diff --git a/panda b/panda
index 84393a7ff6..b95a65df58 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 84393a7ff6e7752f90ab4bf6f66818683a8634b1
+Subproject commit b95a65df58fea89b42b7c6b4fc85289b93a0bdb2
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index b67b97093a..f531914877 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -8,6 +8,7 @@ from selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
 
 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
+STANDSTILL_THRESHOLD = 10 * 0.0311 * CV.KPH_TO_MS
 
 
 class CarState(CarStateBase):
@@ -39,7 +40,8 @@ class CarState(CarStateBase):
     )
     ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = ret.vEgoRaw < 0.01
+    # sample rear wheel speeds, standstill=True if ECM allows engagement with brake
+    ret.standstill = ret.wheelSpeeds.rl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
 
     if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1:
       ret.gearShifter = self.parse_gear_shifter("T")
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index e48edc42ba..638008934a 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -105,7 +105,6 @@ class Footnote(Enum):
 @dataclass
 class HondaCarInfo(CarInfo):
   package: str = "Honda Sensing"
-  min_steer_speed: float = 12. * CV.MPH_TO_MS
 
 
 CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
@@ -114,31 +113,31 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
     HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
   ],
   CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
-  CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", harness=Harness.nidec, video_link="https://youtu.be/-IkImTe1NYE"),
+  CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec, video_link="https://youtu.be/-IkImTe1NYE"),
   CAR.CIVIC_BOSCH: [
-    HondaCarInfo("Honda Civic 2019-21", "All", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a),
-    HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch_a),
+    HondaCarInfo("Honda Civic 2019-21", "All", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], 2. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+    HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.bosch_a),
   ],
   CAR.CIVIC_BOSCH_DIESEL: None,  # same platform
   CAR.CIVIC_2022: [
-    HondaCarInfo("Honda Civic 2022", "All", min_steer_speed=0., harness=Harness.bosch_b),
-    HondaCarInfo("Honda Civic Hatchback 2022", "All", min_steer_speed=0., harness=Harness.bosch_b),
+    HondaCarInfo("Honda Civic 2022", "All", harness=Harness.bosch_b),
+    HondaCarInfo("Honda Civic Hatchback 2022", "All", harness=Harness.bosch_b),
   ],
   CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS, harness=Harness.nidec),
-  CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", harness=Harness.nidec),
-  CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", harness=Harness.bosch_a),
+  CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
+  CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.bosch_a),
   CAR.CRV_EU: None,  # HondaCarInfo("Honda CR-V EU", "Touring"),  # Euro version of CRV Touring
-  CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", harness=Harness.bosch_a),
-  CAR.FIT: HondaCarInfo("Honda Fit 2018-20", harness=Harness.nidec),
-  CAR.FREED: HondaCarInfo("Honda Freed 2020", harness=Harness.nidec),
-  CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", harness=Harness.nidec),
-  CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", min_steer_speed=0., harness=Harness.nidec),
+  CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+  CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
+  CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
+  CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
+  CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", harness=Harness.nidec),
   CAR.ODYSSEY_CHN: None,  # Chinese version of Odyssey
-  CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", harness=Harness.nidec),
+  CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
   CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
-  CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", harness=Harness.nidec),
-  CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", harness=Harness.nidec),
-  CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", harness=Harness.nidec),
+  CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
+  CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
+  CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
   CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
   CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
 }
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index bab9f859e6..e4e141153f 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -234,7 +234,7 @@ class TestCarModelBase(unittest.TestCase):
 
       checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
       checks['cruiseState'] += CS.cruiseState.enabled and not CS.cruiseState.available
-      if self.CP.carName not in ("hyundai", "volkswagen", "gm", "body"):
+      if self.CP.carName not in ("hyundai", "volkswagen", "body"):
         # TODO: fix standstill mismatches for other makes
         checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()
 
diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc
index 3cf08eaaa0..252a8c680c 100644
--- a/tools/cabana/canmessages.cc
+++ b/tools/cabana/canmessages.cc
@@ -26,7 +26,8 @@ static bool event_filter(const Event *e, void *opaque) {
 }
 
 bool CANMessages::loadRoute(const QString &route, const QString &data_dir, bool use_qcam) {
-  replay = new Replay(route, {"can", "roadEncodeIdx"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this);
+  routeName = route;
+  replay = new Replay(route, {"can", "roadEncodeIdx", "carParams"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this);
   replay->setSegmentCacheLimit(settings.cached_segment_limit);
   replay->installEventFilter(event_filter, this);
   QObject::connect(replay, &Replay::segmentsMerged, this, &CANMessages::segmentsMerged);
diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h
index fe71840d74..58f5ad70b7 100644
--- a/tools/cabana/canmessages.h
+++ b/tools/cabana/canmessages.h
@@ -44,6 +44,8 @@ public:
   bool eventFilter(const Event *event);
 
   inline std::pair<double, double> range() const { return {begin_sec, end_sec}; }
+  inline QString route() const { return routeName; }
+  inline QString carFingerprint() const { return replay->carFingerprint().c_str(); }
   inline double totalSeconds() const { return replay->totalSeconds(); }
   inline double routeStartTime() const { return replay->routeStartTime() / (double)1e9; }
   inline double currentSec() const { return current_sec; }
@@ -80,6 +82,7 @@ protected:
   double event_begin_sec = 0;
   double event_end_sec = 0;
   bool is_zoomed = false;
+  QString routeName;
   Replay *replay = nullptr;
 };
 
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index 7aea8097cf..50fcbc455c 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -30,8 +30,16 @@ MainWindow::MainWindow() : QWidget() {
   right_container->setFixedWidth(640);
   r_layout = new QVBoxLayout(right_container);
 
+  QHBoxLayout *right_hlayout = new QHBoxLayout();
+  QLabel *fingerprint_label = new QLabel(this);
+  right_hlayout->addWidget(fingerprint_label);
+
+  // TODO: click to select another route.
+  right_hlayout->addWidget(new QLabel(can->route()));
   QPushButton *settings_btn = new QPushButton("Settings");
-  r_layout->addWidget(settings_btn, 0, Qt::AlignRight);
+  right_hlayout->addWidget(settings_btn, 0, Qt::AlignRight);
+
+  r_layout->addLayout(right_hlayout);
 
   video_widget = new VideoWidget(this);
   r_layout->addWidget(video_widget, 0, Qt::AlignTop);
@@ -45,10 +53,10 @@ MainWindow::MainWindow() : QWidget() {
   QObject::connect(detail_widget, &DetailWidget::showChart, charts_widget, &ChartsWidget::addChart);
   QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts);
   QObject::connect(settings_btn, &QPushButton::clicked, this, &MainWindow::setOption);
+  QObject::connect(can, &CANMessages::eventsMerged, [=]() { fingerprint_label->setText(can->carFingerprint() ); });
 }
 
 void MainWindow::dockCharts(bool dock) {
-  charts_widget->setUpdatesEnabled(false);
   if (dock && floating_window) {
     floating_window->removeEventFilter(charts_widget);
     r_layout->addWidget(charts_widget);
@@ -62,7 +70,6 @@ void MainWindow::dockCharts(bool dock) {
     floating_window->setMinimumSize(QGuiApplication::primaryScreen()->size() / 2);
     floating_window->showMaximized();
   }
-  charts_widget->setUpdatesEnabled(true);
 }
 
 void MainWindow::closeEvent(QCloseEvent *event) {
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index bb90d56570..78965e3e8c 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -15,6 +15,7 @@ inline QString formatTime(int seconds) {
 
 VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
 
   // TODO: figure out why the CameraWidget crashed occasionally.
   cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false, this);