messages '''
-    self.send_nmea("$PUBX,40,GSV,1,1,1,1,1,0")
-    self.send_nmea("$PUBX,40,GGA,0,0,0,0,0,0")
-    self.send_nmea("$PUBX,40,GSA,0,0,0,0,0,0")
-    self.send_nmea("$PUBX,40,VTG,0,0,0,0,0,0")
-    self.send_nmea("$PUBX,40,TXT,0,0,0,0,0,0")
-    self.send_nmea("$PUBX,40,RMC,0,0,0,0,0,0")
-
-  def seek_percent(self, pct):
-    '''seek to the given percentage of a file'''
-    self.dev.seek(0, 2)
-    filesize = self.dev.tell()
-    self.dev.seek(pct * 0.01 * filesize)
-
-  def special_handling(self, msg):
-    '''handle automatic configuration changes'''
-    if msg.name() == 'CFG_NAV5':
-      msg.unpack()
-      sendit = False
-      pollit = False
-      if self.preferred_dynamic_model is not None and msg.dynModel != self.preferred_dynamic_model:
-        msg.dynModel = self.preferred_dynamic_model
-        sendit = True
-        pollit = True
-      if self.preferred_dgps_timeout is not None and msg.dgpsTimeOut != self.preferred_dgps_timeout:
-        msg.dgpsTimeOut = self.preferred_dgps_timeout
-        self.debug(2, "Setting dgpsTimeOut=%u" % msg.dgpsTimeOut)
-        sendit = True
-        # we don't re-poll for this one, as some receivers refuse to set it
-      if sendit:
-        msg.pack()
-        self.send(msg)
-        if pollit:
-          self.configure_poll(CLASS_CFG, MSG_CFG_NAV5)
-    if msg.name() == 'CFG_NAVX5' and self.preferred_usePPP is not None:
-      msg.unpack()
-      if msg.usePPP != self.preferred_usePPP:
-        msg.usePPP = self.preferred_usePPP
-        msg.mask = 1 << 13
-        msg.pack()
-        self.send(msg)
-        self.configure_poll(CLASS_CFG, MSG_CFG_NAVX5)
-
-  def receive_message(self, ignore_eof=False):
-    '''blocking receive of one ublox message'''
-    msg = UBloxMessage()
-    while True:
-      n = msg.needed_bytes()
-      b = self.read(n)
-      if not b:
-        if ignore_eof:
-          time.sleep(0.01)
-          continue
-        if len(msg._buf) > 0:
-          self.debug(1, "dropping %d bytes" % len(msg._buf))
-        return None
-      msg.add(b)
-      if self.log is not None:
-        self.log.write(b)
-        self.log.flush()
-      if msg.valid():
-        self.special_handling(msg)
-        return msg
-
-  def receive_message_noerror(self, ignore_eof=False):
-    '''blocking receive of one ublox message, ignoring errors'''
-    try:
-      return self.receive_message(ignore_eof=ignore_eof)
-    except UBloxError as e:
-      print(e)
-      return None
-    except OSError as e:
-      # Occasionally we get hit with 'resource temporarily unavailable'
-      # messages here on the serial device, catch them too.
-      print(e)
-      return None
-
-  def send(self, msg):
-    '''send a preformatted ublox message'''
-    if not msg.valid():
-      self.debug(1, "invalid send")
-      return
-    if not self.read_only:
-      self.write(msg._buf)
-
-  def send_message(self, msg_class, msg_id, payload):
-    '''send a ublox message with class, id and payload'''
-    msg = UBloxMessage()
-    msg._buf = struct.pack('<BBBBH', 0xb5, 0x62, msg_class, msg_id, len(payload))
-    msg._buf += payload
-    (ck_a, ck_b) = msg.checksum(msg._buf[2:])
-    msg._buf += struct.pack('<BB', ck_a, ck_b)
-    self.send(msg)
-
-  def configure_solution_rate(self, rate_ms=200, nav_rate=1, timeref=0):
-    '''configure the solution rate in milliseconds'''
-    payload = struct.pack('<HHH', rate_ms, nav_rate, timeref)
-    self.send_message(CLASS_CFG, MSG_CFG_RATE, payload)
-
-  def configure_message_rate(self, msg_class, msg_id, rate):
-    '''configure the message rate for a given message'''
-    payload = struct.pack('<BBB', msg_class, msg_id, rate)
-    self.send_message(CLASS_CFG, MSG_CFG_SET_RATE, payload)
-
-  def configure_port(self, port=1, inMask=3, outMask=3, mode=2240, baudrate=None):
-    '''configure a IO port'''
-    if baudrate is None:
-      baudrate = self.baudrate
-    payload = struct.pack('<BBH8BHHBBBB', port, 0xff, 0, 0, 0, 0, 0, 0, 0, 0, 0, inMask,
-                          outMask, 0, 0, 0, 0)
-    self.send_message(CLASS_CFG, MSG_CFG_PRT, payload)
-
-  def configure_loadsave(self, clearMask=0, saveMask=0, loadMask=0, deviceMask=0):
-    '''configure configuration load/save'''
-    payload = struct.pack('<IIIB', clearMask, saveMask, loadMask, deviceMask)
-    self.send_message(CLASS_CFG, MSG_CFG_CFG, payload)
-
-  def configure_poll(self, msg_class, msg_id, payload=b''):
-    '''poll a configuration message'''
-    self.send_message(msg_class, msg_id, payload)
-
-  def configure_poll_port(self, portID=None):
-    '''poll a port configuration'''
-    if portID is None:
-      self.configure_poll(CLASS_CFG, MSG_CFG_PRT)
-    else:
-      self.configure_poll(CLASS_CFG, MSG_CFG_PRT, struct.pack('<B', portID))
-
-  def configure_min_max_sats(self, min_sats=4, max_sats=32):
-    '''Set the minimum/maximum number of satellites for a solution in the NAVX5 message'''
-    payload = struct.pack('<HHIBBBBBBBBBBHIBBBBBBHII', 0, 4, 0, 0, 0, min_sats, max_sats,
-                          0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
-    self.send_message(CLASS_CFG, MSG_CFG_NAVX5, payload)
-
-  def module_reset(self, reset, mode):
-    ''' Reset the module for hot/warm/cold start'''
-    payload = struct.pack('<HBB', reset, mode, 0)
-    self.send_message(CLASS_CFG, MSG_CFG_RST, payload)
diff --git a/system/version.py b/system/version.py
old mode 100644
new mode 100755
diff --git a/third_party/libyuv/build.sh b/third_party/libyuv/build.sh
old mode 100644
new mode 100755
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index f1a7581870..03baa1b3d6 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -42,4 +42,4 @@ output_json_file = 'tools/cabana/dbc/car_fingerprint_to_dbc.json'
 generate_dbc = cabana_env.Command('#' + output_json_file,
                                   ['dbc/generate_dbc_json.py'],
                                   "python3 tools/cabana/dbc/generate_dbc_json.py --out " + output_json_file)
-cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/boardd", "#opendbc", "#cereal"])
+cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/boardd", Glob("#opendbc/*.dbc"), "#cereal"])
diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc
index 7d3e6ab99f..33403a2bff 100644
--- a/tools/cabana/cabana.cc
+++ b/tools/cabana/cabana.cc
@@ -75,12 +75,7 @@ int main(int argc, char *argv[]) {
     } else if (cmd_parser.isSet("demo")) {
       route = DEMO_ROUTE;
     }
-
-    if (route.isEmpty()) {
-      StreamSelector dlg(&stream);
-      dlg.exec();
-      dbc_file = dlg.dbcFile();
-    } else {
+    if (!route.isEmpty()) {
       auto replay_stream = new ReplayStream(&app);
       if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) {
         return 0;
@@ -89,17 +84,28 @@ int main(int argc, char *argv[]) {
     }
   }
 
