Merge remote-tracking branch 'upstream/master' into civic22_long

3 years ago · 112f695f19
parent d21aa5b541 68272449e1
commit 112f695f19
200 changed files with 4178 additions and 1767 deletions
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@ -294,7 +294,7 @@ jobs:
    - name: Run model replay with ONNX
      timeout-minutes: 2
      run: |
-        ${{ env.RUN_CL }} "ONNXCPU=1 CI=1 coverage run selfdrive/test/process_replay/model_replay.py && \
+        ${{ env.RUN_CL }} "ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
                           coverage xml"
    - name: Run unit tests
      timeout-minutes: 5
--- a/.gitignore
+++ b/.gitignore
@ -52,6 +52,7 @@ selfdrive/sensord/_sensord
 system/camerad/camerad
 system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
+selfdrive/modeld/_navmodeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/

--- a/Dockerfile.openpilot_base_cl
+++ b/Dockerfile.openpilot_base_cl
@ -17,7 +17,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends\

 # Intel OpenCL driver
 ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz
-ARG INTEL_DRIVER_URL=http://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532
+ARG INTEL_DRIVER_URL=https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532
 RUN mkdir -p /tmp/opencl-driver-intel
 WORKDIR /tmp/opencl-driver-intel
 RUN echo INTEL_DRIVER is $INTEL_DRIVER && \
--- a/7
+++ b/7
@ -11,6 +11,7 @@ export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
+export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}'

 source ~/.bash_profile
 if [ -f /TICI ]; then
@ -47,9 +48,11 @@ pipeline {
    TEST_DIR = "/data/openpilot"
    SOURCE_DIR = "/data/openpilot_source/"
    AZURE_TOKEN = credentials('azure_token')
+    MAPBOX_TOKEN = credentials('mapbox_token')
  }
  options {
-    timeout(time: 4, unit: 'HOURS')
+    timeout(time: 3, unit: 'HOURS')
+    disableConcurrentBuilds(abortPrevious: env.BRANCH_NAME != 'master')
  }

  stages {
@ -115,7 +118,6 @@ pipeline {
              ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"],
              ["build openpilot", "cd selfdrive/manager && ./build.py"],
              ["check dirty", "release/check-dirty.sh"],
-              ["test manager", "python selfdrive/manager/test/test_manager.py"],
              ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
              ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
            ])
@ -141,6 +143,7 @@ pipeline {
              ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
              ["test pigeond", "python selfdrive/sensord/tests/test_pigeond.py"],
+              ["test manager", "python selfdrive/manager/test/test_manager.py"],
            ])
          }
        }
--- a/RELEASES.md
+++ b/RELEASES.md
@ -1,3 +1,12 @@
+Version 0.9.1 (2022-12-XX)
+========================
+* Adjust alert volume using ambient noise level
+* Removed driver monitoring timer resetting on interaction if face detected and distracted
+* Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
+* Genesis GV60 2023 support thanks to sunnyhaibin!
+* Hyundai Tucson 2022-23 support
+* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+
 Version 0.9.0 (2022-11-21)
 ========================
 * New driving model
--- a/9
+++ b/9
@ -300,7 +300,7 @@ if arch == "Darwin":
 else:
  qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
  qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
-  
+
  qt_env['QTDIR'] = qt_install_prefix
  qt_dirs = [
    f"{qt_install_headers}",
@ -409,10 +409,10 @@ if arch != "Darwin":

 # build submodules
 SConscript([
-  'cereal/SConscript',
  'body/board/SConscript',
-  'panda/board/SConscript',
+  'cereal/SConscript',
  'opendbc/can/SConscript',
+  'panda/SConscript',
 ])

 SConscript(['third_party/SConscript'])
@ -442,9 +442,6 @@ if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
  Export('opendbc')
  SConscript(['tools/cabana/SConscript'])

-if GetOption('test'):
-  SConscript('panda/tests/safety/SConscript')
-
 external_sconscript = GetOption('external_sconscript')
 if external_sconscript:
  SConscript([external_sconscript])
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 04aeb30ce0bb14759989cd374158233877e1e151
+Subproject commit dc780f858c1ef641471d09b72569e199e3e10acb
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 3bae09cf6527674d7eda3a9956242aad94a8f3d2
+Subproject commit 22b1431132b038253a24ab3fbbe3af36ef93b95b
--- a/common/prefix.h
+++ b/common/prefix.h
@ -0,0 +1,34 @@
+#pragma once
+
+#include <cassert>
+#include <string>
+
+#include "common/params.h"
+#include "common/util.h"
+
+class OpenpilotPrefix {
+public:
+  OpenpilotPrefix(std::string prefix = {}) {
+    if (prefix.empty()) {
+      prefix = util::random_string(15);
+    }
+    msgq_path = "/dev/shm/" + prefix;
+    bool ret = util::create_directories(msgq_path, 0777);
+    assert(ret);
+    setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);
+  }
+
+  ~OpenpilotPrefix() {
+    auto param_path = Params().getParamPath();
+    if (util::file_exists(param_path)) {
+      std::string real_path = util::readlink(param_path);
+      system(util::string_format("rm %s -rf", real_path.c_str()).c_str());
+      unlink(param_path.c_str());
+    }
+    system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str());
+    unsetenv("OPENPILOT_PREFIX");
+  }
+
+private:
+  std::string msgq_path;
+};
--- a/common/util.cc
+++ b/common/util.cc
@ -10,6 +10,7 @@
 #include <dirent.h>
 #include <fstream>
 #include <iomanip>
+#include <random>
 #include <sstream>

 #ifdef __linux__
@ -228,6 +229,18 @@ std::string hexdump(const uint8_t* in, const size_t size) {
  return ss.str();
 }

+std::string random_string(std::string::size_type length) {
+  const char* chrs = "0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ";
+  std::mt19937 rg{std::random_device{}()};
+  std::uniform_int_distribution<std::string::size_type> pick(0, sizeof(chrs) - 2);
+  std::string s;
+  s.reserve(length);
+  while (length--) {
+    s += chrs[pick(rg)];
+  }
+  return s;
+}
+
 std::string dir_name(std::string const &path) {
  size_t pos = path.find_last_of("/");
  if (pos == std::string::npos) return "";
--- a/common/util.h
+++ b/common/util.h
@ -75,6 +75,7 @@ int getenv(const char* key, int default_val);
 float getenv(const char* key, float default_val);

 std::string hexdump(const uint8_t* in, const size_t size);
+std::string random_string(std::string::size_type length);
 std::string dir_name(std::string const& path);

 // **** file fhelpers *****
--- a/common/version.h
+++ b/common/version.h
@ -1 +1 @@
-#define COMMA_VERSION "0.9.0"
+#define COMMA_VERSION "0.9.1"
--- a/docs/CARS.md
+++ b/docs/CARS.md
@ -4,21 +4,22 @@

 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.

-# 215 Supported Cars
+# 220 Supported Cars

 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
 |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
 |Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
 |Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
+|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
 |Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
@ -31,7 +32,8 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
 |Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
 |Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|Genesis|GV70 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
+|Genesis|GV60 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
+|Genesis|GV70 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
 |GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
@ -59,9 +61,9 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
 |Hyundai|Elantra Hybrid 2021-23|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)](##)|Hyundai K|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J|
-|Hyundai|i30 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Hyundai|Ioniq 5 (with HDA II) 2022-23|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|
-|Hyundai|Ioniq 5 (without HDA II) 2022-23|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
+|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
+|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|
+|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
 |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)](##)|Hyundai C|
 |Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
 |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)](##)|Hyundai C|
@ -73,7 +75,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |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)](##)|Hyundai O|
 |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)](##)|Hyundai I|
 |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)](##)|Hyundai H|
-|Hyundai|Santa Cruz 2021-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
+|Hyundai|Santa Cruz 2021-22[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
 |Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D|
 |Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
 |Hyundai|Santa Fe Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
@ -82,14 +84,16 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Hyundai|Sonata 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)](##)|Hyundai A|
 |Hyundai|Sonata 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)](##)|Hyundai A|
 |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
+|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
+|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
 |Hyundai|Tucson Diesel 2019|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)](##)|Hyundai L|
-|Hyundai|Tucson Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
+|Hyundai|Tucson Hybrid 2022[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
 |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Kia|EV6 (with HDA II) 2022|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|
-|Kia|EV6 (without HDA II) 2022|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
+|Kia|EV6 (with HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|
+|Kia|EV6 (without HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
 |Kia|Forte 2019-21|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)](##)|Hyundai G|
 |Kia|K5 2021-22|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)](##)|Hyundai A|
 |Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
@ -104,8 +108,9 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Kia|Seltos 2021|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)](##)|Hyundai A|
 |Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
 |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Kia|Sportage 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
-|Kia|Sportage Hybrid 2023|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)](##)|Hyundai N|
+|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
+|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
+|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|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)](##)|Hyundai N|
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
 |Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
 |Kia|Telluride 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)](##)|Hyundai H|
@ -127,17 +132,17 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
 |Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
 |Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|
-|Mazda|CX-9 2021-22|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|
+|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|
 |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan B|
 |Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
 |Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
 |Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
 |Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ram|
-|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
 |Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
 |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|Crosstrek 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
 |Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
 |Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
 |Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
@ -145,13 +150,13 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|
 |Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
 |Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Škoda|Kamiq 2021[<sup>6</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>9</sup>](#footnotes)|
-|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>9</sup>](#footnotes)|
-|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>10</sup>](#footnotes)|
+|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>10</sup>](#footnotes)|
+|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
 |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
@ -162,10 +167,10 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
 |Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
 |Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>5</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Camry 2021-22|All|openpilot|0 mph[<sup>5</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
+|Toyota|Camry 2021-22|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
 |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Camry Hybrid 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
 |Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
 |Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
 |Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
@ -192,48 +197,49 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
 |Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Passat 2015-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>9</sup>](#footnotes)|
-|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>9</sup>](#footnotes)|
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>9</sup>](#footnotes)|
-|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>9</sup>](#footnotes)|
-|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Tiguan 2019-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>10</sup>](#footnotes)|
+|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>10</sup>](#footnotes)|
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>10</sup>](#footnotes)|
+|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>10</sup>](#footnotes)|
+|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Tiguan 2019-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|

 <a id="footnotes"></a>
-<sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `master-ci`. Using openpilot longitudinal may disable Automatic Emergency Braking (AEB). <br />
-<sup>2</sup>When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
+<sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.  <br />
+<sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>3</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>5</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>6</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>7</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>8</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>9</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>5</sup>Requires a <a href="https://comma.ai/shop/panda" target="_blank">red panda</a>, additional <a href="https://comma.ai/shop/harness-box" target="_blank">harness box</a>, additional <a href="https://comma.ai/shop/obd-c-cable" target="_blank">OBD-C cable</a>, USB-A to USB-A cable, and a USB-A to USB-C OTG dongle. <br />
+<sup>6</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>7</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>8</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>9</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>10</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />

 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
--- a/docs/INTEGRATION.md
+++ b/docs/INTEGRATION.md
@ -8,4 +8,4 @@ Additionally, on specific supported cars (see ACC column in [supported cars](CAR
 * Stock ACC is replaced by openpilot ACC.
 * openpilot FCW operates in addition to stock FCW.

-openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
+openpilot should preserve all other vehicle's stock features, including, but not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 296f190000a2e71408e207ba21a2257cc853ec15
+Subproject commit 4a7ad636ff806146a93f7ae541e463a7dfa5696d
--- a/poetry.lock
+++ b/poetry.lock
@ -2439,6 +2439,20 @@ typing-extensions = ">=3.6.2.1"
 [package.extras]
 lint = ["clang-format (==13.0.0)", "flake8", "mypy (==0.782)", "types-protobuf (==3.18.4)"]

+[[package]]
+name = "onnx2torch"
+version = "1.5.4"
+description = "Nice Onnx to Pytorch converter"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+numpy = ">=1.16.4"
+onnx = ">=1.9.0"
+torch = ">=1.8.0"
+torchvision = ">=0.9.0"
+
 [[package]]
 name = "onnxoptimizer"
 version = "0.3.1"
@ -3696,6 +3710,20 @@ category = "dev"
 optional = false
 python-versions = "*"

+[[package]]
+name = "sounddevice"
+version = "0.4.5"
+description = "Play and Record Sound with Python"
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+CFFI = ">=1.0"
+
+[package.extras]
+numpy = ["NumPy"]
+
 [[package]]
 name = "soupsieve"
 version = "2.3.2.post1"
@ -4386,7 +4414,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
 [metadata]
 lock-version = "1.1"
 python-versions = "~3.8"
-content-hash = "d2854112975a9d83a9540175b2d430487e40e0292d48a1ba6c591db60a08c136"
+content-hash = "82e450801a9a1de9fd98615d7deb3d8f0aa5bd3ccf0cf8b258cd8f6e6e4c5309"

 [metadata.files]
 adal = [
@ -5392,7 +5420,6 @@ gevent = [
    {file = "gevent-22.10.1-cp310-cp310-win_amd64.whl", hash = "sha256:d2ea4ce36c09355379bc038be2bd50118f97d2eb6381b7096de4d05aa4c3e241"},
    {file = "gevent-22.10.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3e73c9f71aa2a6795ecbec9b57282b002375e863e283558feb87b62840c8c1ac"},
    {file = "gevent-22.10.1-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:5bc3758f0dc95007c1780d28a9fd2150416a79c50f308f62a674d78a845ea1b9"},
-    {file = "gevent-22.10.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:03c10ca0beeab0c6be516030471ea630447ddd1f649d3335e5b162097cd4130a"},
    {file = "gevent-22.10.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:fe2c0ff095171c49f78f1d4e6dc89fa58253783c7b6dccab9f1d76e2ee391f10"},
    {file = "gevent-22.10.1-cp36-cp36m-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:d18fcc324f39a3b21795022eb47c7752d6e4f4ed89d8cca41f1cc604553265b3"},
    {file = "gevent-22.10.1-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:06ea39c70ce166c4a1d4386c7fae96cb8d84ad799527b3378406051104d15443"},
@ -6388,6 +6415,9 @@ onnx = [
    {file = "onnx-1.12.0-cp39-cp39-win_amd64.whl", hash = "sha256:af90427ca04c6b7b8107c2021e1273227a3ef1a7a01f3073039cae7855a59833"},
    {file = "onnx-1.12.0.tar.gz", hash = "sha256:13b3e77d27523b9dbf4f30dfc9c959455859d5e34e921c44f712d69b8369eff9"},
 ]
+onnx2torch = [
+    {file = "onnx2torch-1.5.4-py3-none-any.whl", hash = "sha256:fd1a0fe05072bfb9f3d86d9330299b130b41f11bd4ae634db17078974e711725"},
+]
 onnxoptimizer = [
    {file = "onnxoptimizer-0.3.1-cp37-cp37m-macosx_10_15_x86_64.whl", hash = "sha256:e73a5e2e3ca4db9bff54f7131768749c861677b97ee811a136fcf1a52783cf6e"},
    {file = "onnxoptimizer-0.3.1-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c8bf2bfe0dc43f0776867688e1759122dec049ff4f45f7221931b687fe7e139e"},
@ -7515,6 +7545,13 @@ sortedcontainers = [
    {file = "sortedcontainers-2.4.0-py2.py3-none-any.whl", hash = "sha256:a163dcaede0f1c021485e957a39245190e74249897e2ae4b2aa38595db237ee0"},
    {file = "sortedcontainers-2.4.0.tar.gz", hash = "sha256:25caa5a06cc30b6b83d11423433f65d1f9d76c4c6a0c90e3379eaa43b9bfdb88"},
 ]
+sounddevice = [
+    {file = "sounddevice-0.4.5-py3-none-any.whl", hash = "sha256:5cea4afd9412e731f50ae09a54d68b10628a604cfd56b42a976c54d424c6c39d"},
+    {file = "sounddevice-0.4.5-py3-none-macosx_10_6_x86_64.macosx_10_6_universal2.whl", hash = "sha256:0875173595a8bd5a66b5a03a3d958e7b89c3b956b8befbe4491a24a3ce7784c0"},
+    {file = "sounddevice-0.4.5-py3-none-win32.whl", hash = "sha256:442adf53850916374a58f902200aaf9412227378181264e60c966da64be47d41"},
+    {file = "sounddevice-0.4.5-py3-none-win_amd64.whl", hash = "sha256:d3216c5d3d678c3301058e9aac7000879e255140c524c9ef98730091b67ea676"},
+    {file = "sounddevice-0.4.5.tar.gz", hash = "sha256:2fe0d41299e4f3037dad2acede4eff0666b34a1fa3da5335e47120373964bef5"},
+]
 soupsieve = [
    {file = "soupsieve-2.3.2.post1-py3-none-any.whl", hash = "sha256:3b2503d3c7084a42b1ebd08116e5f81aadfaea95863628c80a3b774a11b7c759"},
    {file = "soupsieve-2.3.2.post1.tar.gz", hash = "sha256:fc53893b3da2c33de295667a0e19f078c14bf86544af307354de5fcf12a3f30d"},
--- a/pyproject.toml
+++ b/pyproject.toml
@ -12,7 +12,7 @@ documentation = "https://docs.comma.ai"
 [tool.poetry.dependencies]
 python = "~3.8"
 atomicwrites = "^1.4.0"
-casadi = { version = "==3.5.5", markers = "platform_system != 'Darwin'" }
+casadi = { version = "==3.5.5", platform = "linux" }
 cffi = "^1.15.1"
 crcmod = "^1.7"
 cryptography = "^37.0.4"
@ -29,7 +29,7 @@ libusb1 = "^3.0.0"
 nose = "^1.3.7"
 numpy = "^1.23.0"
 onnx = "^1.12.0"
-onnxruntime-gpu = { version = "^1.11.1", markers = "platform_system != 'Darwin'" }
+onnxruntime-gpu = { version = "^1.11.1", platform = "linux" }
 pillow = "^9.2.0"
 poetry = "==1.2.2"
 protobuf = "==3.20.1"
@ -49,20 +49,21 @@ sentry-sdk = "^1.6.0"
 setproctitle = "^1.2.3"
 six = "^1.16.0"
 smbus2 = "^0.4.2"
+sounddevice = "^0.4.5"
+spidev = { version = "^3.6", platform = "linux" }
 sympy = "^1.10.1"
 timezonefinder = "^6.0.1"
 tqdm = "^4.64.0"
 urllib3 = "^1.26.10"
 utm = "^0.7.0"
 websocket_client = "^1.3.3"
-spidev = "^3.6"


 [tool.poetry.group.dev.dependencies]
 av = "^9.2.0"
 azure-storage-blob = "~2.1"
 breathe = "^4.34.0"
-carla = "==0.9.13"
+carla = { version = "==0.9.13", platform = "linux" }
 control = "^0.9.2"
 coverage = "^6.4.1"
 dictdiffer = "^0.9.0"
@ -80,7 +81,7 @@ mypy = "^0.961"
 myst-parser = "^0.18.0"
 natsort = "^8.1.0"
 numpy = "^1.23.0"
-opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl" }
+opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl", platform = "linux" }
 pandas = "^1.4.3"
 parameterized = "^0.8.1"
 paramiko = "^2.11.0"
@ -118,7 +119,6 @@ azure-cli-core = "^2.38.0"
 azure-common = "^1.1.28"
 azure-core = "^1.24.2"
 azure-nspkg = "~3.0"
-azure-storage-blob = "~2.1"
 azure-storage-common = "~2.1"
 azure-storage-nspkg = "~3.1"
 blosc = "==1.9.2"
@ -142,14 +142,12 @@ jupyter = "^1.0.0"
 jupyterlab = "^3.4.4"
 jupyterlab-vim = "^0.15.1"
 Markdown = "^3.4.1"
-mpld3 = "^0.5.8"
 msgpack-python = "^0.5.6"
 networkx = "~2.3"
 nvidia-ml-py3 = "^7.352.0"
+onnx2torch = "^1.5.4"
 onnxoptimizer = "^0.3.1"
-opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl" }
 osmium = "^3.3.0"
-pandas = "^1.4.3"
 pillow-avif-plugin = "^1.2.2"
 pipenv = "==2022.10.12"
 plotly = "^5.9.0"
--- a/release/files_common
+++ b/release/files_common
@ -71,6 +71,7 @@ selfdrive/rtshield.py
 selfdrive/statsd.py

 system/logmessaged.py
+system/micd.py
 system/swaglog.py
 system/version.py

@ -145,6 +146,7 @@ selfdrive/debug/vw_mqb_config.py
 common/SConscript
 common/version.h

+common/prefix.h
 common/swaglog.h
 common/swaglog.cc
 common/statlog.h
@ -216,6 +218,7 @@ system/hardware/tici/amplifier.py
 system/hardware/tici/updater
 system/hardware/tici/iwlist.py
 system/hardware/pc/__init__.py
+system/hardware/pc/hardware.h
 system/hardware/pc/hardware.py

 selfdrive/locationd/__init__.py
@ -348,20 +351,28 @@ selfdrive/manager/test/test_manager.py
 selfdrive/modeld/__init__.py
 selfdrive/modeld/SConscript
 selfdrive/modeld/modeld.cc
+selfdrive/modeld/navmodeld.cc
 selfdrive/modeld/dmonitoringmodeld.cc
 selfdrive/modeld/constants.py
 selfdrive/modeld/modeld
+selfdrive/modeld/navmodeld
 selfdrive/modeld/dmonitoringmodeld

 selfdrive/modeld/models/commonmodel.cc
 selfdrive/modeld/models/commonmodel.h
+
 selfdrive/modeld/models/driving.cc
 selfdrive/modeld/models/driving.h
+selfdrive/modeld/models/supercombo.onnx
+
 selfdrive/modeld/models/dmonitoring.cc
 selfdrive/modeld/models/dmonitoring.h
-selfdrive/modeld/models/supercombo.onnx
 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
 selfdrive/modeld/transforms/loadyuv.h
 selfdrive/modeld/transforms/loadyuv.cl
@ -484,6 +495,7 @@ cereal/visionipc/*.pxd

 panda/.gitignore
 panda/__init__.py
+panda/SConscript
 panda/board/**
 panda/certs/**
 panda/crypto/**
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@ -1,4 +1,6 @@
 #!/usr/bin/env python3
+from __future__ import annotations
+
 import base64
 import bz2
 import hashlib
@ -14,14 +16,15 @@ import sys
 import tempfile
 import threading
 import time
-from collections import namedtuple
+from dataclasses import asdict, dataclass, replace
 from datetime import datetime
 from functools import partial
-from typing import Any, Dict
+from queue import Queue
+from typing import BinaryIO, Callable, Dict, List, Optional, Set, Union, cast

 import requests
 from jsonrpc import JSONRPCResponseManager, dispatcher
-from websocket import (ABNF, WebSocketException, WebSocketTimeoutException,
+from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
                       create_connection)

 import cereal.messaging as messaging
@ -54,19 +57,54 @@ WS_FRAME_SIZE = 4096

 NetworkType = log.DeviceState.NetworkType

+UploadFileDict = Dict[str, Union[str, int, float, bool]]
+UploadItemDict = Dict[str, Union[str, bool, int, float, Dict[str, str]]]
+
+UploadFilesToUrlResponse = Dict[str, Union[int, List[UploadItemDict], List[str]]]
+
+
+@dataclass
+class UploadFile:
+  fn: str
+  url: str
+  headers: Dict[str, str]
+  allow_cellular: bool
+
+  @classmethod
+  def from_dict(cls, d: Dict) -> UploadFile:
+    return cls(d.get("fn", ""), d.get("url", ""), d.get("headers", {}), d.get("allow_cellular", False))
+
+
+@dataclass
+class UploadItem:
+  path: str
+  url: str
+  headers: Dict[str, str]
+  created_at: int
+  id: Optional[str]
+  retry_count: int = 0
+  current: bool = False
+  progress: float = 0
+  allow_cellular: bool = False
+
+  @classmethod
+  def from_dict(cls, d: Dict) -> UploadItem:
+    return cls(d["path"], d["url"], d["headers"], d["created_at"], d["id"], d["retry_count"], d["current"],
+               d["progress"], d["allow_cellular"])
+
+
 dispatcher["echo"] = lambda s: s
-recv_queue: Any = queue.Queue()
-send_queue: Any = queue.Queue()
-upload_queue: Any = queue.Queue()
-low_priority_send_queue: Any = queue.Queue()
-log_recv_queue: Any = queue.Queue()
-cancelled_uploads: Any = set()
-UploadItem = namedtuple('UploadItem', ['path', 'url', 'headers', 'created_at', 'id', 'retry_count', 'current', 'progress', 'allow_cellular'], defaults=(0, False, 0, False))
+recv_queue: Queue[str] = queue.Queue()
+send_queue: Queue[str] = queue.Queue()
+upload_queue: Queue[UploadItem] = queue.Queue()
+low_priority_send_queue: Queue[str] = queue.Queue()
+log_recv_queue: Queue[str] = queue.Queue()
+cancelled_uploads: Set[str] = set()

-cur_upload_items: Dict[int, Any] = {}
+cur_upload_items: Dict[int, Optional[UploadItem]] = {}


-def strip_bz2_extension(fn):
+def strip_bz2_extension(fn: str) -> str:
  if fn.endswith('.bz2'):
    return fn[:-4]
  return fn
@ -76,29 +114,30 @@ class AbortTransferException(Exception):
  pass


-class UploadQueueCache():
+class UploadQueueCache:
  params = Params()

  @staticmethod
-  def initialize(upload_queue):
+  def initialize(upload_queue: Queue[UploadItem]) -> None:
    try:
      upload_queue_json = UploadQueueCache.params.get("AthenadUploadQueue")
      if upload_queue_json is not None:
        for item in json.loads(upload_queue_json):
-          upload_queue.put(UploadItem(**item))
+          upload_queue.put(UploadItem.from_dict(item))
    except Exception:
      cloudlog.exception("athena.UploadQueueCache.initialize.exception")

  @staticmethod
-  def cache(upload_queue):
+  def cache(upload_queue: Queue[UploadItem]) -> None:
    try:
-      items = [i._asdict() for i in upload_queue.queue if i.id not in cancelled_uploads]
+      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))
    except Exception:
      cloudlog.exception("athena.UploadQueueCache.cache.exception")


-def handle_long_poll(ws):
+def handle_long_poll(ws: WebSocket) -> None:
  end_event = threading.Event()

  threads = [
@ -126,7 +165,7 @@ def handle_long_poll(ws):
      thread.join()


-def jsonrpc_handler(end_event):
+def jsonrpc_handler(end_event: threading.Event) -> None:
  dispatcher["startLocalProxy"] = partial(startLocalProxy, end_event)
  while not end_event.is_set():
    try:
@ -147,11 +186,12 @@ def jsonrpc_handler(end_event):


 def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = True) -> None:
-  if cur_upload_items[tid].retry_count < MAX_RETRY_COUNT:
-    item = cur_upload_items[tid]
+  item = cur_upload_items[tid]
+  if item is not None and item.retry_count < MAX_RETRY_COUNT:
    new_retry_count = item.retry_count + 1 if increase_count else item.retry_count

-    item = item._replace(
+    item = replace(
+      item,
      retry_count=new_retry_count,
      progress=0,
      current=False
@ -175,44 +215,44 @@ def upload_handler(end_event: threading.Event) -> None:
    cur_upload_items[tid] = None

    try:
-      cur_upload_items[tid] = upload_queue.get(timeout=1)._replace(current=True)
+      cur_upload_items[tid] = item = replace(upload_queue.get(timeout=1), current=True)

-      if cur_upload_items[tid].id in cancelled_uploads:
-        cancelled_uploads.remove(cur_upload_items[tid].id)
+      if item.id in cancelled_uploads:
+        cancelled_uploads.remove(item.id)
        continue

      # Remove item if too old
-      age = datetime.now() - datetime.fromtimestamp(cur_upload_items[tid].created_at / 1000)
+      age = datetime.now() - datetime.fromtimestamp(item.created_at / 1000)
      if age.total_seconds() > MAX_AGE:
-        cloudlog.event("athena.upload_handler.expired", item=cur_upload_items[tid], error=True)
+        cloudlog.event("athena.upload_handler.expired", item=item, error=True)
        continue

      # Check if uploading over metered connection is allowed
      sm.update(0)
      metered = sm['deviceState'].networkMetered
      network_type = sm['deviceState'].networkType.raw
-      if metered and (not cur_upload_items[tid].allow_cellular):
+      if metered and (not item.allow_cellular):
        retry_upload(tid, end_event, False)
        continue

      try:
-        def cb(sz, cur):
+        def cb(sz: int, cur: int) -> None:
          # Abort transfer if connection changed to metered after starting upload
          sm.update(0)
          metered = sm['deviceState'].networkMetered
-          if metered and (not cur_upload_items[tid].allow_cellular):
+          if metered and (not item.allow_cellular):
            raise AbortTransferException

-          cur_upload_items[tid] = cur_upload_items[tid]._replace(progress=cur / sz if sz else 1)
+          cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1)

-        fn = cur_upload_items[tid].path
+        fn = item.path
        try:
          sz = os.path.getsize(fn)
        except OSError:
          sz = -1

-        cloudlog.event("athena.upload_handler.upload_start", fn=fn, sz=sz, network_type=network_type, metered=metered, retry_count=cur_upload_items[tid].retry_count)
-        response = _do_upload(cur_upload_items[tid], cb)
+        cloudlog.event("athena.upload_handler.upload_start", fn=fn, sz=sz, network_type=network_type, metered=metered, retry_count=item.retry_count)
+        response = _do_upload(item, cb)

        if response.status_code not in (200, 201, 401, 403, 412):
          cloudlog.event("athena.upload_handler.retry", status_code=response.status_code, fn=fn, sz=sz, network_type=network_type, metered=metered)
@ -234,7 +274,7 @@ def upload_handler(end_event: threading.Event) -> None:
      cloudlog.exception("athena.upload_handler.exception")


-def _do_upload(upload_item, callback=None):
+def _do_upload(upload_item: UploadItem, callback: Optional[Callable] = None) -> requests.Response:
  path = upload_item.path
  compress = False

@ -244,27 +284,25 @@ def _do_upload(upload_item, callback=None):
    compress = True

  with open(path, "rb") as f:
+    data: BinaryIO
    if compress:
      cloudlog.event("athena.upload_handler.compress", fn=path, fn_orig=upload_item.path)
-      data = bz2.compress(f.read())
-      size = len(data)
-      data = io.BytesIO(data)
+      compressed = bz2.compress(f.read())
+      size = len(compressed)
+      data = io.BytesIO(compressed)
    else:
      size = os.fstat(f.fileno()).st_size
      data = f

-    if callback:
-      data = CallbackReader(data, callback, size)
-
    return requests.put(upload_item.url,
-                        data=data,
+                        data=CallbackReader(data, callback, size) if callback else data,
                        headers={**upload_item.headers, 'Content-Length': str(size)},
                        timeout=30)


 # security: user should be able to request any message from their car
@dispatcher.add_method
-def getMessage(service=None, timeout=1000):
+def getMessage(service: str, timeout: int = 1000) -> Dict:
  if service is None or service not in service_list:
    raise Exception("invalid service")

@ -274,7 +312,8 @@ def getMessage(service=None, timeout=1000):
  if ret is None:
    raise TimeoutError

-  return ret.to_dict()
+  # this is because capnp._DynamicStructReader doesn't have typing information
+  return cast(Dict, ret.to_dict())


@dispatcher.add_method
@ -288,7 +327,7 @@ def getVersion() -> Dict[str, str]:


@dispatcher.add_method
-def setNavDestination(latitude=0, longitude=0, place_name=None, place_details=None):
+def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: Optional[str] = None, place_details: Optional[str] = None) -> Dict[str, int]:
  destination = {
    "latitude": latitude,
    "longitude": longitude,
@ -300,8 +339,8 @@ def setNavDestination(latitude=0, longitude=0, place_name=None, place_details=No
  return {"success": 1}


-def scan_dir(path, prefix):
-  files = list()
+def scan_dir(path: str, prefix: str) -> List[str]:
+  files = []
  # only walk directories that match the prefix
  # (glob and friends traverse entire dir tree)
  with os.scandir(path) as i:
@ -320,18 +359,18 @@ def scan_dir(path, prefix):
  return files

@dispatcher.add_method
-def listDataDirectory(prefix=''):
+def listDataDirectory(prefix='') -> List[str]:
  return scan_dir(ROOT, prefix)


@dispatcher.add_method
-def reboot():
+def reboot() -> Dict[str, int]:
  sock = messaging.sub_sock("deviceState", timeout=1000)
  ret = messaging.recv_one(sock)
  if ret is None or ret.deviceState.started:
    raise Exception("Reboot unavailable")

-  def do_reboot():
+  def do_reboot() -> None:
    time.sleep(2)
    HARDWARE.reboot()

@ -341,50 +380,53 @@ def reboot():


@dispatcher.add_method
-def uploadFileToUrl(fn, url, headers):
-  return uploadFilesToUrls([{
+def uploadFileToUrl(fn: str, url: str, headers: Dict[str, str]) -> UploadFilesToUrlResponse:
+  # this is because mypy doesn't understand that the decorator doesn't change the return type
+  response: UploadFilesToUrlResponse = uploadFilesToUrls([{
    "fn": fn,
    "url": url,
    "headers": headers,
  }])
+  return response


@dispatcher.add_method
-def uploadFilesToUrls(files_data):
-  items = []
-  failed = []
-  for file in files_data:
-    fn = file.get('fn', '')
-    if len(fn) == 0 or fn[0] == '/' or '..' in fn or 'url' not in file:
-      failed.append(fn)
+def uploadFilesToUrls(files_data: List[UploadFileDict]) -> UploadFilesToUrlResponse:
+  files = map(UploadFile.from_dict, files_data)
+
+  items: List[UploadItemDict] = []
+  failed: List[str] = []
+  for file in files:
+    if len(file.fn) == 0 or file.fn[0] == '/' or '..' in file.fn or len(file.url) == 0:
+      failed.append(file.fn)
      continue

-    path = os.path.join(ROOT, fn)
+    path = os.path.join(ROOT, file.fn)
    if not os.path.exists(path) and not os.path.exists(strip_bz2_extension(path)):
-      failed.append(fn)
+      failed.append(file.fn)
      continue

    # Skip item if already in queue
-    url = file['url'].split('?')[0]
+    url = file.url.split('?')[0]
    if any(url == item['url'].split('?')[0] for item in listUploadQueue()):
      continue

    item = UploadItem(
      path=path,
-      url=file['url'],
-      headers=file.get('headers', {}),
+      url=file.url,
+      headers=file.headers,
      created_at=int(time.time() * 1000),
      id=None,
-      allow_cellular=file.get('allow_cellular', False),
+      allow_cellular=file.allow_cellular,
    )
    upload_id = hashlib.sha1(str(item).encode()).hexdigest()
-    item = item._replace(id=upload_id)
+    item = replace(item, id=upload_id)
    upload_queue.put_nowait(item)
-    items.append(item._asdict())
+    items.append(asdict(item))

  UploadQueueCache.cache(upload_queue)

-  resp = {"enqueued": len(items), "items": items}
+  resp: UploadFilesToUrlResponse = {"enqueued": len(items), "items": items}
  if failed:
    resp["failed"] = failed

@ -392,32 +434,32 @@ def uploadFilesToUrls(files_data):


@dispatcher.add_method
-def listUploadQueue():
+def listUploadQueue() -> List[UploadItemDict]:
  items = list(upload_queue.queue) + list(cur_upload_items.values())
-  return [i._asdict() for i in items if (i is not None) and (i.id not in cancelled_uploads)]
+  return [asdict(i) for i in items if (i is not None) and (i.id not in cancelled_uploads)]


@dispatcher.add_method
-def cancelUpload(upload_id):
+def cancelUpload(upload_id: Union[str, List[str]]) -> Dict[str, Union[int, str]]:
  if not isinstance(upload_id, list):
    upload_id = [upload_id]

  uploading_ids = {item.id for item in list(upload_queue.queue)}
  cancelled_ids = uploading_ids.intersection(upload_id)
  if len(cancelled_ids) == 0:
-    return 404
+    return {"success": 0, "error": "not found"}

  cancelled_uploads.update(cancelled_ids)
  return {"success": 1}


@dispatcher.add_method
-def primeActivated(activated):
+def primeActivated(activated: bool) -> Dict[str, int]:
  return {"success": 1}


@dispatcher.add_method
-def setBandwithLimit(upload_speed_kbps, download_speed_kbps):
+def setBandwithLimit(upload_speed_kbps: int, download_speed_kbps: int) -> Dict[str, Union[int, str]]:
  if not AGNOS:
    return {"success": 0, "error": "only supported on AGNOS"}

@ -428,7 +470,7 @@ def setBandwithLimit(upload_speed_kbps, download_speed_kbps):
    return {"success": 0, "error": "failed to set limit", "stdout": e.stdout, "stderr": e.stderr}


-def startLocalProxy(global_end_event, remote_ws_uri, local_port):
+def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> Dict[str, int]:
  try:
    if local_port not in LOCAL_PORT_WHITELIST:
      raise Exception("Requested local port not whitelisted")
@ -462,7 +504,7 @@ def startLocalProxy(global_end_event, remote_ws_uri, local_port):


@dispatcher.add_method
-def getPublicKey():
+def getPublicKey() -> Optional[str]:
  if not os.path.isfile(PERSIST + '/comma/id_rsa.pub'):
    return None

@ -471,7 +513,7 @@ def getPublicKey():


@dispatcher.add_method
-def getSshAuthorizedKeys():
+def getSshAuthorizedKeys() -> str:
  return Params().get("GithubSshKeys", encoding='utf8') or ''


@ -486,7 +528,7 @@ def getNetworkType():


@dispatcher.add_method
-def getNetworkMetered():
+def getNetworkMetered() -> bool:
  network_type = HARDWARE.get_network_type()
  return HARDWARE.get_network_metered(network_type)

@ -497,7 +539,7 @@ def getNetworks():


@dispatcher.add_method
-def takeSnapshot():
+def takeSnapshot() -> Optional[Union[str, Dict[str, str]]]:
  from system.camerad.snapshot.snapshot import jpeg_write, snapshot
  ret = snapshot()
  if ret is not None:
@ -514,16 +556,19 @@ def takeSnapshot():
    raise Exception("not available while camerad is started")


-def get_logs_to_send_sorted():
+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)
+    time_sent = 0
    try:
-      time_sent = int.from_bytes(getxattr(log_path, LOG_ATTR_NAME), sys.byteorder)
+      value = getxattr(log_path, LOG_ATTR_NAME)
+      if value is not None:
+        time_sent = int.from_bytes(value, sys.byteorder)
    except (ValueError, TypeError):
-      time_sent = 0
+      pass
    # assume send failed and we lost the response if sent more than one hour ago
    if not time_sent or curr_time - time_sent > 3600:
      logs.append(log_entry)
@ -531,7 +576,7 @@ def get_logs_to_send_sorted():
  return sorted(logs)[:-1]


-def log_handler(end_event):
+def log_handler(end_event: threading.Event) -> None:
  if PC:
    return

@ -593,7 +638,7 @@ def log_handler(end_event):
      cloudlog.exception("athena.log_handler.exception")


-def stat_handler(end_event):
+def stat_handler(end_event: threading.Event) -> None:
  while not end_event.is_set():
    last_scan = 0
    curr_scan = sec_since_boot()
@ -619,7 +664,7 @@ def stat_handler(end_event):
    time.sleep(0.1)


-def ws_proxy_recv(ws, local_sock, ssock, end_event, global_end_event):
+def ws_proxy_recv(ws: WebSocket, local_sock: socket.socket, ssock: socket.socket, end_event: threading.Event, global_end_event: threading.Event) -> None:
  while not (end_event.is_set() or global_end_event.is_set()):
    try:
      data = ws.recv()
@ -638,7 +683,7 @@ def ws_proxy_recv(ws, local_sock, ssock, end_event, global_end_event):
  end_event.set()


-def ws_proxy_send(ws, local_sock, signal_sock, end_event):
+def ws_proxy_send(ws: WebSocket, local_sock: socket.socket, signal_sock: socket.socket, end_event: threading.Event) -> None:
  while not end_event.is_set():
    try:
      r, _, _ = select.select((local_sock, signal_sock), (), ())
@ -663,7 +708,7 @@ def ws_proxy_send(ws, local_sock, signal_sock, end_event):
  cloudlog.debug("athena.ws_proxy_send done closing sockets")


-def ws_recv(ws, end_event):
+def ws_recv(ws: WebSocket, end_event: threading.Event) -> None:
  last_ping = int(sec_since_boot() * 1e9)
  while not end_event.is_set():
    try:
@ -685,7 +730,7 @@ def ws_recv(ws, end_event):
      end_event.set()


-def ws_send(ws, end_event):
+def ws_send(ws: WebSocket, end_event: threading.Event) -> None:
  while not end_event.is_set():
    try:
      try:
@ -704,7 +749,7 @@ def ws_send(ws, end_event):
      end_event.set()


-def backoff(retries):
+def backoff(retries: int) -> int:
  return random.randrange(0, min(128, int(2 ** retries)))


--- a/selfdrive/athena/tests/test_athenad.py
+++ b/selfdrive/athena/tests/test_athenad.py
@ -8,6 +8,7 @@ import time
 import threading
 import queue
 import unittest
+from dataclasses import asdict, replace
 from datetime import datetime, timedelta
 from typing import Optional

@ -226,7 +227,7 @@ class TestAthenadMethods(unittest.TestCase):
    """When an upload times out or fails to connect it should be placed back in the queue"""
    fn = self._create_file('qlog.bz2')
    item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
-    item_no_retry = item._replace(retry_count=MAX_RETRY_COUNT)
+    item_no_retry = replace(item, retry_count=MAX_RETRY_COUNT)

    end_event = threading.Event()
    thread = threading.Thread(target=athenad.upload_handler, args=(end_event,))
@ -296,7 +297,7 @@ class TestAthenadMethods(unittest.TestCase):
    self.assertEqual(len(items), 0)

  @with_http_server
-  def test_listUploadQueueCurrent(self, host):
+  def test_listUploadQueueCurrent(self, host: str):
    fn = self._create_file('qlog.bz2')
    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)

@ -321,7 +322,7 @@ class TestAthenadMethods(unittest.TestCase):

    items = dispatcher["listUploadQueue"]()
    self.assertEqual(len(items), 1)
-    self.assertDictEqual(items[0], item._asdict())
+    self.assertDictEqual(items[0], asdict(item))
    self.assertFalse(items[0]['current'])

    athenad.cancelled_uploads.add(item.id)
@ -346,7 +347,7 @@ class TestAthenadMethods(unittest.TestCase):
    athenad.UploadQueueCache.initialize(athenad.upload_queue)

    self.assertEqual(athenad.upload_queue.qsize(), 1)
-    self.assertDictEqual(athenad.upload_queue.queue[-1]._asdict(), item1._asdict())
+    self.assertDictEqual(asdict(athenad.upload_queue.queue[-1]), asdict(item1))

  @mock.patch('selfdrive.athena.athenad.create_connection')
  def test_startLocalProxy(self, mock_create_connection):
@ -417,5 +418,6 @@ class TestAthenadMethods(unittest.TestCase):
    sl = athenad.get_logs_to_send_sorted()
    self.assertListEqual(sl, fl[:-1])

+
 if __name__ == '__main__':
  unittest.main()
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@ -528,9 +528,6 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
    cnt++;
    sm.update(1000); // TODO: what happens if EINTR is sent while in sm.update?