-  MainWindow w;
-  if (!stream) {
-    stream = new DummyStream(&app);
-  }
-  stream->start();
-  if (!dbc_file.isEmpty()) {
-    w.loadFile(dbc_file);
+  int ret = 0;
+  {
+    MainWindow w;
+    QTimer::singleShot(0, [&]() {
+      if (!stream) {
+        StreamSelector dlg(&stream);
+        dlg.exec();
+        dbc_file = dlg.dbcFile();
+      }
+      if (!stream) {
+        stream = new DummyStream(&app);
+      }
+      stream->start();
+      if (!dbc_file.isEmpty()) {
+        w.loadFile(dbc_file);
+      }
+      w.show();
+    });
+
+    ret = app.exec();
   }
-  w.show();
 
-  int ret = app.exec();
   delete can;
   return ret;
 }
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index 8887084578..2cf65d4911 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -27,6 +27,11 @@ AbstractStream::AbstractStream(QObject *parent) : QObject(parent) {
     emit StreamNotifier::instance()->changingStream();
     delete can;
     can = this;
+    // TODO: add method stop() to class AbstractStream
+    QObject::connect(qApp, &QApplication::aboutToQuit, can, []() {
+      qDebug() << "stopping stream thread";
+      can->pause(true);
+    });
     emit StreamNotifier::instance()->streamStarted();
   });
 }
@@ -167,10 +172,12 @@ void AbstractStream::mergeEvents(std::vector<Event *>::const_iterator first, std
     e.insert(insert_pos, new_e.cbegin(), new_e.cend());
   }
 