-    // Other pandas don't have fan/IR to control
-    if (panda->hw_type != cereal::PandaState::PandaType::UNO && panda->hw_type != cereal::PandaState::PandaType::DOS) continue;
-
    if (sm.updated("deviceState") && !no_fan_control) {
      // Fan speed
      uint16_t fan_speed = sm["deviceState"].getDeviceState().getFanSpeedPercentDesired();
--- a/selfdrive/boardd/panda.cc
+++ b/selfdrive/boardd/panda.cc
@ -6,7 +6,6 @@
 #include <stdexcept>

 #include "cereal/messaging/messaging.h"
-#include "panda/board/dlc_to_len.h"
 #include "common/swaglog.h"
 #include "common/util.h"

@ -24,7 +23,8 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
         (hw_type != cereal::PandaState::PandaType::GREY_PANDA));

  has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) ||
-            (hw_type == cereal::PandaState::PandaType::DOS);
+            (hw_type == cereal::PandaState::PandaType::DOS) ||
+            (hw_type == cereal::PandaState::PandaType::TRES);

  return;
 }
@ -169,22 +169,15 @@ static uint8_t len_to_dlc(uint8_t len) {
  }
 }

-static void write_packet(uint8_t *dest, int *write_pos, const uint8_t *src, size_t size) {
-  for (int i = 0, &pos = *write_pos; i < size; ++i, ++pos) {
-    // Insert counter every 64 bytes (first byte of 64 bytes USB packet)
-    if (pos % USBPACKET_MAX_SIZE == 0) {
-      dest[pos] = pos / USBPACKET_MAX_SIZE;
-      pos++;
-    }
-    dest[pos] = src[i];
-  }
-}
-
 void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data_list,
                            std::function<void(uint8_t *, size_t)> write_func) {
  int32_t pos = 0;
  uint8_t send_buf[2 * USB_TX_SOFT_LIMIT];

+  uint32_t magic = CAN_TRANSACTION_MAGIC;
+  memcpy(&send_buf[0], &magic, sizeof(uint32_t));
+  pos += sizeof(uint32_t);
+
  for (auto cmsg : can_data_list) {
    // check if the message is intended for this panda
    uint8_t bus = cmsg.getSrc();
@ -202,16 +195,19 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
    header.data_len_code = data_len_code;
    header.bus = bus - bus_offset;

-    write_packet(send_buf, &pos, (uint8_t *)&header, sizeof(can_header));
-    write_packet(send_buf, &pos, (uint8_t *)can_data.begin(), can_data.size());
+    memcpy(&send_buf[pos], (uint8_t *)&header, sizeof(can_header));
+    pos += sizeof(can_header);
+    memcpy(&send_buf[pos], (uint8_t *)can_data.begin(), can_data.size());
+    pos += can_data.size();
+
    if (pos >= USB_TX_SOFT_LIMIT) {
      write_func(send_buf, pos);
-      pos = 0;
+      pos = sizeof(uint32_t);
    }
  }

  // send remaining packets
-  if (pos > 0) write_func(send_buf, pos);
+  if (pos > sizeof(uint32_t)) write_func(send_buf, pos);
 }

 void Panda::can_send(capnp::List<cereal::CanData>::Reader can_data_list) {
@ -234,33 +230,38 @@ bool Panda::can_receive(std::vector<can_frame>& out_vec) {
 }

 bool Panda::unpack_can_buffer(uint8_t *data, int size, std::vector<can_frame> &out_vec) {
-  recv_buf.clear();
-  for (int i = 0; i < size; i += USBPACKET_MAX_SIZE) {
-    if (data[i] != i / USBPACKET_MAX_SIZE) {
-      LOGE("CAN: MALFORMED USB RECV PACKET");
-      handle->comms_healthy = false;
-      return false;
-    }
-    int chunk_len = std::min(USBPACKET_MAX_SIZE, (size - i));
-    recv_buf.insert(recv_buf.end(), &data[i + 1], &data[i + chunk_len]);
+  if (size < sizeof(uint32_t)) {
+    return true;
+  }
+
+  uint32_t magic;
+  memcpy(&magic, &data[0], sizeof(uint32_t));
+  if (magic != CAN_TRANSACTION_MAGIC) {
+    LOGE("CAN recv: buffer didn't start with magic");
+    handle->comms_healthy = false;
+    return false;
  }

-  int pos = 0;
-  while (pos < recv_buf.size()) {
+  int pos = sizeof(uint32_t);
+  while (pos < size) {
    can_header header;
-    memcpy(&header, &recv_buf[pos], CANPACKET_HEAD_SIZE);
+    memcpy(&header, &data[pos], sizeof(can_header));

    can_frame &canData = out_vec.emplace_back();
    canData.busTime = 0;
    canData.address = header.addr;
    canData.src = header.bus + bus_offset;
-    if (header.rejected) { canData.src += CANPACKET_REJECTED; }
-    if (header.returned) { canData.src += CANPACKET_RETURNED; }
+    if (header.rejected) {
+      canData.src += CAN_REJECTED_BUS_OFFSET;
+    }
+    if (header.returned) {
+      canData.src += CAN_RETURNED_BUS_OFFSET;
+    }

    const uint8_t data_len = dlc_to_len[header.data_len_code];
-    canData.dat.assign((char *)&recv_buf[pos + CANPACKET_HEAD_SIZE], data_len);
+    canData.dat.assign((char *)&data[pos + sizeof(can_header)], data_len);

-    pos += CANPACKET_HEAD_SIZE + data_len;
+    pos += sizeof(can_header) + data_len;
  }
  return true;
 }
--- a/selfdrive/boardd/panda.h
+++ b/selfdrive/boardd/panda.h
@ -11,20 +11,16 @@
 #include "cereal/gen/cpp/car.capnp.h"
 #include "cereal/gen/cpp/log.capnp.h"
 #include "panda/board/health.h"
+#include "panda/board/can_definitions.h"
 #include "selfdrive/boardd/panda_comms.h"

-
-#define PANDA_CAN_CNT 3
-#define PANDA_BUS_CNT 4
-
 #define USB_TX_SOFT_LIMIT   (0x100U)
 #define USBPACKET_MAX_SIZE  (0x40)

 #define RECV_SIZE (0x4000U)
-#define CANPACKET_HEAD_SIZE 5U
-#define CANPACKET_MAX_SIZE  72U
-#define CANPACKET_REJECTED  (0xC0U)
-#define CANPACKET_RETURNED  (0x80U)
+
+#define CAN_REJECTED_BUS_OFFSET   0xC0U
+#define CAN_RETURNED_BUS_OFFSET 0x80U

 struct __attribute__((packed)) can_header {
  uint8_t reserved : 1;
@ -47,7 +43,6 @@ struct can_frame {
 class Panda {
 private:
  std::unique_ptr<PandaCommsHandle> handle;
-  std::vector<uint8_t> recv_buf;

 public:
  Panda(std::string serial="", uint32_t bus_offset=0);
--- a/selfdrive/boardd/panda_comms.h
+++ b/selfdrive/boardd/panda_comms.h
@ -13,8 +13,6 @@
 #define TIMEOUT 0
 #define SPI_BUF_SIZE 1024

-const bool PANDA_NO_RETRY = getenv("PANDA_NO_RETRY");
-

 // comms base class
 class PandaCommsHandle {
@ -52,7 +50,6 @@ public:
 private:
  libusb_context *ctx = NULL;
  libusb_device_handle *dev_handle = NULL;
-  std::vector<uint8_t> recv_buf;
  void handle_usb_issue(int err, const char func[]);
 };

--- a/selfdrive/boardd/spi.cc
+++ b/selfdrive/boardd/spi.cc
@ -6,6 +6,7 @@
 #include <cstring>

 #include "common/util.h"
+#include "common/timing.h"
 #include "common/swaglog.h"
 #include "panda/board/comms_definitions.h"
 #include "selfdrive/boardd/panda_comms.h"
@ -24,6 +25,9 @@ struct __attribute__((packed)) spi_header {
  uint16_t max_rx_len;
 };

+const int SPI_MAX_RETRIES = 5;
+const int SPI_ACK_TIMEOUT = 50; // milliseconds
+

 PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
  LOGD("opening SPI panda: %s", serial.c_str());
@ -109,7 +113,7 @@ int PandaSpiHandle::bulk_read(unsigned char endpoint, unsigned char* data, int l
 int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len) {
  std::lock_guard lk(hw_lock);

-  const int xfer_size = 0x40;
+  const int xfer_size = 0x40 * 15;

  int ret = 0;
  uint16_t length = (tx_data != NULL) ? tx_len : rx_len;
@ -119,7 +123,8 @@ int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t t
      int len = std::min(xfer_size, tx_len - (xfer_size * i));
      d = spi_transfer_retry(endpoint, tx_data + (xfer_size * i), len, NULL, 0);
    } else {
-      d = spi_transfer_retry(endpoint, NULL, 0, rx_data + (xfer_size * i), xfer_size);
+      uint16_t to_read = std::min(xfer_size, rx_len - ret);
+      d = spi_transfer_retry(endpoint, NULL, 0, rx_data + (xfer_size * i), to_read);
    }

    if (d < 0) {
@ -137,15 +142,11 @@ int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t t
  return ret;
 }

-
-
 std::vector<std::string> PandaSpiHandle::list() {
  // TODO: list all pandas available over SPI
  return {};
 }

-
-
 void add_checksum(uint8_t *data, int data_len) {
  data[data_len] = SPI_CHECKSUM_START;
  for (int i=0; i < data_len; i++) {
@ -165,17 +166,19 @@ bool check_checksum(uint8_t *data, int data_len) {
 int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len) {
  int ret;

+  int count = SPI_MAX_RETRIES;
  std::lock_guard lk(hw_lock);
  do {
    // TODO: handle error
    ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len);
-  } while (ret < 0 && connected && !PANDA_NO_RETRY);
+    count--;
+  } while (ret < 0 && connected && count > 0);

  return ret;
 }

 int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) {
-  // TODO: add timeout?
+  double start_millis = millis_since_boot();
  while (true) {
    int ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
    if (ret < 0) {
@ -189,6 +192,12 @@ int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) {
      LOGW("SPI: got NACK");
      return -1;
    }
+
+    // handle timeout
+    if (millis_since_boot() - start_millis > SPI_ACK_TIMEOUT) {
+      LOGE("SPI: timed out waiting for ACK");
+      return -1;
+    }
  }

  return 0;
--- a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc
+++ b/selfdrive/boardd/tests/test_boardd_usbprotocol.cc
@ -6,8 +6,6 @@
 #include "cereal/messaging/messaging.h"
 #include "selfdrive/boardd/panda.h"

-const unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U};
-
 int random_int(int min, int max) {
  std::random_device dev;
  std::mt19937 rng(dev());
@ -50,7 +48,7 @@ PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState
    can.setAddress(i);
    can.setSrc(random_int(0, 3) + bus_offset);
    can.setDat(kj::ArrayPtr((uint8_t *)dat.data(), dat.size()));
-    total_pakets_size += CANPACKET_HEAD_SIZE + dat.size();
+    total_pakets_size += sizeof(can_header) + dat.size();
  }

  can_data_list = can_list.asReader();
@ -60,14 +58,11 @@ PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState
 void PandaTest::test_can_send() {
  std::vector<uint8_t> unpacked_data;
  this->pack_can_buffer(can_data_list, [&](uint8_t *chunk, size_t size) {
-    int size_left = size;
-    for (int i = 0, counter = 0; i < size; i += USBPACKET_MAX_SIZE, counter++) {
-      REQUIRE(chunk[i] == counter);
-
-      const int len = std::min(USBPACKET_MAX_SIZE, size_left);
-      unpacked_data.insert(unpacked_data.end(), &chunk[i + 1], &chunk[i + len]);
-      size_left -= len;
-    }
+    uint32_t magic;
+    memcpy(&magic, &chunk[0], sizeof(uint32_t));
+
+    REQUIRE(magic == CAN_TRANSACTION_MAGIC);
+    unpacked_data.insert(unpacked_data.end(), &chunk[sizeof(uint32_t)], &chunk[size]);
  });
  REQUIRE(unpacked_data.size() == total_pakets_size);

@ -75,9 +70,9 @@ void PandaTest::test_can_send() {
  INFO("test can message integrity");
  for (int pos = 0, pckt_len = 0; pos < unpacked_data.size(); pos += pckt_len) {
    can_header header;
-    memcpy(&header, &unpacked_data[pos], CANPACKET_HEAD_SIZE);
+    memcpy(&header, &unpacked_data[pos], sizeof(can_header));
    const uint8_t data_len = dlc_to_len[header.data_len_code];
-    pckt_len = CANPACKET_HEAD_SIZE + data_len;
+    pckt_len = sizeof(can_header) + data_len;

    REQUIRE(header.addr == cnt);
    REQUIRE(test_data.find(data_len) != test_data.end());
--- a/selfdrive/car/init.py
+++ b/selfdrive/car/init.py
@ -1,8 +1,9 @@
 # functions common among cars
 import capnp
+from collections import namedtuple

 from cereal import car
-from common.numpy_fast import clip
+from common.numpy_fast import clip, interp
 from typing import Dict

 # kg of standard extra cargo to count for drive, gas, etc...
@ -10,6 +11,7 @@ STD_CARGO_KG = 136.

 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
+AngleRateLimit = namedtuple('AngleRateLimit', ['speed_bp', 'angle_v'])


 def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float:
@ -111,6 +113,15 @@ def apply_toyota_steer_torque_limits(apply_torque, apply_torque_last, motor_torq
  return int(round(float(apply_torque)))


+def apply_std_steer_angle_limits(apply_angle, apply_angle_last, v_ego, LIMITS):
+  # pick angle rate limits based on wind up/down
+  steer_up = apply_angle_last * apply_angle > 0. and abs(apply_angle) > abs(apply_angle_last)
+  rate_limits = LIMITS.ANGLE_RATE_LIMIT_UP if steer_up else LIMITS.ANGLE_RATE_LIMIT_DOWN
+
+  angle_rate_lim = interp(v_ego, rate_limits.speed_bp, rate_limits.angle_v)
+  return clip(apply_angle, apply_angle_last - angle_rate_lim, apply_angle_last + angle_rate_lim)
+
+
 def crc8_pedal(data):
  crc = 0xFF    # standard init value
  poly = 0xD5   # standard crc8: x8+x7+x6+x4+x2+1
--- a/selfdrive/car/body/carcontroller.py
+++ b/selfdrive/car/body/carcontroller.py
@ -85,6 +85,7 @@ class CarController:
    new_actuators = CC.actuators.copy()
    new_actuators.accel = torque_l
    new_actuators.steer = torque_r
+    new_actuators.steerOutputCan = torque_r

    self.frame += 1
    return new_actuators, can_sends
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@ -2,16 +2,13 @@
 import math
 from cereal import car
 from common.realtime import DT_CTRL
-from selfdrive.car import scale_rot_inertia, scale_tire_stiffness, get_safety_config
+from selfdrive.car import get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.body.values import SPEED_FROM_RPM

 class CarInterface(CarInterfaceBase):
  @staticmethod
-  def get_params(candidate, fingerprint=None, car_fw=None, experimental_long=False):
-
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
-
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
    ret.notCar = True
    ret.carName = "body"
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]
@ -31,10 +28,6 @@ class CarInterface(CarInterfaceBase):
    ret.openpilotLongitudinalControl = True
    ret.steerControlType = car.CarParams.SteerControlType.angle

-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
-
-    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
-
    return ret

  def _update(self, c):
--- a/selfdrive/car/body/values.py
+++ b/selfdrive/car/body/values.py
@ -26,6 +26,12 @@ CAR_INFO: Dict[str, CarInfo] = {
  CAR.BODY: CarInfo("comma body", package="All"),
 }

+FINGERPRINTS = {
+  CAR.BODY: [{
+    513: 8, 516: 8, 514: 3, 515: 4,
+  }],
+}
+
 FW_QUERY_CONFIG = FwQueryConfig(
  requests=[
    Request(
@ -40,10 +46,13 @@ FW_VERSIONS = {
  CAR.BODY: {
    (Ecu.engine, 0x720, None): [
      b'0.0.01',
-      b'02/27/2022'
+      b'02/27/2022',
+      b'0.3.00a',
    ],
+    # git hash of the firmware used
    (Ecu.debug, 0x721, None): [
-      b'166bd860' # git hash of the firmware used
+      b'166bd860',
+      b'dc780f85',
    ],
  },
 }
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@ -2,7 +2,7 @@ from opendbc.can.packer import CANPacker
 from common.realtime import DT_CTRL
 from selfdrive.car import apply_toyota_steer_torque_limits
 from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons
-from selfdrive.car.chrysler.values import CAR, RAM_CARS, CarControllerParams
+from selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags


 class CarController:
@ -51,7 +51,7 @@ class CarController:
      lkas_control_bit = self.lkas_control_bit_prev
      if CS.out.vEgo > self.CP.minSteerSpeed:
        lkas_control_bit = True
-      elif self.CP.carFingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
+      elif self.CP.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
        if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
          lkas_control_bit = False
      elif self.CP.carFingerprint in RAM_CARS:
@ -78,5 +78,6 @@ class CarController:

    new_actuators = CC.actuators.copy()
    new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
+    new_actuators.steerOutputCan = self.apply_steer_last

    return new_actuators, can_sends
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@ -1,21 +1,18 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
-from selfdrive.car.chrysler.values import CAR, DBC, RAM_HD, RAM_DT
+from selfdrive.car import STD_CARGO_KG, get_safety_config
+from selfdrive.car.chrysler.values import CAR, DBC, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
 from selfdrive.car.interfaces import CarInterfaceBase


 class CarInterface(CarInterfaceBase):
  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
    ret.carName = "chrysler"
-
    ret.dashcamOnly = candidate in RAM_HD

    ret.radarOffCan = DBC[candidate]['radar'] is None
-
    ret.steerActuatorDelay = 0.1
    ret.steerLimitTimer = 0.4

@ -27,9 +24,12 @@ class CarInterface(CarInterfaceBase):
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT

    ret.minSteerSpeed = 3.8  # m/s
-    if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
-      # TODO: allow 2019 cars to steer down to 13 m/s if already engaged.
-      ret.minSteerSpeed = 17.5  # m/s 17 on the way up, 13 on the way down once engaged.
+    if candidate not in RAM_CARS:
+      # Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
+      new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019)
+      new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw)
+      if new_eps_platform or new_eps_firmware:
+        ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value

    # Chrysler
    if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020):
@ -58,10 +58,9 @@ class CarInterface(CarInterfaceBase):
      ret.mass = 2493. + STD_CARGO_KG
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
      ret.minSteerSpeed = 14.5
-      if car_fw is not None:
-        for fw in car_fw:
-          if fw.ecu == 'eps' and fw.fwVersion[:8] in (b"68312176", b"68273275"):
-            ret.minSteerSpeed = 0.
+      for fw in car_fw:
+        if fw.ecu == 'eps' and fw.fwVersion.startswith((b"68312176", b"68273275")):
+          ret.minSteerSpeed = 0.

    elif candidate == CAR.RAM_HD:
      ret.steerActuatorDelay = 0.2
@ -74,15 +73,11 @@ class CarInterface(CarInterfaceBase):
    else:
      raise ValueError(f"Unsupported car: {candidate}")

-    ret.centerToFront = ret.wheelbase * 0.44
-
-    # starting with reasonable value for civic and scaling by mass and wheelbase
-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
-
-    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
-    # mass and CG position, so all cars will have approximately similar dyn behaviors
-    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
+    if ret.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
+      # TODO: allow these cars to steer down to 13 m/s if already engaged.
+      ret.minSteerSpeed = 17.5  # m/s 17 on the way up, 13 on the way down once engaged.