-  auto insert_pos = std::upper_bound(all_events_.cbegin(), all_events_.cend(), new_events.front(), compare);
-  all_events_.insert(insert_pos, new_events.cbegin(), new_events.cend());
+  if (!new_events.empty()) {
+    auto insert_pos = std::upper_bound(all_events_.cbegin(), all_events_.cend(), new_events.front(), compare);
+    all_events_.insert(insert_pos, new_events.cbegin(), new_events.cend());
+  }
 
-  lastest_event_ts = all_events_.back()->mono_time;
+  lastest_event_ts = all_events_.empty() ? 0 : all_events_.back()->mono_time;
   emit eventsMerged();
 }
 
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index f535c6b729..098f26841c 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -159,13 +159,13 @@ Slider::Slider(QWidget *parent) : thumbnail_label(parent), QSlider(Qt::Horizonta
       qlog_future = std::make_unique<QFuture<void>>(QtConcurrent::run(this, &Slider::parseQLog));
     }
   });
-}
-
-Slider::~Slider() {
-  abort_parse_qlog = true;
-  if (qlog_future) {
-    qlog_future->waitForFinished();
-  }
+  QObject::connect(qApp, &QApplication::aboutToQuit, [this]() {
+    abort_parse_qlog = true;
+    if (qlog_future && qlog_future->isRunning()) {
+      qDebug() << "stopping thumbnail thread";
+      qlog_future->waitForFinished();
+    }
+  });
 }
 
 AlertInfo Slider::alertInfo(double seconds) {
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index 7ddd315e48..c17dd67e2a 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -37,7 +37,6 @@ class Slider : public QSlider {
 
 public:
   Slider(QWidget *parent);
-  ~Slider();
   double currentSecond() const { return value() / factor; }
   void setCurrentSecond(double sec) { setValue(sec * factor); }
   void setTimeRange(double min, double max);
diff --git a/tools/gpstest/rpc_server.py b/tools/gpstest/rpc_server.py
index cdedd8ea57..798237142d 100644
--- a/tools/gpstest/rpc_server.py
+++ b/tools/gpstest/rpc_server.py
@@ -3,6 +3,7 @@ import time
 import shutil
 from datetime import datetime
 from collections import defaultdict
+from openpilot.system.hardware.hw import Paths
 
 import rpyc
 from rpyc.utils.server import ThreadedServer
@@ -18,7 +19,6 @@ MATCH_NUM = 10
 REPORT_STATS = 10
 
 EPHEM_CACHE = "/data/params/d/LaikadEphemerisV3"
-DOWNLOAD_CACHE = "/tmp/comma_download_cache"
 
 SERVER_LOG_FILE = "/tmp/fuzzy_server.log"
 server_log = open(SERVER_LOG_FILE, "w+")
@@ -162,7 +162,7 @@ class RemoteCheckerService(rpyc.Service):
 
         if os.path.exists(EPHEM_CACHE):
           os.remove(EPHEM_CACHE)
-        shutil.rmtree(DOWNLOAD_CACHE, ignore_errors=True)
+        shutil.rmtree(Paths.download_cache_root(), ignore_errors=True)
 
       ret = self.run_checker(slat, slon, salt, sockets, procs, timeout)
       kill_procs(procs)
diff --git a/tools/gpstest/test_gps.py b/tools/gpstest/test_gps.py
old mode 100644
new mode 100755
diff --git a/tools/gpstest/test_gps_qcom.py b/tools/gpstest/test_gps_qcom.py
old mode 100644
new mode 100755
diff --git a/tools/gpstest/test_laikad.py b/tools/gpstest/test_laikad.py
old mode 100644
new mode 100755
diff --git a/tools/lib/kbhit.py b/tools/lib/kbhit.py
old mode 100644
new mode 100755
diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py
old mode 100644
new mode 100755
index 7702b52e3e..b893d9815d
--- a/tools/lib/tests/test_caching.py
+++ b/tools/lib/tests/test_caching.py
@@ -2,7 +2,6 @@
 import os
 import unittest
 from openpilot.tools.lib.url_file import URLFile
-from openpilot.selfdrive.test.helpers import temporary_cache_dir
 
 
 class TestFileDownload(unittest.TestCase):
@@ -31,7 +30,6 @@ class TestFileDownload(unittest.TestCase):
     self.assertEqual(file_cached.get_length(), file_downloaded.get_length())
     self.assertEqual(response_cached, response_downloaded)
 
-  @temporary_cache_dir
   def test_small_file(self):
     # Make sure we don't force cache
     os.environ["FILEREADER_CACHE"] = "0"
@@ -52,7 +50,6 @@ class TestFileDownload(unittest.TestCase):
     for i in range(length // 100):
       self.compare_loads(small_file_url, 100 * i, 100)
 
-  @temporary_cache_dir
   def test_large_file(self):
     large_file_url = "https://commadataci.blob.core.windows.net/openpilotci/0375fdf7b1ce594d/2019-06-13--08-32-25/3/qlog.bz2"
     #  Load the end 100 bytes of both files
diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py
index e93f8e715c..98a52cae27 100644
--- a/tools/lib/url_file.py
+++ b/tools/lib/url_file.py
@@ -8,12 +8,11 @@ from hashlib import sha256
 from io import BytesIO
 from tenacity import retry, wait_random_exponential, stop_after_attempt
 from openpilot.common.file_helpers import mkdirs_exists_ok, atomic_write_in_dir
+from openpilot.system.hardware.hw import Paths
 #  Cache chunk size
 K = 1000
 CHUNK_SIZE = 1000 * K
 
-CACHE_DIR = os.environ.get("COMMA_CACHE", "/tmp/comma_download_cache/")
-
 
 def hash_256(link):
   hsh = str(sha256((link.split("?")[0]).encode('utf-8')).hexdigest())
@@ -38,7 +37,7 @@ class URLFile:
       self._curl = self._tlocal.curl
     except AttributeError:
       self._curl = self._tlocal.curl = pycurl.Curl()
-    mkdirs_exists_ok(CACHE_DIR)
+    mkdirs_exists_ok(Paths.download_cache_root())
 
   def __enter__(self):
     return self
@@ -66,7 +65,7 @@ class URLFile:
   def get_length(self):
     if self._length is not None:
       return self._length
-    file_length_path = os.path.join(CACHE_DIR, hash_256(self._url) + "_length")
+    file_length_path = os.path.join(Paths.download_cache_root(), hash_256(self._url) + "_length")
     if os.path.exists(file_length_path) and not self._force_download:
       with open(file_length_path) as file_length:
           content = file_length.read()
@@ -93,7 +92,7 @@ class URLFile:
       self._pos = position
       chunk_number = self._pos / CHUNK_SIZE
       file_name = hash_256(self._url) + "_" + str(chunk_number)
-      full_path = os.path.join(CACHE_DIR, str(file_name))
+      full_path = os.path.join(Paths.download_cache_root(), str(file_name))
       data = None
       #  If we don't have a file, download it
       if not os.path.exists(full_path):
diff --git a/tools/plotjuggler/layouts/longitudinal.xml b/tools/plotjuggler/layouts/longitudinal.xml
index ff8f3ad193..33a24f76d6 100644
--- a/tools/plotjuggler/layouts/longitudinal.xml
+++ b/tools/plotjuggler/layouts/longitudinal.xml
@@ -3,10 +3,10 @@
  <tabbed_widget name="Main Window" parent="main_window">
   <Tab tab_name="tab1" containers="1">
    <Container>
-    <DockSplitter orientation="-" sizes="0.333601;0.332799;0.333601" count="3">
+    <DockSplitter orientation="-" sizes="0.250401;0.249599;0.250401;0.249599" count="4">
      <DockArea name="...">
       <plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
-       <range right="60.000002" top="2.131164" left="0.000000" bottom="-3.377712"/>
+       <range right="126.285782" top="1.391623" left="104.907277" bottom="-2.563614"/>
        <limitY/>
        <curve name="/carState/aEgo" color="#f14cc1"/>
        <curve name="/longitudinalPlan/accels/0" color="#9467bd"/>
@@ -15,7 +15,16 @@
      </DockArea>
      <DockArea name="...">
       <plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
-       <range right="60.000002" top="19.304051" left="0.000000" bottom="-0.538805"/>
+       <range right="126.285782" top="1.184960" left="104.907277" bottom="-1.811222" />
+       <limitY/>
+       <curve name="/controlsState/upAccelCmd" color="#1f77b4"/>
+       <curve name="/controlsState/uiAccelCmd" color="#d62728"/>
+       <curve name="/controlsState/ufAccelCmd" color="#1ac938"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
+       <range right="126.285782" top="15.862889" left="104.907277" bottom="-0.568809" />
        <limitY/>
        <curve name="/carState/vEgo" color="#1ac938"/>
        <curve name="/longitudinalPlan/speeds/0" color="#ff7f0e"/>
@@ -23,7 +32,7 @@
      </DockArea>
      <DockArea name="...">
       <plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
-       <range right="60.000002" top="1.025000" left="0.000000" bottom="-0.025000"/>
+       <range right="126.285782" top="1.025000" left="104.907277" bottom="-0.025000" />
        <limitY/>
        <curve name="/carControl/longActive" color="#1f77b4"/>
        <curve name="/carState/gasPressed" color="#d62728"/>
diff --git a/tools/replay/filereader.cc b/tools/replay/filereader.cc
index 88879067c9..22af7f5f86 100644
--- a/tools/replay/filereader.cc
+++ b/tools/replay/filereader.cc
@@ -3,11 +3,12 @@
 #include <fstream>
 