+    ret.centerToFront = ret.wheelbase * 0.44
    ret.enableBsm = 720 in fingerprint[0]

    return ret
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@ -1,3 +1,4 @@
+from enum import IntFlag
 from dataclasses import dataclass
 from enum import Enum
 from typing import Dict, List, Optional, Union
@ -11,6 +12,10 @@ from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 Ecu = car.CarParams.Ecu


+class ChryslerFlags(IntFlag):
+  HIGHER_MIN_STEERING_SPEED = 1
+
+
 class CAR:
  # Chrysler
  PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
--- a/selfdrive/car/docs.py
+++ b/selfdrive/car/docs.py
@ -40,6 +40,7 @@ def get_all_car_info() -> List[CarInfo]:

    for _car_info in car_info:
      if not hasattr(_car_info, "row"):
+        _car_info.init_make(CP)
        _car_info.init(CP, footnotes)
      all_car_info.append(_car_info)

--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@ -68,17 +68,16 @@ class Harness(Enum):
  none = "None"


-CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only"], defaults=(None, False))
+CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_footnote"], defaults=(False, False))


 class CommonFootnote(Enum):
  EXP_LONG_AVAIL = CarFootnote(
-    "Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `master-ci`. " +
-    "Using openpilot longitudinal may disable Automatic Emergency Braking (AEB).",
+    "Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. ",
    Column.LONGITUDINAL, docs_only=True)
  EXP_LONG_DSU = CarFootnote(
-    "When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace " +
-    "stock Adaptive Cruise Control (ACC). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b>",
+    "By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace " +
+    "stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b>",
    Column.LONGITUDINAL)


@ -173,6 +172,9 @@ class CarInfo:

    return self

+  def init_make(self, CP: car.CarParams):
+    """CarInfo subclasses can add make-specific logic for harness selection, footnotes, etc."""
+
  def get_detail_sentence(self, CP):
    if not CP.notCar:
      sentence_builder = "openpilot upgrades your <strong>{car_model}</strong> with automated lane centering{alc} and adaptive cruise control{acc}."
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
 from common.conversions import Conversions as CV
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car import STD_CARGO_KG, get_safety_config
 from selfdrive.car.ford.values import CAR, Ecu, TransmissionType, GearShifter
 from selfdrive.car.interfaces import CarInterfaceBase

@ -10,12 +10,7 @@ CarParams = car.CarParams

 class CarInterface(CarInterfaceBase):
  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
-    if car_fw is None:
-      car_fw = []
-
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
-
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
    ret.carName = "ford"
    ret.dashcamOnly = True
    ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.ford)]
@ -24,7 +19,6 @@ class CarInterface(CarInterfaceBase):
    ret.steerControlType = CarParams.SteerControlType.angle
    ret.steerActuatorDelay = 0.4
    ret.steerLimitTimer = 1.0
-    tire_stiffness_factor = 1.0

    if candidate == CAR.ESCAPE_MK4:
      ret.wheelbase = 2.71
@ -60,10 +54,7 @@ class CarInterface(CarInterfaceBase):
    ret.minSteerSpeed = 0.

    ret.autoResumeSng = ret.minEnableSpeed == -1.
-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
    ret.centerToFront = ret.wheelbase * 0.44
-    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
-                                                                         tire_stiffness_factor=tire_stiffness_factor)
    return ret

  def _update(self, c):
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@ -158,6 +158,7 @@ class CarController:

    new_actuators = actuators.copy()
    new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
+    new_actuators.steerOutputCan = self.apply_steer_last
    new_actuators.gas = self.apply_gas
    new_actuators.brake = self.apply_brake

--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@ -100,6 +100,9 @@ class CarState(CarStateBase):
    if self.CP.networkLocation == NetworkLocation.fwdCamera:
      ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
      ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
+      # openpilot controls nonAdaptive when not pcmCruise
+      if self.CP.pcmCruise:
+        ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)

    return ret

@ -112,6 +115,7 @@ class CarState(CarStateBase):
        ("AEBCmdActive", "AEBCmd"),
        ("RollingCounter", "ASCMLKASteeringCmd"),
        ("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"),
+        ("ACCCruiseState", "ASCMActiveCruiseControlStatus"),
      ]
      checks += [
        ("AEBCmd", 10),
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@ -6,7 +6,16 @@ def create_buttons(packer, bus, idx, button):
  values = {
    "ACCButtons": button,
    "RollingCounter": idx,
+    "ACCAlwaysOne": 1,
+    "DistanceButton": 0,
  }
+
+  checksum = 240 + int(values["ACCAlwaysOne"] * 0xf)
+  checksum += values["RollingCounter"] * (0x4ef if values["ACCAlwaysOne"] != 0 else 0x3f0)
+  checksum -= int(values["ACCButtons"] - 1) << 4  # not correct if value is 0
+  checksum -= 2 * values["DistanceButton"]
+
+  values["SteeringButtonChecksum"] = checksum
  return packer.make_can_msg("ASCMSteeringButton", bus, values)


--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@ -4,7 +4,7 @@ from math import fabs
 from panda import Panda

 from common.conversions import Conversions as CV
-from selfdrive.car import STD_CARGO_KG, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config
 from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR
 from selfdrive.car.interfaces import CarInterfaceBase

@ -44,8 +44,7 @@ class CarInterface(CarInterfaceBase):
      return CarInterfaceBase.get_steer_feedforward_default

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
    ret.carName = "gm"
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
    ret.autoResumeSng = False
@ -98,7 +97,7 @@ class CarInterface(CarInterfaceBase):
    # These cars have been put into dashcam only due to both a lack of users and test coverage.
    # These cars likely still work fine. Once a user confirms each car works and a test route is
    # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX, CAR.BOLT_EV}
+    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX}

    # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
    # Some GMs need some tolerance above 10 kph to avoid a fault
@ -171,7 +170,7 @@ class CarInterface(CarInterfaceBase):
      ret.lateralTuning.pid.kf = 0.000045
      tire_stiffness_factor = 1.0

-    elif candidate in (CAR.BOLT_EV, CAR.BOLT_EUV):
+    elif candidate == CAR.BOLT_EUV:
      ret.mass = 1669. + STD_CARGO_KG
      ret.wheelbase = 2.63779
      ret.steerRatio = 16.8
@ -195,10 +194,6 @@ class CarInterface(CarInterfaceBase):
      ret.centerToFront = ret.wheelbase * 0.4
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

-    # TODO: get actual value, for now starting with reasonable value for
-    # civic and scaling by mass and wheelbase
-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
-
    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
    # mass and CG position, so all cars will have approximately similar dyn behaviors
    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@ -1,5 +1,5 @@
 from collections import defaultdict
-from dataclasses import dataclass, field
+from dataclasses import dataclass
 from enum import Enum
 from typing import Dict, List, Union

@ -68,7 +68,6 @@ class CAR:
  ACADIA = "GMC ACADIA DENALI 2018"
  BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
  ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
-  BOLT_EV = "CHEVROLET BOLT EV 2022"
  BOLT_EUV = "CHEVROLET BOLT EUV 2022"
  SILVERADO = "CHEVROLET SILVERADO 1500 2020"
  EQUINOX = "CHEVROLET EQUINOX 2019"
@ -84,8 +83,13 @@ class Footnote(Enum):
@dataclass
 class GMCarInfo(CarInfo):
  package: str = "Adaptive Cruise Control (ACC)"
-  harness: Enum = Harness.obd_ii
-  footnotes: List[Enum] = field(default_factory=lambda: [Footnote.OBD_II])
+
+  def init_make(self, CP: car.CarParams):
+    if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera:
+      self.harness = Harness.gm
+    else:
+      self.harness = Harness.obd_ii
+      self.footnotes.append(Footnote.OBD_II)


 CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
@ -96,13 +100,15 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
  CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
  CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
  CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
-  CAR.BOLT_EV: GMCarInfo("Chevrolet Bolt EV 2022-23", footnotes=[], harness=Harness.gm),
-  CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", "https://youtu.be/xvwzGMUA210", footnotes=[], harness=Harness.gm),
+  CAR.BOLT_EUV: [
+    GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", "https://youtu.be/xvwzGMUA210"),
+    GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
+  ],
  CAR.SILVERADO: [
-    GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II", footnotes=[], harness=Harness.gm),
-    GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", "https://youtu.be/5HbNoBLzRwE", footnotes=[], harness=Harness.gm),
+    GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
+    GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", "https://youtu.be/5HbNoBLzRwE"),
  ],
-  CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22", footnotes=[], harness=Harness.gm),
+  CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22"),
 }


@ -188,9 +194,9 @@ FINGERPRINTS = {

 DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))

-EV_CAR = {CAR.VOLT, CAR.BOLT_EV, CAR.BOLT_EUV}
+EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}

 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
-CAMERA_ACC_CAR = {CAR.BOLT_EV, CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX}
+CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX}

 STEER_THRESHOLD = 1.0
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@ -210,14 +210,14 @@ class CarController:
                     clip(CS.out.vEgo + 0.0, 0.0, 100.0),
                     clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
      pcm_speed = interp(gas - brake, pcm_speed_BP, pcm_speed_V)
-      pcm_accel = int(1.0 * 0xc6)
+      pcm_accel = int(1.0 * self.params.NIDEC_GAS_MAX)
    else:
      pcm_speed_V = [0.0,
                     clip(CS.out.vEgo - 2.0, 0.0, 100.0),
                     clip(CS.out.vEgo + 2.0, 0.0, 100.0),
                     clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
      pcm_speed = interp(gas - brake, pcm_speed_BP, pcm_speed_V)
-      pcm_accel = int(clip((accel / 1.44) / max_accel, 0.0, 1.0) * 0xc6)
+      pcm_accel = int(clip((accel / 1.44) / max_accel, 0.0, 1.0) * self.params.NIDEC_GAS_MAX)

    if not self.CP.openpilotLongitudinalControl:
      if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:  # radarless cars don't have supplemental message
@ -275,7 +275,7 @@ class CarController:
        self.speed = pcm_speed

        if not self.CP.enableGasInterceptor:
-          self.gas = pcm_accel / 0xc6
+          self.gas = pcm_accel / self.params.NIDEC_GAS_MAX

    new_actuators = actuators.copy()
    new_actuators.speed = self.speed
@ -283,6 +283,7 @@ class CarController:
    new_actuators.gas = self.gas
    new_actuators.brake = self.brake
    new_actuators.steer = self.last_steer
+    new_actuators.steerOutputCan = apply_steer

    self.frame += 1
    return new_actuators, can_sends
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@ -13,7 +13,8 @@ def get_pt_bus(car_fingerprint):


 def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False):
-  if radar_disabled:
+  no_radar = car_fingerprint in HONDA_BOSCH_RADARLESS
+  if radar_disabled or no_radar:
    # when radar is disabled, steering commands are sent directly to powertrain bus
    return get_pt_bus(car_fingerprint)
  # normally steering commands are sent to radar, which forwards them to powertrain bus
@ -112,7 +113,7 @@ def create_bosch_supplemental_1(packer, car_fingerprint):
 def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud):
  commands = []
  bus_pt = get_pt_bus(CP.carFingerprint)
-  radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl
+  radar_disabled = CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl
  bus_lkas = get_lkas_cmd_bus(CP.carFingerprint, radar_disabled)

  if CP.openpilotLongitudinalControl:
@ -165,7 +166,7 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud,
  else:
    commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values))

-  if radar_disabled and CP.carFingerprint in HONDA_BOSCH:
+  if radar_disabled:
    radar_hud_values = {
      'CMBS_OFF': 0x01,
      'SET_TO_1': 0x01,
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@ -4,7 +4,7 @@ from panda import Panda
 from common.conversions import Conversions as CV
 from common.numpy_fast import interp
 from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
-from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_event, scale_tire_stiffness, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.disable_ecu import disable_ecu

@ -29,8 +29,7 @@ class CarInterface(CarInterfaceBase):
      return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], experimental_long=False):  # pylint: disable=dangerous-default-value
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
    ret.carName = "honda"

    if candidate in HONDA_BOSCH:
@ -291,10 +290,6 @@ class CarInterface(CarInterfaceBase):
    stop_and_go = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor
    ret.minEnableSpeed = -1. if stop_and_go else 25.5 * CV.MPH_TO_MS

-    # TODO: get actual value, for now starting with reasonable value for
-    # civic and scaling by mass and wheelbase
-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
-
    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
    # mass and CG position, so all cars will have approximately similar dyn behaviors
    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@ -27,6 +27,7 @@ class CarControllerParams:
  NIDEC_MAX_ACCEL_V = [0.5, 2.4, 1.4, 0.6]
  NIDEC_MAX_ACCEL_BP = [0.0, 4.0, 10., 20.]

+  NIDEC_GAS_MAX = 198  # 0xc6
  NIDEC_BRAKE_MAX = 1024 // 4

  BOSCH_ACCEL_MIN = -3.5  # m/s^2
@ -106,40 +107,46 @@ class Footnote(Enum):
 class HondaCarInfo(CarInfo):
  package: str = "Honda Sensing"

+  def init_make(self, CP: car.CarParams):
+    if CP.carFingerprint in HONDA_BOSCH:
+      self.harness = Harness.bosch_b if CP.carFingerprint in HONDA_BOSCH_RADARLESS else Harness.bosch_a
+    else:
+      self.harness = Harness.nidec
+

 CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
  CAR.ACCORD: [
-    HondaCarInfo("Honda Accord 2018-22", "All", "https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
-    HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+    HondaCarInfo("Honda Accord 2018-22", "All", "https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
+    HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
  ],
-  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", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec, video_link="https://youtu.be/-IkImTe1NYE"),
+  CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+  CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, 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], 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),
+    HondaCarInfo("Honda Civic 2019-21", "All", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], 2. * CV.MPH_TO_MS),
+    HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
  ],
  CAR.CIVIC_BOSCH_DIESEL: None,  # same platform
  CAR.CIVIC_2022: [
-    HondaCarInfo("Honda Civic 2022", "All", harness=Harness.bosch_b),
-    HondaCarInfo("Honda Civic Hatchback 2022", "All", harness=Harness.bosch_b),
+    HondaCarInfo("Honda Civic 2022", "All"),
+    HondaCarInfo("Honda Civic Hatchback 2022", "All"),
  ],
-  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", 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.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
+  CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
  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", 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.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20"),
  CAR.ODYSSEY_CHN: None,  # Chinese version of Odyssey
-  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", 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),
+  CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+  CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+  CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
 }

 FW_QUERY_CONFIG = FwQueryConfig(
@ -236,7 +243,7 @@ FW_VERSIONS = {
      b'39990-TVA-A340\x00\x00',
      b'39990-TVA-X030\x00\x00',
      b'39990-TVA-X040\x00\x00',
-      b'39990-TVA,A150\x00\x00',
+      b'39990-TVA,A150\x00\x00', # modified firmware
      b'39990-TVE-H130\x00\x00',
    ],
    (Ecu.unknown, 0x18da3af1, None): [
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@ -60,9 +60,6 @@ class CarController:

    # steering torque
    steer = actuators.steer
-    if self.CP.carFingerprint in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
-      # these cars have significantly more torque than most HKG; limit to 70% of max
-      steer = clip(steer, -0.7, 0.7)
    new_steer = int(round(steer * self.params.STEER_MAX))
    apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)

@ -86,11 +83,16 @@ class CarController:

    # tester present - w/ no response (keeps relevant ECU disabled)
    if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and self.CP.openpilotLongitudinalControl:
+      # for longitudinal control, either radar or ADAS driving ECU
      addr, bus = 0x7d0, 0
      if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
        addr, bus = 0x730, 5
      can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus])

+      # for blinkers
+      if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
+        can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 5])
+
    # >90 degree steering fault prevention
    # Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault
    if CC.latActive and abs(CS.out.steeringAngleDeg) >= MAX_ANGLE:
@ -121,6 +123,10 @@ class CarController:
      if self.frame % 5 == 0 and (not hda2 or hda2_long):
        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CP, CC.enabled))

+      # blinkers
+      if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
+        can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.frame, CC.leftBlinker, CC.rightBlinker))
+
      if self.CP.openpilotLongitudinalControl:
        if hda2:
          can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.frame))
@ -189,6 +195,7 @@ class CarController:

    new_actuators = actuators.copy()
    new_actuators.steer = apply_steer / self.params.STEER_MAX
+    new_actuators.steerOutputCan = apply_steer
    new_actuators.accel = accel

    self.frame += 1
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@ -6,7 +6,7 @@ from cereal import car
 from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.car.hyundai.values import HyundaiFlags, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
 from selfdrive.car.interfaces import CarStateBase

 PREV_BUTTON_SAMPLES = 8
@ -32,7 +32,6 @@ class CarState(CarStateBase):
      self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]

    self.is_metric = False
-    self.brake_error = False
    self.buttons_counter = 0

    self.cruise_info = {}
@ -72,8 +71,10 @@ class CarState(CarStateBase):
      self.cluster_speed = cp.vl["CLU15"]["CF_Clu_VehicleSpeed"]
      self.cluster_speed_counter = 0

-      # mimic how dash converts to imperial
-      if not self.is_metric:
+      # Mimic how dash converts to imperial.
+      # Sorento is the only platform where CF_Clu_VehicleSpeed is already imperial when not is_metric
+      # TODO: CGW_USM1->CF_Gway_DrLockSoundRValue may describe this
+      if not self.is_metric and self.CP.carFingerprint not in (CAR.KIA_SORENTO,):
        self.cluster_speed = math.floor(self.cluster_speed * CV.KPH_TO_MPH + CV.KPH_TO_MPH)

    ret.vEgoCluster = self.cluster_speed * speed_conv
@ -103,8 +104,9 @@ class CarState(CarStateBase):
    # TODO: Find brake pressure
    ret.brake = 0
    ret.brakePressed = cp.vl["TCS13"]["DriverBraking"] != 0
-    ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
+    ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2  # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
    ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
+    ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED

    if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR):
      if self.CP.carFingerprint in HYBRID_CAR:
@ -145,7 +147,6 @@ class CarState(CarStateBase):
    self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
    self.clu11 = copy.copy(cp.vl["CLU11"])
    self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"]  # 0 NOT ACTIVE, 1 ACTIVE
-    self.brake_error = cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
    self.prev_cruise_buttons = self.cruise_buttons[-1]
    self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
    self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
@ -187,7 +188,7 @@ class CarState(CarStateBase):
    ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1
    ret.steeringTorque = cp.vl["MDPS"]["STEERING_COL_TORQUE"]
    ret.steeringTorqueEps = cp.vl["MDPS"]["STEERING_OUT_TORQUE"]
-    ret.steeringPressed = abs(ret.steeringTorque) > self.params.STEER_THRESHOLD
+    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
    ret.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0

    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"]["LEFT_LAMP"],
@ -197,7 +198,7 @@ class CarState(CarStateBase):
      ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0

    ret.cruiseState.available = True
-    self.is_metric = cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] != 1
+    self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1
    if not self.CP.openpilotLongitudinalControl:
      speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
      cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp
@ -211,6 +212,7 @@ class CarState(CarStateBase):
    self.cruise_buttons.extend(cp.vl_all[cruise_btn_msg]["CRUISE_BUTTONS"])
    self.main_buttons.extend(cp.vl_all[cruise_btn_msg]["ADAPTIVE_CRUISE_MAIN_BTN"])
    self.buttons_counter = cp.vl[cruise_btn_msg]["COUNTER"]
+    ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED

    if self.CP.flags & HyundaiFlags.CANFD_HDA2:
      self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
@ -432,12 +434,12 @@ class CarState(CarStateBase):
      ("LKA_FAULT", "MDPS"),