 #include "common/util.h"
+#include "system/hardware/hw.h"
 #include "tools/replay/util.h"
 
 std::string cacheFilePath(const std::string &url) {
   static std::string cache_path = [] {
-    const std::string comma_cache = util::getenv("COMMA_CACHE", "/tmp/comma_download_cache/");
+    const std::string comma_cache = Path::download_cache_root();
     util::create_directories(comma_cache, 0755);
     return comma_cache.back() == '/' ? comma_cache : comma_cache + "/";
   }();
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index e323a9f64d..d8a68a06e9 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -151,9 +151,10 @@ void Replay::buildTimeline() {
     [(int)cereal::ControlsState::AlertStatus::CRITICAL] = TimelineType::AlertCritical,
   };
 
-  for (auto it = segments_.cbegin(); it != segments_.cend() && !exit_; ++it) {
+  const auto &route_segments = route_->segments();
+  for (auto it = route_segments.cbegin(); it != route_segments.cend() && !exit_; ++it) {
     LogReader log;
-    if (!log.load(route_->at(it->first).qlog.toStdString(), &exit_,
+    if (!log.load(it->second.qlog.toStdString(), &exit_,
                   {cereal::Event::Which::CONTROLS_STATE, cereal::Event::Which::USER_FLAG},
                   !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3)) continue;
 
@@ -227,7 +228,10 @@ void Replay::segmentLoadFinished(bool success) {
   if (!success) {
     Segment *seg = qobject_cast<Segment *>(sender());
     rWarning("failed to load segment %d, removing it from current replay list", seg->seg_num);
-    segments_.erase(seg->seg_num);
+    updateEvents([&]() {
+      segments_.erase(seg->seg_num);
+      return true;
+    });
   }
   queueSegment();
 }
@@ -456,7 +460,7 @@ void Replay::stream() {
     }
 
     if (eit == events_->end() && !hasFlag(REPLAY_FLAG_NO_LOOP)) {
-      int last_segment = segments_.rbegin()->first;
+      int last_segment = segments_.empty() ? 0 : segments_.rbegin()->first;
       if (current_segment_ >= last_segment && isSegmentMerged(last_segment)) {
         rInfo("reaches the end of route, restart from beginning");
         QMetaObject::invokeMethod(this, std::bind(&Replay::seekTo, this, 0, false), Qt::QueuedConnection);
diff --git a/tools/scripts/save_ubloxraw_stream.py b/tools/scripts/save_ubloxraw_stream.py
old mode 100644
new mode 100755
diff --git a/tools/sim/start_openpilot_docker.sh b/tools/sim/start_openpilot_docker.sh
index dba89b8b70..54f4995e45 100755
--- a/tools/sim/start_openpilot_docker.sh
+++ b/tools/sim/start_openpilot_docker.sh
@@ -3,7 +3,7 @@
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 cd $DIR
 
-OPENPILOT_DIR="/openpilot"
+OPENPILOT_DIR="/tmp/openpilot"
 if ! [[ -z "$MOUNT_OPENPILOT" ]]; then
   OPENPILOT_DIR="$(dirname $(dirname $DIR))"
   EXTRA_ARGS="-v $OPENPILOT_DIR:$OPENPILOT_DIR -e PYTHONPATH=$OPENPILOT_DIR:$PYTHONPATH"
diff --git a/tools/zookeeper/__init__.py b/tools/zookeeper/__init__.py
index 42438cb209..598e0a0587 100644
--- a/tools/zookeeper/__init__.py
+++ b/tools/zookeeper/__init__.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import ft4222
 import ft4222.I2CMaster