      ("DriverBraking", "TCS"),
+      ("ACCEnable", "TCS"),

      ("COUNTER", cruise_btn_msg),
      ("CRUISE_BUTTONS", cruise_btn_msg),
      ("ADAPTIVE_CRUISE_MAIN_BTN", cruise_btn_msg),
-
-      ("DISTANCE_UNIT", "CLUSTER_INFO"),
+      ("DISTANCE_UNIT", "CRUISE_BUTTONS_ALT"),

      ("LEFT_LAMP", "BLINKERS"),
      ("RIGHT_LAMP", "BLINKERS"),
@ -452,12 +454,14 @@ class CarState(CarStateBase):
      ("STEERING_SENSORS", 100),
      ("MDPS", 100),
      ("TCS", 50),
-      (cruise_btn_msg, 50),
-      ("CLUSTER_INFO", 4),
+      ("CRUISE_BUTTONS_ALT", 50),
      ("BLINKERS", 4),
      ("DOORS_SEATBELTS", 4),
    ]

+    if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
+      checks.append(("CRUISE_BUTTONS", 50))
+
    if CP.enableBsm:
      signals += [
        ("FL_INDICATOR", "BLINDSPOTS_REAR_CORNERS"),
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@ -1,7 +1,6 @@
 from common.numpy_fast import clip
 from selfdrive.car.hyundai.values import HyundaiFlags

-
 def get_e_can_bus(CP):
  # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars
  # have a different harness than the HDA1 and non-HDA variants in order to split
@ -98,6 +97,25 @@ def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_ove
  return packer.make_can_msg("SCC_CONTROL", get_e_can_bus(CP), values)


+def create_spas_messages(packer, frame, left_blink, right_blink):
+  ret = []
+
+  values = {
+  }
+  ret.append(packer.make_can_msg("SPAS1", 5, values))
+
+  blink = 0
+  if left_blink:
+    blink = 3
+  elif right_blink:
+    blink = 4
+  values = {
+    "BLINKER_CONTROL": blink,
+  }
+  ret.append(packer.make_can_msg("SPAS2", 5, values))
+
+  return ret
+

 def create_adrv_messages(packer, frame):
  # messages needed to car happy after disabling
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@ -2,9 +2,9 @@
 from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
-from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
-from selfdrive.car import STD_CARGO_KG, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.disable_ecu import disable_ecu

@ -18,13 +18,7 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu

 class CarInterface(CarInterfaceBase):
  @staticmethod
-  def get_pid_accel_limits(CP, current_speed, cruise_speed):
-    return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
-
-  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], experimental_long=False):  # pylint: disable=dangerous-default-value
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
-
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
    ret.carName = "hyundai"
    ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None

@ -120,8 +114,8 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.67
      ret.steerRatio = 14.00 * 1.15
      tire_stiffness_factor = 0.385
-    elif candidate == CAR.TUCSON_HYBRID_4TH_GEN:
-      ret.mass = 1680. + STD_CARGO_KG  # average of all 3 trims
+    elif candidate in (CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN):
+      ret.mass = 1630. + STD_CARGO_KG  # average
      ret.wheelbase = 2.756
      ret.steerRatio = 16.
      tire_stiffness_factor = 0.385
@ -191,8 +185,16 @@ class CarInterface(CarInterfaceBase):
      ret.mass = 1767. + STD_CARGO_KG  # SX Prestige trim support only
      ret.wheelbase = 2.756
      ret.steerRatio = 13.6
+    elif candidate == CAR.KIA_SORENTO_PHEV_4TH_GEN:
+      ret.mass = 4095.8 * CV.LB_TO_KG + STD_CARGO_KG # weight from EX and above trims, average of FWD and AWD versions (EX, X-Line EX AWD, SX, SX Pestige, X-Line SX Prestige AWD)
+      ret.wheelbase = 2.81
+      ret.steerRatio = 13.27 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sorento-phev/2022/specifications

    # Genesis
+    elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN:
+      ret.mass = 2205 + STD_CARGO_KG
+      ret.wheelbase = 2.9
+      ret.steerRatio = 12.6 # https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1.
    elif candidate == CAR.GENESIS_G70:
      ret.steerActuatorDelay = 0.1
      ret.mass = 1640.0 + STD_CARGO_KG
@ -269,11 +271,11 @@ class CarInterface(CarInterfaceBase):
    elif candidate in EV_CAR:
      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS

-    ret.centerToFront = ret.wheelbase * 0.4
+    if candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
+      ret.flags |= HyundaiFlags.ALT_LIMITS.value
+      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS

-    # TODO: get actual value, for now starting with reasonable value for
-    # civic and scaling by mass and wheelbase
-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
+    ret.centerToFront = ret.wheelbase * 0.4

    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
    # mass and CG position, so all cars will have approximately similar dyn behaviors
@ -289,6 +291,10 @@ class CarInterface(CarInterfaceBase):
        addr, bus = 0x730, 5
      disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')

+    # for blinkers
+    if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
+      disable_ecu(logcan, sendcan, bus=5, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
+
  def _update(self, c):
    ret = self.CS.update(self.cp, self.cp_cam)

@ -306,9 +312,6 @@ class CarInterface(CarInterfaceBase):
    allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons)
    events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable)

-    if self.CS.brake_error:
-      events.add(EventName.brakeUnavailable)
-
    # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
    if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
      self.low_speed_alert = True
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@ -1,12 +1,12 @@
-from enum import IntFlag
 from dataclasses import dataclass
+from enum import Enum, IntFlag
 from typing import Dict, List, Optional, Union

 from cereal import car
 from panda.python import uds
 from common.conversions import Conversions as CV
 from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarInfo, Harness
+from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16

 Ecu = car.CarParams.Ecu
@ -39,6 +39,12 @@ class CarControllerParams:
                               CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO):
      self.STEER_MAX = 255

+    # these cars have significantly more torque than most HKG; limit to 70% of max
+    elif CP.flags & HyundaiFlags.ALT_LIMITS:
+      self.STEER_MAX = 270
+      self.STEER_DELTA_UP = 2
+      self.STEER_DELTA_DOWN = 3
+
    # Default for most HKG
    else:
      self.STEER_MAX = 384
@ -50,6 +56,10 @@ class HyundaiFlags(IntFlag):
  CANFD_ALT_GEARS = 4
  CANFD_CAMERA_SCC = 8

+  ALT_LIMITS = 16
+
+  ENABLE_BLINKERS = 32
+

 class CAR:
  # Hyundai
@ -78,6 +88,7 @@ class CAR:
  VELOSTER = "HYUNDAI VELOSTER 2019"
  SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
  IONIQ_5 = "HYUNDAI IONIQ 5 2022"
+  TUCSON_4TH_GEN = "HYUNDAI TUCSON 4TH GEN"
  TUCSON_HYBRID_4TH_GEN = "HYUNDAI TUCSON HYBRID 4TH GEN"
  SANTA_CRUZ_1ST_GEN = "HYUNDAI SANTA CRUZ 1ST GEN"

@ -93,6 +104,7 @@ class CAR:
  KIA_SELTOS = "KIA SELTOS 2021"
  KIA_SPORTAGE_5TH_GEN = "KIA SPORTAGE 5TH GEN"
  KIA_SORENTO = "KIA SORENTO GT LINE 2018"
+  KIA_SORENTO_PHEV_4TH_GEN = "KIA SORENTO PLUG-IN HYBRID 4TH GEN"
  KIA_SPORTAGE_HYBRID_5TH_GEN = "KIA SPORTAGE HYBRID 5TH GEN"
  KIA_STINGER = "KIA STINGER GT2 2018"
  KIA_STINGER_2022 = "KIA STINGER 2022"
@ -100,6 +112,7 @@ class CAR:
  KIA_EV6 = "KIA EV6 2022"

  # Genesis
+  GENESIS_GV60_EV_1ST_GEN = "GENESIS GV60 ELECTRIC 1ST GEN"
  GENESIS_G70 = "GENESIS G70 2018"
  GENESIS_G70_2020 = "GENESIS G70 2020"
  GENESIS_GV70_1ST_GEN = "GENESIS GV70 1ST GEN"
@ -107,16 +120,27 @@ class CAR:
  GENESIS_G90 = "GENESIS G90 2017"


+class Footnote(Enum):
+  CANFD = CarFootnote(
+    "Requires a <a href=\"https://comma.ai/shop/panda\" target=\"_blank\">red panda</a>, additional <a href=\"https://comma.ai/shop/harness-box\" target=\"_blank\">harness box</a>, " +
+    "additional <a href=\"https://comma.ai/shop/obd-c-cable\" target=\"_blank\">OBD-C cable</a>, USB-A to USB-A cable, and a USB-A to USB-C OTG dongle.",
+    Column.MODEL, shop_footnote=True)
+
+
@dataclass
 class HyundaiCarInfo(CarInfo):
  package: str = "Smart Cruise Control (SCC)"

+  def init_make(self, CP: car.CarParams):
+    if CP.carFingerprint in CANFD_CAR:
+      self.footnotes.insert(0, Footnote.CANFD)
+

 CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
  CAR.ELANTRA: [
    HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b),
    HyundaiCarInfo("Hyundai Elantra GT 2017-19", harness=Harness.hyundai_e),
-    HyundaiCarInfo("Hyundai i30 2019", harness=Harness.hyundai_e),
+    HyundaiCarInfo("Hyundai i30 2017-19", harness=Harness.hyundai_e),
  ],
  CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
  CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
@ -148,11 +172,15 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
  CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e),
  CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness=Harness.hyundai_a),
  CAR.IONIQ_5: [
-    HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23" , "Highway Driving Assist", harness=Harness.hyundai_k),
+    HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", harness=Harness.hyundai_k),
    HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", harness=Harness.hyundai_q),
  ],
+  CAR.TUCSON_4TH_GEN: [
+    HyundaiCarInfo("Hyundai Tucson 2022", harness=Harness.hyundai_n),
+    HyundaiCarInfo("Hyundai Tucson 2023", "All", harness=Harness.hyundai_n),
+  ],
  CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022", "All", harness=Harness.hyundai_n),
-  CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2021-22", "Smart Cruise Control (SCC)", harness=Harness.hyundai_n),
+  CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2021-22", harness=Harness.hyundai_n),

  # Kia
  CAR.KIA_FORTE: HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g),
@ -175,11 +203,12 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
    HyundaiCarInfo("Kia Optima Hybrid 2019"),
  ],
  CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a),
-  CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", "Smart Cruise Control (SCC)", harness=Harness.hyundai_n),
+  CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", harness=Harness.hyundai_n),
  CAR.KIA_SORENTO: [
    HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", "https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c),
    HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e),
  ],
+  CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a),
  CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", harness=Harness.hyundai_n),
  CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
  CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", harness=Harness.hyundai_k),
@ -190,6 +219,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
  ],

  # Genesis
+  CAR.GENESIS_GV60_EV_1ST_GEN: HyundaiCarInfo("Genesis GV60 2023", "All", harness=Harness.hyundai_k),
  CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f),
  CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", harness=Harness.hyundai_f),
  CAR.GENESIS_GV70_1ST_GEN: HyundaiCarInfo("Genesis GV70 2022-23", "All", harness=Harness.hyundai_l),
@ -685,12 +715,14 @@ FW_VERSIONS = {
      b'\xf1\x8758910-S1DA0\xf1\x00TM ESC \x1e 102 \x08\x08 58910-S1DA0',
      b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
      b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
+      b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0',
    ],
    (Ecu.engine, 0x7e0, None): [
      b'\xf1\x82TACVN5GMI3XXXH0A',
      b'\xf1\x82TMBZN5TMD3XXXG2E',
      b'\xf1\x82TACVN5GSI3XXXH0A',
      b'\xf1\x82TMCFD5MMCXXXXG0A',
+      b'\xf1\x81HM6M1_0a0_G20',
      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82TMDWN5TMD3TXXJ1A',
      b'\xf1\x81HM6M2_0a0_G00',
      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10',
@ -715,6 +747,7 @@ FW_VERSIONS = {
      b'\xf1\x00HT6TA290BLHT6TAF00A1STM0M25GS1\x00\x00\x00\x00\x00\x006\xd8\x97\x15',
      b'\xf1\x00T02601BL  T02900A1  VTMPT25XXX900NS8\xb7\xaa\xfe\xfc',
      b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02900A1  \xf1\x00T02601BL  T02900A1  VTMPT25XXX900NS8\xb7\xaa\xfe\xfc',
+      b'\xf1\x00T02601BL  T02800A1  VTMPT25XXX800NS4\xed\xaf\xed\xf5',
    ],
  },
  CAR.SANTA_FE_HEV_2022: {
@ -819,6 +852,7 @@ FW_VERSIONS = {
      b'\xf1\x00LX2_ SCC FHCUP      1.00 1.04 99110-S8100         ',
      b'\xf1\x00LX2_ SCC FHCUP      1.00 1.05 99110-S8100         ',
      b'\xf1\x00ON__ FCA FHCUP      1.00 1.02 99110-S9100         ',
+      b'\xf1\x00ON__ FCA FHCUP      1.00 1.01 99110-S9110         ',
    ],
    (Ecu.abs, 0x7d1, None): [
      b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360',
@ -832,6 +866,7 @@ FW_VERSIONS = {
      b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360',
      b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360',
      b'\xf1\x00ON ESC \x0b 101\x19\t\x05 58910-S9320',
+      b'\xf1\x00ON ESC \x01 101\x19\t\x08 58910-S9360',
    ],
    (Ecu.engine, 0x7e0, None): [
      b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00',
@ -854,11 +889,13 @@ FW_VERSIONS = {
      b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.01 99211-S9100 181105',
      b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.03 99211-S9100 200720',
      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.00 99211-S8110 210226',
+      b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.04 99211-S9100 211227',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'\xf1\x00bcsh8p54  U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28',
      b'\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
      b'\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
+      b'\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00TON2G38NB5j\x94.\xde',
      b'\xf1\x87LBLUFN591307KF25vgvw\x97wwwy\x99\xa7\x99\x99\xaa\xa9\x9af\x88\x96h\x95o\xf7\xff\x99f/\xff\xe4c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB2\xd7\xc1/\xd1',
      b'\xf1\x87LBLUFN650868KF36\xa9\x98\x89\x88\xa8\x88\x88\x88h\x99\xa6\x89fw\x86gw\x88\x97x\xaa\x7f\xf6\xff\xbb\xbb\x8f\xff+\x82\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
      b'\xf1\x87LBLUFN655162KF36\x98\x88\x88\x88\x98\x88\x88\x88x\x99\xa7\x89x\x99\xa7\x89x\x99\x97\x89g\x7f\xf7\xffwU_\xff\xe9!\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
@ -1021,11 +1058,13 @@ FW_VERSIONS = {
      b'\xf1\x8799110L2000\xf1\000DL3_ SCC FHCUP      1.00 1.03 99110-L2000         ',
      b'\xf1\x8799110L2100\xf1\x00DL3_ SCC F-CUP      1.00 1.03 99110-L2100         ',
      b'\xf1\x8799110L2100\xf1\x00DL3_ SCC FHCUP      1.00 1.03 99110-L2100         ',
+      b'\xf1\x00DL3_ SCC F-CUP      1.00 1.03 99110-L2100         ',
    ],
    (Ecu.eps, 0x7D4, None): [
      b'\xf1\x8756310-L3110\xf1\000DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101',
      b'\xf1\x8756310-L3220\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101',
      b'\xf1\x8757700-L3000\xf1\x00DL3 MDPS R 1.00 1.02 57700-L3000 4DLAP102',
+      b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101',
    ],
    (Ecu.fwdCamera, 0x7C4, None): [
      b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.03 99210-L3000 200915',
@ -1036,6 +1075,7 @@ FW_VERSIONS = {
      b'\xf1\x8758910-L3200\xf1\000DL ESC \006 101 \004\002 58910-L3200',
      b'\xf1\x8758910-L3800\xf1\x00DL ESC \t 101 \x07\x02 58910-L3800',
      b'\xf1\x8758910-L3600\xf1\x00DL ESC \x03 100 \x08\x02 58910-L3600',
+      b'\xf1\x00DL ESC \t 100 \x06\x02 58910-L3800',
    ],
    (Ecu.engine, 0x7E0, None): [
      b'\xf1\x87391212MKT0',
@ -1048,6 +1088,7 @@ FW_VERSIONS = {
      b'\xf1\x87SALFEA6046104GK2wvwgeTeFg\x88\x96xwwwwffvfe?\xfd\xff\x86fo\xff\x97A\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL2T16NB1ia\x0b\xb8',
      b'\xf1\x87SCMSAA8572454GK1\x87x\x87\x88Vf\x86hgwvwvwwgvwwgT?\xfb\xff\x97fo\xffH\xb8\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18',
      b'\xf1\x87954A02N300\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  WDL3T25XXX730NS2b\x1f\xb8%',
+      b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18',
    ],
  },
  CAR.KONA_EV: {
@ -1240,18 +1281,23 @@ FW_VERSIONS = {
  CAR.ELANTRA: {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00PD  LKAS AT USA LHD 1.01 1.01 95740-G3100 A54',
+      b'\xf1\x00PD  LKAS AT KOR LHD 1.00 1.02 95740-G3000 A51',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DPD0H16NS0e\x0e\xcd\x8e',
+      b'\xf1\x006U2U0_C2\x00\x006U2T0051\x00\x00DPD0D16KS0u\xce\x1fk',
    ],
    (Ecu.eps, 0x7d4, None): [
      b'\xf1\x00PD  MDPS C 1.00 1.04 56310/G3300 4PDDC104',
+      b'\xf1\x00PD  MDPS C 1.00 1.00 56310G3300\x00 4PDDC100',
    ],
    (Ecu.abs, 0x7d1, None): [
      b'\xf1\x00PD ESC \x0b 104\x18\t\x03 58920-G3350',
+      b'\xf1\x00PD ESC \t 104\x18\t\x03 58920-G3350',
    ],
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00PD__ SCC F-CUP      1.00 1.00 96400-G3300         ',
+      b'\xf1\x00PD__ SCC FNCUP      1.01 1.00 96400-G3000         ',
    ],
  },
  CAR.ELANTRA_2021: {
@ -1390,6 +1436,14 @@ FW_VERSIONS = {
      b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00'
    ],
  },
+  CAR.KIA_SORENTO_PHEV_4TH_GEN: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00MQhe SCC FHCUP      1.00 1.06 99110-P4000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00MQ4HMFC  AT USA LHD 1.00 1.11 99210-P2000 211217',
+    ]
+  },
  CAR.KIA_EV6: {
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00CV1_ RDR -----      1.00 1.01 99110-CV000         ',
@ -1413,10 +1467,19 @@ FW_VERSIONS = {
      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.05 99211-GI010 220614',
    ],
  },
+  CAR.TUCSON_4TH_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NX4__               1.01 1.00 99110-N9100         ',
+    ],
+  },
  CAR.TUCSON_HYBRID_4TH_GEN: {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q',
      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A',
    ],
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00NX4__               1.00 1.00 99110-N9100         ',
@ -1456,6 +1519,14 @@ FW_VERSIONS = {
      b'\xf1\x00JK1_ SCC FHCUP      1.00 1.02 99110-AR000         ',
    ],
  },
+  CAR.GENESIS_GV60_EV_1ST_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00JW1 MFC  AT USA LHD 1.00 1.02 99211-CU100 211215',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00JW1_ RDR -----      1.00 1.00 99110-CU000         ',
+    ],
+  },
 }

 CHECKSUM = {
@ -1473,16 +1544,16 @@ FEATURES = {
  "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022, CAR.KIA_STINGER_2022},
 }

-CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN}
+CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN}

 # The radar does SCC on these cars when HDA I, rather than the camera
-CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, }
+CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN}

 # The camera does SCC on these cars, rather than the radar
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }

-HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN}  # these cars use a different gas signal
-EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5}
+HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN}  # these cars use a different gas signal
+EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.GENESIS_GV60_EV_1ST_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_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022}
@ -1532,10 +1603,13 @@ DBC = {
  CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None),
  CAR.KIA_EV6: dbc_dict('hyundai_canfd', None),
  CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
+  CAR.TUCSON_4TH_GEN: dbc_dict('hyundai_canfd', None),
  CAR.TUCSON_HYBRID_4TH_GEN: dbc_dict('hyundai_canfd', None),
  CAR.IONIQ_5: dbc_dict('hyundai_canfd', None),
  CAR.SANTA_CRUZ_1ST_GEN: dbc_dict('hyundai_canfd', None),
  CAR.KIA_SPORTAGE_5TH_GEN: dbc_dict('hyundai_canfd', None),
  CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: dbc_dict('hyundai_canfd', None),
  CAR.GENESIS_GV70_1ST_GEN: dbc_dict('hyundai_canfd', None),
+  CAR.KIA_SORENTO_PHEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
+  CAR.GENESIS_GV60_EV_1ST_GEN: dbc_dict('hyundai_canfd', None),
 }
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@ -8,10 +8,10 @@ from cereal import car
 from common.basedir import BASEDIR
 from common.conversions import Conversions as CV
 from common.kalman.simple_kalman import KF1D
-from common.numpy_fast import interp
+from common.numpy_fast import clip, interp
 from common.realtime import DT_CTRL
-from selfdrive.car import apply_hysteresis, gen_empty_fingerprint
-from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_deadzone
+from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness
+from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_center_deadzone
 from selfdrive.controls.lib.events import Events
 from selfdrive.controls.lib.vehicle_model import VehicleModel

@ -87,10 +87,34 @@ class CarInterfaceBase(ABC):
  def get_pid_accel_limits(CP, current_speed, cruise_speed):
    return ACCEL_MIN, ACCEL_MAX

+  @classmethod
+  def get_params(cls, candidate: str, fingerprint: Optional[Dict[int, Dict[int, int]]] = None, car_fw: Optional[List[car.CarParams.CarFw]] = None, experimental_long: bool = False):
+    if fingerprint is None:
+      fingerprint = gen_empty_fingerprint()
+
+    if car_fw is None:
+      car_fw = list()
+
+    ret = CarInterfaceBase.get_std_params(candidate)
+    ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long)
+
+    # Set common params using fields set by the car interface
+    # TODO: get actual value, for now starting with reasonable value for
+    # civic and scaling by mass and wheelbase
+    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
+
+    # TODO: some car interfaces set stiffness factor
+    if ret.tireStiffnessFront == 0 or ret.tireStiffnessRear == 0:
+      # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
+      # mass and CG position, so all cars will have approximately similar dyn behaviors
+      ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
+
+    return ret
+
  @staticmethod
  @abstractmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
-    pass
+  def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool):
+    raise NotImplementedError

  @staticmethod
  def init(CP, logcan, sendcan):
@ -109,7 +133,7 @@ class CarInterfaceBase(ABC):
  def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, friction_compensation):
    # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction)
    friction_interp = interp(
-      apply_deadzone(lateral_accel_error, lateral_accel_deadzone),
+      apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
      [-FRICTION_THRESHOLD, FRICTION_THRESHOLD],
      [-torque_params.friction, torque_params.friction]
    )
@ -121,7 +145,7 @@ class CarInterfaceBase(ABC):

  # returns a set of default params to avoid repetition in car specific params
  @staticmethod
-  def get_std_params(candidate, fingerprint):
+  def get_std_params(candidate):
    ret = car.CarParams.new_message()
    ret.carFingerprint = candidate

@ -303,6 +327,7 @@ class CarStateBase(ABC):
    self.cruise_buttons = 0
    self.left_blinker_cnt = 0
    self.right_blinker_cnt = 0
+    self.steering_pressed_cnt = 0
    self.left_blinker_prev = False
    self.right_blinker_prev = False
    self.cluster_speed_hyst_gap = 0.0
@ -340,6 +365,12 @@ class CarStateBase(ABC):
    self.right_blinker_cnt = blinker_time if right_blinker_lamp else max(self.right_blinker_cnt - 1, 0)
    return self.left_blinker_cnt > 0, self.right_blinker_cnt > 0

+  def update_steering_pressed(self, steering_pressed, steering_pressed_min_count):
+    """Applies filtering on steering pressed for noisy driver torque signals."""
+    self.steering_pressed_cnt += 1 if steering_pressed else -1
+    self.steering_pressed_cnt = clip(self.steering_pressed_cnt, 0, steering_pressed_min_count * 2)
+    return self.steering_pressed_cnt > steering_pressed_min_count
+
  def update_blinker_from_stalk(self, blinker_time: int, left_blinker_stalk: bool, right_blinker_stalk: bool):
    """Update blinkers from stalk position. When stalk is seen the blinker will be on for at least blinker_time,
    or until the stalk is turned off, whichever is longer. If the opposite stalk direction is seen the blinker
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@ -137,17 +137,17 @@ class IsoTpParallelQuery:
          else:
            response_timeouts[tx_addr] = 0
            request_done[tx_addr] = True
-            cloudlog.warning(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
+            cloudlog.error(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")

      cur_time = time.monotonic()
      if cur_time - max(response_timeouts.values()) > 0:
        for tx_addr in msgs:
          if request_counter[tx_addr] > 0 and not request_done[tx_addr]:
-            cloudlog.warning(f"iso-tp query timeout after receiving response: {tx_addr}")
+            cloudlog.error(f"iso-tp query timeout after receiving response: {tx_addr}")
        break

      if cur_time - start_time > total_timeout:
-        cloudlog.warning("iso-tp query timeout while receiving data")
+        cloudlog.error("iso-tp query timeout while receiving data")
        break

    return results
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@ -59,6 +59,7 @@ class CarController:

    new_actuators = CC.actuators.copy()
    new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
+    new_actuators.steerOutputCan = apply_steer

    self.frame += 1
    return new_actuators, can_sends
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@ -2,7 +2,7 @@
 from cereal import car
 from common.conversions import Conversions as CV
 from selfdrive.car.mazda.values import CAR, LKAS_LIMITS
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase

 ButtonType = car.CarState.ButtonEvent.Type
@ -11,9 +11,7 @@ EventName = car.CarEvent.EventName
 class CarInterface(CarInterfaceBase):

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
-
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
    ret.carName = "mazda"
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
    ret.radarOffCan = True
@ -48,10 +46,6 @@ class CarInterface(CarInterfaceBase):

    ret.centerToFront = ret.wheelbase * 0.41

-    # TODO: get actual value, for now starting with reasonable value for
-    # civic and scaling by mass and wheelbase
-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
-
    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
    # mass and CG position, so all cars will have approximately similar dyn behaviors
    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@ -42,7 +42,7 @@ CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
  CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-20"),
  CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"),
  CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"),
-  CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-22", video_link="https://youtu.be/dA3duO4a0O4"),
+  CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4"),
  CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022-23"),
 }

@ -283,6 +283,7 @@ FW_VERSIONS = {
      b'TC3M-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x7e0, None): [
+      b'PXGW-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PXM4-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PXM4-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PXM6-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -299,6 +300,7 @@ FW_VERSIONS = {
      b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'PXM4-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
--- a/selfdrive/car/mock/interface.py
+++ b/selfdrive/car/mock/interface.py
@ -1,39 +1,28 @@
 #!/usr/bin/env python3
-import math
 from cereal import car
-from common.conversions import Conversions as CV
 from system.swaglog import cloudlog
 import cereal.messaging as messaging
-from selfdrive.car import gen_empty_fingerprint, get_safety_config
+from selfdrive.car import get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase

-# mocked car interface to work with chffrplus
-TS = 0.01  # 100Hz
-YAW_FR = 0.2  # ~0.8s time constant on yaw rate filter
-# low pass gain
-LPG = 2 * math.pi * YAW_FR * TS / (1 + 2 * math.pi * YAW_FR * TS)
-

+# mocked car interface to work with chffrplus
 class CarInterface(CarInterfaceBase):
  def __init__(self, CP, CarController, CarState):
    super().__init__(CP, CarController, CarState)

    cloudlog.debug("Using Mock Car Interface")

-    self.sm = messaging.SubMaster(['gyroscope', 'gpsLocation', 'gpsLocationExternal'])
+    self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])

    self.speed = 0.
    self.prev_speed = 0.
-    self.yaw_rate = 0.
-    self.yaw_rate_meas = 0.

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
    ret.carName = "mock"
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)]
    ret.mass = 1700.
-    ret.rotationalInertia = 2500.
    ret.wheelbase = 2.70
    ret.centerToFront = ret.wheelbase * 0.5
    ret.steerRatio = 13.  # reasonable
@ -45,11 +34,6 @@ class CarInterface(CarInterfaceBase):
  # returns a car.CarState
  def _update(self, c):
    self.sm.update(0)
-
-    # get basic data from phone and gps since CAN isn't connected
-    if self.sm.updated['gyroscope']:
-      self.yaw_rate_meas = -self.sm['gyroscope'].gyroUncalibrated.v[0]
-
    gps_sock = 'gpsLocationExternal' if self.sm.rcv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
    if self.sm.updated[gps_sock]:
      self.prev_speed = self.speed
@ -61,10 +45,9 @@ class CarInterface(CarInterfaceBase):
    # speeds
    ret.vEgo = self.speed
    ret.vEgoRaw = self.speed
-    a = self.speed - self.prev_speed

-    ret.aEgo = a
-    ret.brakePressed = a < -0.5
+    ret.aEgo = self.speed - self.prev_speed
+    ret.brakePressed = ret.aEgo < -0.5

    ret.standstill = self.speed < 0.01
    ret.wheelSpeeds.fl = self.speed
@ -72,10 +55,6 @@ class CarInterface(CarInterfaceBase):
    ret.wheelSpeeds.rl = self.speed
    ret.wheelSpeeds.rr = self.speed

-    self.yawRate = LPG * self.yaw_rate_meas + (1. - LPG) * self.yaw_rate
-    curvature = self.yaw_rate / max(self.speed, 1.)
-    ret.steeringAngleDeg = curvature * self.CP.steerRatio * self.CP.wheelbase * CV.RAD_TO_DEG
-
    return ret

  def apply(self, c):
--- a/selfdrive/car/nissan/carcontroller.py
+++ b/selfdrive/car/nissan/carcontroller.py
@ -1,6 +1,6 @@
 from cereal import car
-from common.numpy_fast import clip, interp
 from opendbc.can.packer import CANPacker
+from selfdrive.car import apply_std_steer_angle_limits
 from selfdrive.car.nissan import nissancan
 from selfdrive.car.nissan.values import CAR, CarControllerParams

@ -14,7 +14,7 @@ class CarController:
    self.frame = 0

    self.lkas_max_torque = 0
-    self.last_angle = 0
+    self.apply_angle_last = 0

    self.packer = CANPacker(dbc_name)

@ -28,18 +28,11 @@ class CarController:
    ### STEER ###
    lkas_hud_msg = CS.lkas_hud_msg
    lkas_hud_info_msg = CS.lkas_hud_info_msg
-    apply_angle = actuators.steeringAngleDeg
-
    steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0

    if CC.latActive:
      # windup slower
-      if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle):
-        angle_rate_lim = interp(CS.out.vEgo, CarControllerParams.ANGLE_DELTA_BP, CarControllerParams.ANGLE_DELTA_V)
-      else:
-        angle_rate_lim = interp(CS.out.vEgo, CarControllerParams.ANGLE_DELTA_BP, CarControllerParams.ANGLE_DELTA_VU)
-
-      apply_angle = clip(apply_angle, self.last_angle - angle_rate_lim, self.last_angle + angle_rate_lim)
+      apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams)

      # Max torque from driver before EPS will give up and not apply torque
      if not bool(CS.out.steeringPressed):
@ -57,7 +50,7 @@ class CarController:
      apply_angle = CS.out.steeringAngleDeg
      self.lkas_max_torque = 0

-    self.last_angle = apply_angle
+    self.apply_angle_last = apply_angle

    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and pcm_cancel_cmd:
      can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg))
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car import STD_CARGO_KG, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.nissan.values import CAR

@ -8,9 +8,7 @@ from selfdrive.car.nissan.values import CAR
 class CarInterface(CarInterfaceBase):

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
-
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
    ret.carName = "nissan"
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
    ret.autoResumeSng = False
@ -20,6 +18,9 @@ class CarInterface(CarInterfaceBase):
    ret.steerActuatorDelay = 0.1
    ret.steerRatio = 17

+    ret.steerControlType = car.CarParams.SteerControlType.angle
+    ret.radarOffCan = True
+
    if candidate in (CAR.ROGUE, CAR.XTRAIL):
      ret.mass = 1610 + STD_CARGO_KG
      ret.wheelbase = 2.705
@ -35,17 +36,6 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.824
      ret.centerToFront = ret.wheelbase * 0.44

-    ret.steerControlType = car.CarParams.SteerControlType.angle
-    ret.radarOffCan = True
-
-    # TODO: get actual value, for now starting with reasonable value for
-    # civic and scaling by mass and wheelbase
-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
-
-    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
-    # mass and CG position, so all cars will have approximately similar dyn behaviors
-    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
-
    return ret

  # returns a car.CarState
--- a/selfdrive/car/nissan/values.py
+++ b/selfdrive/car/nissan/values.py
@ -4,7 +4,7 @@ from enum import Enum

 from cereal import car
 from panda.python import uds
-from selfdrive.car import dbc_dict
+from selfdrive.car import AngleRateLimit, dbc_dict
 from selfdrive.car.docs_definitions import CarInfo, Harness
 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries

@ -12,9 +12,8 @@ Ecu = car.CarParams.Ecu


 class CarControllerParams:
-  ANGLE_DELTA_BP = [0., 5., 15.]
-  ANGLE_DELTA_V = [5., .8, .15]     # windup limit
-  ANGLE_DELTA_VU = [5., 3.5, 0.4]   # unwind limit
+  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., .8, .15])
+  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., 3.5, 0.4])
  LKAS_MAX_TORQUE = 1               # A value of 1 is easy to overpower
  STEER_THRESHOLD = 1.0

--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@ -87,6 +87,7 @@ class CarController:

    new_actuators = actuators.copy()
    new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
+    new_actuators.steerOutputCan = self.apply_steer_last

    self.frame += 1
    return new_actuators, can_sends
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car import STD_CARGO_KG, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS

@ -9,9 +9,7 @@ from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS
 class CarInterface(CarInterfaceBase):

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
-
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
    ret.carName = "subaru"
    ret.radarOffCan = True
    ret.dashcamOnly = candidate in PREGLOBAL_CARS
@ -103,14 +101,6 @@ class CarInterface(CarInterfaceBase):
    else:
      raise ValueError(f"unknown car: {candidate}")

-    # TODO: get actual value, for now starting with reasonable value for
-    # civic and scaling by mass and wheelbase
-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
-
-    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
-    # mass and CG position, so all cars will have approximately similar dyn behaviors
-    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
-
    return ret

  # returns a car.CarState
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@ -63,7 +63,7 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
  ],
  CAR.IMPREZA_2020: [
    SubaruCarInfo("Subaru Impreza 2020-22"),
-    SubaruCarInfo("Subaru Crosstrek 2020-21"),
+    SubaruCarInfo("Subaru Crosstrek 2020-23"),
    SubaruCarInfo("Subaru XV 2020-21"),
  ],
  CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"),
@ -235,12 +235,14 @@ FW_VERSIONS = {
      b'\x9a\xc0\000\000',
      b'\n\xc0\004\000',
      b'\x9a\xc0\x04\x00',
+      b'\n\xc0\x04\x01',
    ],
    (Ecu.fwdCamera, 0x787, None): [
      b'\000\000eb\037@ \"',
      b'\000\000e\x8f\037@ )',
      b'\x00\x00eq\x1f@ "',
      b'\x00\x00eq\x00\x00\x00\x00',
+      b'\x00\x00e\x8f\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x7e0, None): [
      b'\xca!ap\a',
@ -250,6 +252,7 @@ FW_VERSIONS = {
      b'\xcc!fp\a',
      b'\xca!f@\x07',
      b'\xca!fp\x07',
+      b'\xf3"f@\x07',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'\xe6\xf5\004\000\000',
@ -258,6 +261,7 @@ FW_VERSIONS = {
      b'\xe7\xf5D0\000',
      b'\xf1\x00\xd7\x10@',
      b'\xe6\xf5D0\x00',
+      b'\xe9\xf6F0\x00',
    ],
  },
  CAR.FORESTER: {
@ -461,6 +465,7 @@ FW_VERSIONS = {
      b'\xa1  \x08\x02',
      b'\xa1 \x06\x02',
      b'\xa1  \x08\x00',
+      b'\xa1 "\t\x00',
    ],
    (Ecu.eps, 0x746, None): [
      b'\x9b\xc0\x10\x00',
@ -482,6 +487,7 @@ FW_VERSIONS = {
      b'\xe2"`p\x07',
      b'\xf1\x82\xe2,\xa0@\x07',
      b'\xbc"`q\x07',
+      b'\xe3,\xa0@\x07',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'\xa5\xfe\xf7@\x00',
--- a/selfdrive/car/tesla/carcontroller.py
+++ b/selfdrive/car/tesla/carcontroller.py
@ -1,5 +1,6 @@
-from common.numpy_fast import clip, interp
+from common.numpy_fast import clip
 from opendbc.can.packer import CANPacker
+from selfdrive.car import apply_std_steer_angle_limits
 from selfdrive.car.tesla.teslacan import TeslaCAN
 from selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParams

@ -8,7 +9,7 @@ class CarController:
  def __init__(self, dbc_name, CP, VM):
    self.CP = CP
    self.frame = 0
-    self.last_angle = 0
+    self.apply_angle_last = 0
    self.packer = CANPacker(dbc_name)
    self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
    self.tesla_can = TeslaCAN(self.packer, self.pt_packer)
@ -24,20 +25,15 @@ class CarController:
    lkas_enabled = CC.latActive and not hands_on_fault

    if lkas_enabled:
-      apply_angle = actuators.steeringAngleDeg
-
      # Angular rate limit based on speed
-      steer_up = self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle)
-      rate_limit = CarControllerParams.RATE_LIMIT_UP if steer_up else CarControllerParams.RATE_LIMIT_DOWN
-      max_angle_diff = interp(CS.out.vEgo, rate_limit.speed_points, rate_limit.max_angle_diff_points)
-      apply_angle = clip(apply_angle, self.last_angle - max_angle_diff, self.last_angle + max_angle_diff)
+      apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams)

      # To not fault the EPS
      apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20)
    else:
      apply_angle = CS.out.steeringAngleDeg

-    self.last_angle = apply_angle
+    self.apply_angle_last = apply_angle
    can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, self.frame))

    # Longitudinal control (in sync with stock message, about 40Hz)
--- a/selfdrive/car/tesla/interface.py
+++ b/selfdrive/car/tesla/interface.py
@ -2,14 +2,13 @@
 from cereal import car
 from panda import Panda
 from selfdrive.car.tesla.values import CANBUS, CAR
-from selfdrive.car import STD_CARGO_KG, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_safety_config
+from selfdrive.car import STD_CARGO_KG, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase


 class CarInterface(CarInterfaceBase):
  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
    ret.carName = "tesla"

    # There is no safe way to do steer blending with user torque,
@ -51,9 +50,6 @@ class CarInterface(CarInterfaceBase):
    else:
      raise ValueError(f"Unsupported car: {candidate}")

-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
-    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
-
    return ret

  def _update(self, c):
--- a/selfdrive/car/tesla/values.py
+++ b/selfdrive/car/tesla/values.py
@ -2,14 +2,13 @@ from collections import namedtuple
 from typing import Dict, List, Union

 from cereal import car
-from selfdrive.car import dbc_dict
+from selfdrive.car import AngleRateLimit, dbc_dict
 from selfdrive.car.docs_definitions import CarInfo
 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries

 Ecu = car.CarParams.Ecu

 Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
-AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points'])


 class CAR:
@ -99,13 +98,13 @@ BUTTONS = [
  Button(car.CarState.ButtonEvent.Type.rightBlinker, "STW_ACTN_RQ", "TurnIndLvr_Stat", [2]),
  Button(car.CarState.ButtonEvent.Type.accelCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [4, 16]),
  Button(car.CarState.ButtonEvent.Type.decelCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [8, 32]),
-  Button(car.CarState.ButtonEvent.Type.cancel, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [2]),
-  Button(car.CarState.ButtonEvent.Type.resumeCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [1]),
+  Button(car.CarState.ButtonEvent.Type.cancel, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [1]),
+  Button(car.CarState.ButtonEvent.Type.resumeCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [2]),
 ]

 class CarControllerParams:
-  RATE_LIMIT_UP = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., .8, .15])
-  RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4])
+  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., .8, .15])
+  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., 3.5, 0.4])
  JERK_LIMIT_MAX = 8
  JERK_LIMIT_MIN = -8
  ACCEL_TO_SPEED_MULTIPLIER = 3
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@ -22,7 +22,6 @@ non_tested_cars = [
  GM.HOLDEN_ASTRA,
  GM.MALIBU,
  GM.EQUINOX,
-  GM.BOLT_EV,
  HYUNDAI.GENESIS_G90,
  HYUNDAI.KIA_OPTIMA_H,
  HONDA.ODYSSEY_CHN,
@ -51,6 +50,7 @@ routes = [
  CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV),
  CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT),
  CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV, segment=1),
+  CarTestRoute("555d4087cf86aa91|2022-12-02--12-15-07", GM.BOLT_EUV, segment=14),  # Bolt EV
  CarTestRoute("38aa7da107d5d252|2022-08-15--16-01-12", GM.SILVERADO),

  CarTestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G),
@ -80,6 +80,7 @@ routes = [
  CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022),

  CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS),
+  CarTestRoute("b5d6dc830ad63071|2022-12-12--21-28-25", HYUNDAI.GENESIS_GV60_EV_1ST_GEN, segment=12),
  CarTestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70),
  CarTestRoute("ca4de5b12321bd98|2022-10-18--21-15-59", HYUNDAI.GENESIS_GV70_1ST_GEN),
  CarTestRoute("6b301bf83f10aa90|2020-11-22--16-45-07", HYUNDAI.GENESIS_G80),
@ -96,8 +97,10 @@ routes = [
  CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA),
  CarTestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF),
  CarTestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON),
+  CarTestRoute("db68bbe12250812c|2022-12-05--00-54-12", HYUNDAI.TUCSON_4TH_GEN),  # 2023
  CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.TUCSON_HYBRID_4TH_GEN),
  CarTestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
+  CarTestRoute("628935d7d3e5f4f7|2022-11-30--01-12-46", HYUNDAI.KIA_SORENTO_PHEV_4TH_GEN),
  CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
  CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.IONIQ_5),  # HDA2
  CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019),
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@ -31,6 +31,8 @@ class TestCarInterfaces(unittest.TestCase):
    assert car_interface

    self.assertGreater(car_params.mass, 1)
+    self.assertGreater(car_params.wheelbase, 0)
+    self.assertGreater(car_params.centerToFront, 0)
    self.assertGreater(car_params.maxLateralAccel, 0)

    if car_params.steerControlType != car.CarParams.SteerControlType.angle:
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@ -9,7 +9,6 @@ from parameterized import parameterized_class

 from cereal import log, car
 from common.realtime import DT_CTRL
-from selfdrive.boardd.boardd import can_capnp_to_can_list
 from selfdrive.car.fingerprints import all_known_cars
 from selfdrive.car.car_helpers import interfaces
 from selfdrive.car.gm.values import CAR as GM
@ -20,8 +19,7 @@ from selfdrive.test.openpilotci import get_url
 from tools.lib.logreader import LogReader
 from tools.lib.route import Route

-from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import package_can_msg
+from panda.tests.libpanda import libpanda_py

 PandaType = log.PandaState.PandaType

@ -118,7 +116,7 @@ class TestCarModelBase(unittest.TestCase):
    assert self.CI

    # TODO: check safetyModel is in release panda build
-    self.safety = libpandasafety_py.libpandasafety
+    self.safety = libpanda_py.libpanda

    cfg = self.CP.safetyConfigs[-1]
    set_status = self.safety.set_safety_hooks(cfg.safetyModel.raw, cfg.safetyParam)
@ -192,7 +190,7 @@ class TestCarModelBase(unittest.TestCase):
        if msg.src >= 64:
          continue

-        to_send = package_can_msg([msg.address, 0, msg.dat, msg.src % 4])
+        to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
        if self.safety.safety_rx_hook(to_send) != 1:
          failed_addrs[hex(msg.address)] += 1

@ -215,8 +213,8 @@ class TestCarModelBase(unittest.TestCase):
    # warm up pass, as initial states may be different
    for can in self.can_msgs[:300]:
      self.CI.update(CC, (can.as_builder().to_bytes(), ))
-      for msg in can_capnp_to_can_list(can.can, src_filter=range(64)):
-        to_send = package_can_msg(msg)
+      for msg in filter(lambda m: m.src in range(64), can.can):
+        to_send = libpanda_py.make_CANPacket(msg.address, msg.src, msg.dat)
        self.safety.safety_rx_hook(to_send)

    controls_allowed_prev = False
@ -224,10 +222,8 @@ class TestCarModelBase(unittest.TestCase):
    checks = defaultdict(lambda: 0)
    for idx, can in enumerate(self.can_msgs):
      CS = self.CI.update(CC, (can.as_builder().to_bytes(), ))
-      for msg in can_capnp_to_can_list(can.can, src_filter=range(64)):
-        msg = list(msg)
-        msg[3] %= 4
-        to_send = package_can_msg(msg)
+      for msg in filter(lambda m: m.src in range(64), can.can):
+        to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
        ret = self.safety.safety_rx_hook(to_send)
        self.assertEqual(1, ret, f"safety rx failed ({ret=}): {to_send}")

--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@ -34,6 +34,8 @@ HYUNDAI SANTA CRUZ 1ST GEN: [2.7, 2.7, 0.1]
 KIA SPORTAGE 5TH GEN: [2.7, 2.7, 0.1]
 KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.1]
 GENESIS GV70 1ST GEN: [2.42, 2.42, 0.1]
+KIA SORENTO PLUG-IN HYBRID 4TH GEN: [2.5, 2.5, 0.1]
+GENESIS GV60 ELECTRIC 1ST GEN: [2.5, 2.5, 0.1]

 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]
--- a/selfdrive/car/torque_data/params.yaml
+++ b/selfdrive/car/torque_data/params.yaml
@ -27,10 +27,11 @@ HONDA PILOT 2017: [1.7262026201812795, 0.9470005614967523, 0.21351430733218763]
 HONDA RIDGELINE 2017: [1.4146525028237624, 0.7356572861629564, 0.23307177552211328]
 HYUNDAI ELANTRA 2021: [3.169, 2.1259108157250735, 0.0819]
 HYUNDAI GENESIS 2015-2016: [1.8466226943929824, 1.5552063647830634, 0.0984484465421171]
+HYUNDAI IONIQ 5 2022: [3.172929, 2.713050, 0.096019]
 HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276]
 HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778]
 HYUNDAI IONIQ PLUG-IN HYBRID 2019: [2.970807902012267, 1.6312321830002083, 0.1088964990357482]
-HYUNDAI KONA ELECTRIC 2019: [4.398306735170212, 3.2961956260770484, 0.08651833437845884]
+HYUNDAI KONA ELECTRIC 2019: [3.078814714619148, 3.2961956260770484, 0.12359762054065548]
 HYUNDAI PALISADE 2020: [2.544642494803999, 1.8721703683337008, 0.1301424599248651]
 HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.1207019341823945]
 HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963]
@ -41,7 +42,7 @@ HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488
 HYUNDAI TUCSON HYBRID 4TH GEN: [2.035545, 2.035545, 0.110272]
 JEEP GRAND CHEROKEE 2019: [1.7321233388827006, 1.289689569171081, 0.15046331002097185]
 JEEP GRAND CHEROKEE V6 2018: [1.8776598027756923, 1.4057367824262523, 0.11725947414922003]
-KIA EV6 2022: [3.2, 3.0, 0.05]
+KIA EV6 2022: [3.2, 2.093457, 0.05]
 KIA K5 2021: [2.405339728085138, 1.460032270828705, 0.11650989850813716]
 KIA NIRO EV 2020: [2.9215954981365337, 2.1500583840260044, 0.09236802474810267]
 KIA SORENTO GT LINE 2018: [2.464854685101844, 1.5335274218367956, 0.12056170567599558]
@ -77,7 +78,7 @@ TOYOTA HIGHLANDER 2020: [2.022340166827233, 1.6183134804881791, 0.14592306380054
 TOYOTA HIGHLANDER HYBRID 2018: [1.752033, 1.6433903296845025, 0.144600]
 TOYOTA HIGHLANDER HYBRID 2020: [1.901174, 2.104015182965606, 0.14447040132184993]
 TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
-TOYOTA PRIUS 2017: [1.746445, 1.5023147650693636, 0.151515]
+TOYOTA PRIUS 2017: [1.60, 1.5023147650693636, 0.151515]
 TOYOTA PRIUS TSS2 2021: [1.972600, 1.9104337425537743, 0.170968]
 TOYOTA RAV4 2017: [2.085695074355425, 2.2142832316984733, 0.13339165270103975]
 TOYOTA RAV4 2019: [2.331293, 2.0993589721530252, 0.129822]
--- a/selfdrive/car/torque_data/substitute.yaml
+++ b/selfdrive/car/torque_data/substitute.yaml
@ -29,13 +29,13 @@ HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019
 HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019
 HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019
 HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019
-HYUNDAI IONIQ 5 2022: KIA EV6 2022
 HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019
 HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019
 HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019
 HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019
 HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020
 HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019
+HYUNDAI TUCSON 4TH GEN: HYUNDAI TUCSON HYBRID 4TH GEN
 HYUNDAI SANTA FE 2022: HYUNDAI SANTA FE HYBRID 2022
 KIA STINGER 2022: KIA STINGER GT2 2018
 GENESIS G90 2017: GENESIS G70 2018
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@ -146,7 +146,7 @@ class CarController:
      if self.frame % 100 == 0 or send_ui:
        can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible,
                                           hud_control.rightLaneVisible, hud_control.leftLaneDepart,
-                                           hud_control.rightLaneDepart, CC.enabled))
+                                           hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud))

      if (self.frame % 100 == 0 or send_ui) and self.CP.enableDsu:
        can_sends.append(create_fcw_command(self.packer, fcw_alert))
@ -158,6 +158,7 @@ class CarController:

    new_actuators = actuators.copy()
    new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
+    new_actuators.steerOutputCan = apply_steer
    new_actuators.accel = self.accel
    new_actuators.gas = self.gas

--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@ -1,3 +1,5 @@
+import copy
+
 from cereal import car
 from common.conversions import Conversions as CV
 from common.numpy_fast import mean
@ -6,7 +8,7 @@ from common.realtime import DT_CTRL
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.toyota.values import ToyotaFlags, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
+from selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR


 class CarState(CarStateBase):
@ -26,6 +28,7 @@ class CarState(CarStateBase):

    self.low_speed_lockout = False
    self.acc_type = 1
+    self.lkas_hud = {}

  def update(self, cp, cp_cam):
    ret = car.CarState.new_message()
@ -85,16 +88,20 @@ class CarState(CarStateBase):
    ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] * self.eps_torque_scale
    # we could use the override bit from dbc, but it's triggered at too high torque values
    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
-    # steer rate fault, goes to 21 or 25 for 1 frame, then 9 for ~2 seconds
-    ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in (0, 9, 21, 25)
+    # steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds
+    # lka msg drop out: goes to 9 then 11 for a combined total of 2 seconds
+    ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in (0, 9, 11, 21, 25)
    # 17 is a fault from a prolonged high torque delta between cmd and user
-    ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] == 17
+    # 3 is a fault from the lka command message not being received by the EPS
+    ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] in (3, 17)

    if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
+      # TODO: find the bit likely in DSU_CRUISE that describes an ACC fault. one may also exist in CLUTCH
      ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
      ret.cruiseState.speed = cp.vl["DSU_CRUISE"]["SET_SPEED"] * CV.KPH_TO_MS
      cluster_set_speed = cp.vl["PCM_CRUISE_ALT"]["UI_SET_SPEED"]
    else:
+      ret.accFaulted = cp.vl["PCM_CRUISE_2"]["ACC_FAULTED"] != 0
      ret.cruiseState.available = cp.vl["PCM_CRUISE_2"]["MAIN_ON"] != 0
      ret.cruiseState.speed = cp.vl["PCM_CRUISE_2"]["SET_SPEED"] * CV.KPH_TO_MS
      cluster_set_speed = cp.vl["PCM_CRUISE_SM"]["UI_SET_SPEED"]
@ -120,11 +127,8 @@ class CarState(CarStateBase):
      self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2

    self.pcm_acc_status = cp.vl["PCM_CRUISE"]["CRUISE_STATE"]
-    if self.CP.carFingerprint in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor:
-      # ignore standstill in hybrid vehicles, since pcm allows to restart without
-      # receiving any special command. Also if interceptor is detected
-      ret.cruiseState.standstill = False
-    else:
+    if self.CP.carFingerprint not in (NO_STOP_TIMER_CAR - TSS2_CAR):
+      # ignore standstill state in certain vehicles, since pcm allows to restart with just an acceleration request
      ret.cruiseState.standstill = self.pcm_acc_status == 7
    ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"])
    ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in (1, 2, 3, 4, 5, 6)
@ -139,6 +143,9 @@ class CarState(CarStateBase):
      ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1)
      ret.rightBlindspot = (cp.vl["BSM"]["R_ADJACENT"] == 1) or (cp.vl["BSM"]["R_APPROACHING"] == 1)

+    if self.CP.carFingerprint != CAR.PRIUS_V:
+      self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
+
    return ret

  @staticmethod
@ -208,6 +215,7 @@ class CarState(CarStateBase):
    else:
      signals.append(("MAIN_ON", "PCM_CRUISE_2"))
      signals.append(("SET_SPEED", "PCM_CRUISE_2"))
+      signals.append(("ACC_FAULTED", "PCM_CRUISE_2"))
      signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2"))
      checks.append(("PCM_CRUISE_2", 33))

@ -252,6 +260,18 @@ class CarState(CarStateBase):
    signals = []
    checks = []

+    if CP.carFingerprint != CAR.PRIUS_V:
+      signals += [
+        ("LANE_SWAY_FLD", "LKAS_HUD"),
+        ("LANE_SWAY_BUZZER", "LKAS_HUD"),
+        ("LANE_SWAY_WARNING", "LKAS_HUD"),
+        ("LANE_SWAY_SENSITIVITY", "LKAS_HUD"),
+        ("LANE_SWAY_TOGGLE", "LKAS_HUD"),
+      ]
+      checks += [
+        ("LKAS_HUD", 1),
+      ]
+
    if CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
      signals += [
        ("PRECOLLISION_ACTIVE", "PRE_COLLISION"),
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@ -3,7 +3,7 @@ from cereal import car
 from common.conversions import Conversions as CV
 from panda import Panda
 from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, CarControllerParams, NO_STOP_TIMER_CAR
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase

 EventName = car.CarEvent.EventName
@ -15,9 +15,7 @@ class CarInterface(CarInterfaceBase):
    return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], experimental_long=False):  # pylint: disable=dangerous-default-value
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
-
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
    ret.carName = "toyota"
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
    ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
@ -42,7 +40,8 @@ class CarInterface(CarInterfaceBase):
      # Only give steer angle deadzone to for bad angle sensor prius
      for fw in car_fw:
        if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00':
-          steering_angle_deadzone_deg = 1.0
+          steering_angle_deadzone_deg = 0.2
+          ret.steerActuatorDelay = 0.25
          CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)

    elif candidate == CAR.PRIUS_V:
@ -51,7 +50,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 17.4
      tire_stiffness_factor = 0.5533
      ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)

    elif candidate in (CAR.RAV4, CAR.RAV4H):
      stop_and_go = True if (candidate in CAR.RAV4H) else False
@ -190,10 +188,6 @@ class CarInterface(CarInterfaceBase):

    ret.centerToFront = ret.wheelbase * 0.44

-    # TODO: get actual value, for now starting with reasonable value for
-    # civic and scaling by mass and wheelbase
-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
-
    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
    # mass and CG position, so all cars will have approximately similar dyn behaviors
    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
@ -231,6 +225,8 @@ class CarInterface(CarInterfaceBase):
      tune.kiBP = [0., 5., 12., 20., 27.]
      tune.kiV = [.35, .23, .20, .17, .1]
      if candidate in TSS2_CAR:
+        ret.vEgoStopping = 0.25
+        ret.vEgoStarting = 0.25
        ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
    else:
      tune.kpBP = [0., 5., 35.]
@ -247,16 +243,19 @@ class CarInterface(CarInterfaceBase):
    # events
    events = self.create_common_events(ret)

-    if self.CS.low_speed_lockout and self.CP.openpilotLongitudinalControl:
-      events.add(EventName.lowSpeedLockout)
-    if ret.vEgo < self.CP.minEnableSpeed and self.CP.openpilotLongitudinalControl:
-      events.add(EventName.belowEngageSpeed)
-      if c.actuators.accel > 0.3:
-        # some margin on the actuator to not false trigger cancellation while stopping
-        events.add(EventName.speedTooLow)
-      if ret.vEgo < 0.001:
-        # while in standstill, send a user alert
-        events.add(EventName.manualRestart)
+    if self.CP.openpilotLongitudinalControl:
+      if ret.cruiseState.standstill and not ret.brakePressed and not self.CP.enableGasInterceptor:
+        events.add(EventName.resumeRequired)
+      if self.CS.low_speed_lockout:
+        events.add(EventName.lowSpeedLockout)
+      if ret.vEgo < self.CP.minEnableSpeed:
+        events.add(EventName.belowEngageSpeed)
+        if c.actuators.accel > 0.3:
+          # some margin on the actuator to not false trigger cancellation while stopping
+          events.add(EventName.speedTooLow)
+        if ret.vEgo < 0.001:
+          # while in standstill, send a user alert
+          events.add(EventName.manualRestart)

    ret.events = events.to_msg()

--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@ -66,13 +66,13 @@ def create_fcw_command(packer, fcw):
  return packer.make_can_msg("ACC_HUD", 0, values)


-def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled):
+def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled, stock_lkas_hud):
  values = {
    "TWO_BEEPS": chime,
    "LDA_ALERT": steer,
    "RIGHT_LINE": 3 if right_lane_depart else 1 if right_line else 2,
    "LEFT_LINE": 3 if left_lane_depart else 1 if left_line else 2,
-    "BARRIERS" : 1 if enabled else 0,
+    "BARRIERS": 1 if enabled else 0,

    # static signals
    "SET_ME_X02": 2,
@ -96,4 +96,9 @@ def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_dep
    "ADJUSTING_CAMERA": 0,
    "LDW_EXIST": 1,
  }
+
+  # lane sway functionality
+  # not all cars have LKAS_HUD — update with camera values if available
+  values.update(stock_lkas_hud)
+
  return packer.make_can_msg("LKAS_HUD", 0, values)
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@ -113,7 +113,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
  CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
  CAR.CAMRYH: ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
  CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-22", footnotes=[Footnote.CAMRY]),
-  CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-22"),
+  CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-23"),
  CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-21"),
  CAR.CHRH: ToyotaCarInfo("Toyota C-HR Hybrid 2017-19"),
  CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19"),
@ -209,16 +209,19 @@ FW_QUERY_CONFIG = FwQueryConfig(
    Request(
      [StdQueries.SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST],
      [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.dsu, Ecu.abs, Ecu.eps],
      bus=0,
    ),
    Request(
      [StdQueries.SHORT_TESTER_PRESENT_REQUEST, StdQueries.OBD_VERSION_REQUEST],
      [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, StdQueries.OBD_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.engine],
      bus=0,
    ),
    Request(
      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.DEFAULT_DIAGNOSTIC_REQUEST, StdQueries.EXTENDED_DIAGNOSTIC_REQUEST, StdQueries.UDS_VERSION_REQUEST],
      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.DEFAULT_DIAGNOSTIC_RESPONSE, StdQueries.EXTENDED_DIAGNOSTIC_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.engine, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.abs, Ecu.eps],
      bus=0,
    ),
  ],
@ -548,10 +551,12 @@ FW_VERSIONS = {
    (Ecu.abs, 0x7b0, None): [
      b'F152633D00\x00\x00\x00\x00\x00\x00',
      b'F152633D60\x00\x00\x00\x00\x00\x00',
+      b'F152633310\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x700, None): [
      b'\x018966306Q6000\x00\x00\x00\x00',
      b'\x018966306Q7000\x00\x00\x00\x00',
+      b'\x018966306V1000\x00\x00\x00\x00',
      b'\x01896633T20000\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 15): [
@ -562,6 +567,7 @@ FW_VERSIONS = {
      b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
      b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
      b'\x028646F3305300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
+      b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
    ],
  },
  CAR.CHR: {
@ -735,6 +741,7 @@ FW_VERSIONS = {
      b'\x018966312Q8000\x00\x00\x00\x00',
      b'\x018966312R0000\x00\x00\x00\x00',
      b'\x018966312R0100\x00\x00\x00\x00',
+      b'\x018966312R0200\x00\x00\x00\x00',
      b'\x018966312R1000\x00\x00\x00\x00',
      b'\x018966312R1100\x00\x00\x00\x00',
      b'\x018966312R3100\x00\x00\x00\x00',
@ -742,6 +749,7 @@ FW_VERSIONS = {
      b'\x018966312S7000\x00\x00\x00\x00',
      b'\x018966312W3000\x00\x00\x00\x00',
      b'\x018966312W9000\x00\x00\x00\x00',
+      b'\x01896637644000\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x7e0, None): [
      b'\x0230A10000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
@ -769,6 +777,7 @@ FW_VERSIONS = {
      b'\x018965B1255000\x00\x00\x00\x00',
      b'8965B12361\x00\x00\x00\x00\x00\x00',
      b'8965B16011\x00\x00\x00\x00\x00\x00',
+      b'8965B76012\x00\x00\x00\x00\x00\x00',
      b'\x018965B12510\x00\x00\x00\x00\x00\x00',
      b'\x018965B1256000\x00\x00\x00\x00',
    ],
@ -786,6 +795,7 @@ FW_VERSIONS = {
      b'\x01F152612B60\x00\x00\x00\x00\x00\x00',
      b'\x01F152612B61\x00\x00\x00\x00\x00\x00',
      b'\x01F152612B62\x00\x00\x00\x00\x00\x00',
+      b'\x01F152612B70\x00\x00\x00\x00\x00\x00',
      b'\x01F152612B71\x00\x00\x00\x00\x00\x00',
      b'\x01F152612B81\x00\x00\x00\x00\x00\x00',
      b'\x01F152612B90\x00\x00\x00\x00\x00\x00',
@ -794,6 +804,7 @@ FW_VERSIONS = {
      b'\x01F152612862\x00\x00\x00\x00\x00\x00',
      b'\x01F152612B91\x00\x00\x00\x00\x00\x00',
      b'\x01F15260A070\x00\x00\x00\x00\x00\x00',
+      b'\x01F152676250\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [
      b'\x018821F3301100\x00\x00\x00\x00',
@ -821,6 +832,7 @@ FW_VERSIONS = {
      b'\x01896637621000\x00\x00\x00\x00',
      b'\x01896637624000\x00\x00\x00\x00',
      b'\x01896637626000\x00\x00\x00\x00',
+      b'\x01896637639000\x00\x00\x00\x00',
      b'\x01896637648000\x00\x00\x00\x00',
      b'\x01896637643000\x00\x00\x00\x00',
      b'\x02896630A07000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
@ -1014,6 +1026,7 @@ FW_VERSIONS = {
      b'\x01F15264873500\x00\x00\x00\x00',
      b'\x01F152648C6300\x00\x00\x00\x00',
      b'\x01F152648J4000\x00\x00\x00\x00',
+      b'\x01F152648J5000\x00\x00\x00\x00',
      b'\x01F152648J6000\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x700, None): [
@ -1021,6 +1034,7 @@ FW_VERSIONS = {
      b'\x01896630EA1000\x00\x00\x00\x00',
      b'\x01896630EE4000\x00\x00\x00\x00',
      b'\x01896630EE4100\x00\x00\x00\x00',
+      b'\x01896630EE5000\x00\x00\x00\x00',
      b'\x01896630EE6000\x00\x00\x00\x00',
      b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
      b'\x02896630E66100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
@ -1320,6 +1334,7 @@ FW_VERSIONS = {
      b'\x01F15260R302\x00\x00\x00\x00\x00\x00',
      b'\x01F152642551\x00\x00\x00\x00\x00\x00',
      b'\x01F152642561\x00\x00\x00\x00\x00\x00',
+      b'\x01F152642601\x00\x00\x00\x00\x00\x00',
      b'\x01F152642700\x00\x00\x00\x00\x00\x00',
      b'\x01F152642701\x00\x00\x00\x00\x00\x00',
      b'\x01F152642710\x00\x00\x00\x00\x00\x00',
@ -1646,6 +1661,7 @@ FW_VERSIONS = {
      b'\x018966378B2100\x00\x00\x00\x00',
      b'\x018966378B3000\x00\x00\x00\x00',
      b'\x018966378G3000\x00\x00\x00\x00',
+      b'\x018966378B2000\x00\x00\x00\x00',
    ],
    (Ecu.abs, 0x7b0, None): [
      b'\x01F152678221\x00\x00\x00\x00\x00\x00',
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@ -2,6 +2,7 @@ from cereal import car
 from opendbc.can.packer import CANPacker
 from common.numpy_fast import clip
 from common.conversions import Conversions as CV
+from common.realtime import DT_CTRL
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.volkswagen import mqbcan, pqcan
 from selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams
@ -88,10 +89,13 @@ class CarController:
                                                       CS.out.steeringPressed, hud_alert, hud_control))

    if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl:
+      lead_distance = 0
+      if hud_control.leadVisible and self.frame * DT_CTRL > 1.0:  # Don't display lead until we know the scaling factor
+        lead_distance = 512 if CS.upscale_lead_car_signal else 8
      acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
      set_speed = hud_control.setSpeed * CV.MS_TO_KPH  # FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem?
      can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, CANBUS.pt, acc_hud_status, set_speed,
-                                                       hud_control.leadVisible))
+                                                       lead_distance))

    # **** Stock ACC Button Controls **************************************** #

@ -103,6 +107,7 @@ class CarController:

    new_actuators = actuators.copy()
    new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX
+    new_actuators.steerOutputCan = self.apply_steer_last

    self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"]
    self.frame += 1
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@ -13,6 +13,7 @@ class CarState(CarStateBase):
    self.CCP = CarControllerParams(CP)
    self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
    self.esp_hold_confirmation = False
+    self.upscale_lead_car_signal = False

  def create_button_events(self, pt_cp, buttons):
    button_events = []
@ -62,7 +63,9 @@ class CarState(CarStateBase):
    ret.gas = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] / 100.0
    ret.gasPressed = ret.gas > 0
    ret.brake = pt_cp.vl["ESP_05"]["ESP_Bremsdruck"] / 250.0  # FIXME: this is pressure in Bar, not sure what OP expects
-    ret.brakePressed = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"])
+    brake_pedal_pressed = bool(pt_cp.vl["Motor_14"]["MO_Fahrer_bremst"])
+    brake_pressure_detected = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"])
+    ret.brakePressed = brake_pedal_pressed or brake_pressure_detected
    ret.parkingBrake = bool(pt_cp.vl["Kombi_01"]["KBI_Handbremse"])  # FIXME: need to include an EPB check as well

    # Update gear and/or clutch position data.
@ -139,6 +142,9 @@ class CarState(CarStateBase):
    # Additional safety checks performed in CarInterface.
    ret.espDisabled = pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"] != 0

+    # Digital instrument clusters expect the ACC HUD lead car distance to be scaled differently
+    self.upscale_lead_car_signal = bool(pt_cp.vl["Kombi_03"]["KBI_Variante"])
+
    return ret

  def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type):
@ -218,12 +224,13 @@ class CarState(CarStateBase):
    ret.stockAeb = False

    # Update ACC radar status.
-    self.acc_type = 0  # TODO: this is ACC "basic" with nonzero min speed, support FtS (1) later
+    self.acc_type = ext_cp.vl["ACC_System"]["ACS_Typ_ACC"]
    ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"])
-    ret.cruiseState.enabled = bool(pt_cp.vl["Motor_2"]["GRA_Status"])
+    ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["GRA_Status"] in (1, 2)
    if self.CP.pcmCruise:
      ret.accFaulted = ext_cp.vl["ACC_GRA_Anziege"]["ACA_StaACC"] in (6, 7)
-    # TODO: update opendbc with PQ TSK state for OP long accFaulted
+    else:
+      ret.accFaulted = pt_cp.vl["Motor_2"]["GRA_Status"] == 3

    # Update ACC setpoint. When the setpoint reads as 255, the driver has not
    # yet established an ACC setpoint, so treat it as zero.
@ -268,8 +275,9 @@ class CarState(CarStateBase):
      ("Comfort_Signal_Right", "Blinkmodi_02"),  # Right turn signal including comfort blink interval
      ("AB_Gurtschloss_FA", "Airbag_02"),        # Seatbelt status, driver
      ("AB_Gurtschloss_BF", "Airbag_02"),        # Seatbelt status, passenger
-      ("ESP_Fahrer_bremst", "ESP_05"),           # Brake pedal pressed
-      ("ESP_Bremsdruck", "ESP_05"),              # Brake pressure applied
+      ("ESP_Fahrer_bremst", "ESP_05"),           # Driver applied brake pressure over threshold
+      ("MO_Fahrer_bremst", "Motor_14"),          # Brake pedal switch
+      ("ESP_Bremsdruck", "ESP_05"),              # Brake pressure
      ("MO_Fahrpedalrohwert_01", "Motor_20"),    # Accelerator pedal value
      ("EPS_Lenkmoment", "LH_EPS_03"),           # Absolute driver torque input
      ("EPS_VZ_Lenkmoment", "LH_EPS_03"),        # Driver torque input sign
@ -277,6 +285,7 @@ class CarState(CarStateBase):
      ("ESP_Tastung_passiv", "ESP_21"),          # Stability control disabled
      ("ESP_Haltebestaetigung", "ESP_21"),       # ESP hold confirmation
      ("KBI_Handbremse", "Kombi_01"),            # Manual handbrake applied
+      ("KBI_Variante", "Kombi_03"),              # Digital/full-screen instrument cluster installed
      ("TSK_Status", "TSK_06"),                  # ACC engagement status from drivetrain coordinator
      ("GRA_Hauptschalter", "GRA_ACC_01"),       # ACC button, on/off
      ("GRA_Abbrechen", "GRA_ACC_01"),           # ACC button, cancel
@ -304,9 +313,11 @@ class CarState(CarStateBase):
      ("ESP_02", 50),       # From J104 ABS/ESP controller
      ("GRA_ACC_01", 33),   # From J533 CAN gateway (via LIN from steering wheel controls)
      ("Gateway_72", 10),   # From J533 CAN gateway (aggregated data)
+      ("Motor_14", 10),     # From J623 Engine control module
      ("Airbag_02", 5),     # From J234 Airbag control module
      ("Kombi_01", 2),      # From J285 Instrument cluster
      ("Blinkmodi_02", 1),  # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active)
+      ("Kombi_03", 0),      # From J285 instrument cluster (not present on older cars, 1Hz when present)
    ]

    if CP.transmissionType == TransmissionType.automatic:
@ -318,7 +329,6 @@ class CarState(CarStateBase):
    elif CP.transmissionType == TransmissionType.manual:
      signals += [("MO_Kuppl_schalter", "Motor_14"),  # Clutch switch
                  ("BCM1_Rueckfahrlicht_Schalter", "Gateway_72")]  # Reverse light from BCM
-      checks.append(("Motor_14", 10))  # From J623 Engine control module

    if CP.networkLocation == NetworkLocation.fwdCamera:
      # Radars are here on CANBUS.pt
@ -482,15 +492,15 @@ class MqbExtraSignals:
  # Additional signal and message lists for optional or bus-portable controllers
  fwd_radar_signals = [
    ("ACC_Wunschgeschw_02", "ACC_02"),           # ACC set speed
-    ("ACC_Typ", "ACC_06"),                       # Basic vs F2S vs SNG
+    ("ACC_Typ", "ACC_06"),                       # Basic vs FtS vs SnG
    ("AWV2_Freigabe", "ACC_10"),                 # FCW brake jerk release
    ("ANB_Teilbremsung_Freigabe", "ACC_10"),     # AEB partial braking release
    ("ANB_Zielbremsung_Freigabe", "ACC_10"),     # AEB target braking release
  ]
  fwd_radar_checks = [
-    ("ACC_06", 50),                                 # From J428 ACC radar control module
-    ("ACC_10", 50),                                 # From J428 ACC radar control module
-    ("ACC_02", 17),                                 # From J428 ACC radar control module
+    ("ACC_06", 50),                              # From J428 ACC radar control module
+    ("ACC_10", 50),                              # From J428 ACC radar control module
+    ("ACC_02", 17),                              # From J428 ACC radar control module
  ]
  bsm_radar_signals = [
    ("SWA_Infostufe_SWA_li", "SWA_01"),          # Blind spot object info, left
@ -499,24 +509,26 @@ class MqbExtraSignals:
    ("SWA_Warnung_SWA_re", "SWA_01"),            # Blind spot object warning, right
  ]
  bsm_radar_checks = [
-    ("SWA_01", 20),                                 # From J1086 Lane Change Assist
+    ("SWA_01", 20),                              # From J1086 Lane Change Assist
  ]

 class PqExtraSignals:
  # Additional signal and message lists for optional or bus-portable controllers
  fwd_radar_signals = [
-    ("ACA_StaACC", "ACC_GRA_Anziege", 0),           # ACC drivetrain coordinator status
-    ("ACA_V_Wunsch", "ACC_GRA_Anziege", 0),         # ACC set speed
+    ("ACS_Typ_ACC", "ACC_System"),               # Basic vs FtS (no SnG support on PQ)
+    ("ACA_StaACC", "ACC_GRA_Anziege"),           # ACC drivetrain coordinator status
+    ("ACA_V_Wunsch", "ACC_GRA_Anziege"),         # ACC set speed
  ]
  fwd_radar_checks = [
-    ("ACC_GRA_Anziege", 25),                        # From J428 ACC radar control module
+    ("ACC_System", 50),                          # From J428 ACC radar control module
+    ("ACC_GRA_Anziege", 25),                     # From J428 ACC radar control module
  ]
  bsm_radar_signals = [
-    ("SWA_Infostufe_SWA_li", "SWA_1", 0),           # Blind spot object info, left
-    ("SWA_Warnung_SWA_li", "SWA_1", 0),             # Blind spot object warning, left
-    ("SWA_Infostufe_SWA_re", "SWA_1", 0),           # Blind spot object info, right
-    ("SWA_Warnung_SWA_re", "SWA_1", 0),             # Blind spot object warning, right
+    ("SWA_Infostufe_SWA_li", "SWA_1"),           # Blind spot object info, left
+    ("SWA_Warnung_SWA_li", "SWA_1"),             # Blind spot object warning, left
+    ("SWA_Infostufe_SWA_re", "SWA_1"),           # Blind spot object info, right
+    ("SWA_Warnung_SWA_re", "SWA_1"),             # Blind spot object warning, right
  ]
  bsm_radar_checks = [
-    ("SWA_1", 20),                                  # From J1086 Lane Change Assist
+    ("SWA_1", 20),                               # From J1086 Lane Change Assist
  ]
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@ -1,8 +1,7 @@
 from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, \
-                          gen_empty_fingerprint, get_safety_config
+from selfdrive.car import STD_CARGO_KG, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter

@ -22,8 +21,7 @@ class CarInterface(CarInterfaceBase):
      self.cp_ext = self.cp_cam

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
    ret.carName = "volkswagen"
    ret.radarOffCan = True

@ -74,7 +72,6 @@ class CarInterface(CarInterfaceBase):
    ret.steerActuatorDelay = 0.1
    ret.steerLimitTimer = 0.4
    ret.steerRatio = 15.6  # Let the params learner figure this out
-    tire_stiffness_factor = 1.0  # Let the params learner figure this out
    ret.lateralTuning.pid.kpBP = [0.]
    ret.lateralTuning.pid.kiBP = [0.]
    ret.lateralTuning.pid.kf = 0.00006
@ -137,7 +134,6 @@ class CarInterface(CarInterfaceBase):
    elif candidate == CAR.SHARAN_MK2:
      ret.mass = 1639 + STD_CARGO_KG
      ret.wheelbase = 2.92
-      ret.minEnableSpeed = 30 * CV.KPH_TO_MS
      ret.minSteerSpeed = 50 * CV.KPH_TO_MS
      ret.steerActuatorDelay = 0.2

@ -214,10 +210,7 @@ class CarInterface(CarInterfaceBase):
      raise ValueError(f"unsupported car {candidate}")

    ret.autoResumeSng = ret.minEnableSpeed == -1
-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
    ret.centerToFront = ret.wheelbase * 0.45
-    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
-                                                                         tire_stiffness_factor=tire_stiffness_factor)
    return ret

  # returns a car.CarState
@ -237,7 +230,7 @@ class CarInterface(CarInterfaceBase):
      events.add(EventName.belowSteerSpeed)

    if self.CS.CP.openpilotLongitudinalControl:
-      if ret.vEgo < self.CP.minEnableSpeed + 2.:
+      if ret.vEgo < self.CP.minEnableSpeed + 0.5:
        events.add(EventName.belowEngageSpeed)
      if c.enabled and ret.vEgo < self.CP.minEnableSpeed:
        events.add(EventName.speedTooLow)
--- a/selfdrive/car/volkswagen/mqbcan.py
+++ b/selfdrive/car/volkswagen/mqbcan.py
@ -96,13 +96,13 @@ def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control,
  return commands


-def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_visible):
+def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance):
  values = {
    "ACC_Status_Anzeige": acc_hud_status,
    "ACC_Wunschgeschw_02": set_speed if set_speed < 250 else 327.36,
    "ACC_Gesetzte_Zeitluecke": 3,
    "ACC_Display_Prio": 3,
-    # TODO: ACC_Abstandsindex for lead car distance, must determine analog vs digital cluster for scaling
+    "ACC_Abstandsindex": lead_distance,
  }

  return packer.make_can_msg("ACC_02", bus, values)
--- a/selfdrive/car/volkswagen/pqcan.py
+++ b/selfdrive/car/volkswagen/pqcan.py
@ -66,6 +66,7 @@ def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control,
    "ACS_Sta_ADR": acc_control,
    "ACS_StSt_Info": acc_control != 1,
    "ACS_Typ_ACC": acc_type,
+    "ACS_Anhaltewunsch": acc_type == 1 and stopping,
    "ACS_Sollbeschl": accel if acc_control == 1 else 3.01,
    "ACS_zul_Regelabw": 0.2 if acc_control == 1 else 1.27,
    "ACS_max_AendGrad": 3.0 if acc_control == 1 else 5.08,
@ -76,12 +77,12 @@ def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control,
  return commands


-def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_visible):
+def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance):
  values = {
    "ACA_StaACC": acc_hud_status,
    "ACA_Zeitluecke": 2,
    "ACA_V_Wunsch": set_speed,
-    "ACA_gemZeitl": 8 if lead_visible else 0,
+    "ACA_gemZeitl": lead_distance,
    # TODO: ACA_ID_StaACC, ACA_AnzDisplay, ACA_kmh_mph, ACA_PrioDisp, ACA_Aend_Zeitluecke
    # display/display-prio handling probably needed to stop confusing the instrument cluster
    # kmh_mph handling probably needed to resolve rounding errors in displayed setpoint
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@ -1,5 +1,5 @@
 from collections import defaultdict, namedtuple
-from dataclasses import dataclass, field
+from dataclasses import dataclass
 from enum import Enum
 from typing import Dict, List, Union

@ -165,7 +165,9 @@ class Footnote(Enum):
 class VWCarInfo(CarInfo):
  package: str = "Adaptive Cruise Control (ACC) & Lane Assist"
  harness: Enum = Harness.j533
-  footnotes: List[Enum] = field(default_factory=lambda: [Footnote.VW_EXP_LONG])
+
+  def init_make(self, CP: car.CarParams):
+    self.footnotes.insert(0, Footnote.VW_EXP_LONG)


 CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
@ -197,28 +199,28 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
    VWCarInfo("Volkswagen Jetta GLI 2021-22"),
  ],
  CAR.PASSAT_MK8: [
-    VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.VW_EXP_LONG, Footnote.PASSAT]),
+    VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.PASSAT]),
    VWCarInfo("Volkswagen Passat Alltrack 2015-22"),
    VWCarInfo("Volkswagen Passat GTE 2015-22"),
  ],
  CAR.PASSAT_NMS: VWCarInfo("Volkswagen Passat NMS 2017-22"),
  CAR.POLO_MK6: [
-    VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0]),
-    VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0]),
+    VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_MQB_A0]),
+    VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_MQB_A0]),
  ],
  CAR.SHARAN_MK2: [
    VWCarInfo("Volkswagen Sharan 2018-22"),
    VWCarInfo("SEAT Alhambra 2018-20"),
  ],
  CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022"),
-  CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0]),
+  CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]),
  CAR.TIGUAN_MK2: VWCarInfo("Volkswagen Tiguan 2019-22"),
  CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2017"),
  CAR.TRANSPORTER_T61: [
    VWCarInfo("Volkswagen Caravelle 2020"),
    VWCarInfo("Volkswagen California 2021"),
  ],
-  CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2021", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0]),
+  CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2021", footnotes=[Footnote.VW_MQB_A0]),
  CAR.AUDI_A3_MK3: [
    VWCarInfo("Audi A3 2014-19"),
    VWCarInfo("Audi A3 Sportback e-tron 2017-18"),
@ -229,10 +231,10 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
  CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2019-23"),
  CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"),
  CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"),
-  CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0, Footnote.KAMIQ]),
+  CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]),
  CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"),
  CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2018-19"),
-  CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0]),
+  CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020", footnotes=[Footnote.VW_MQB_A0]),
  CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-22"),
  CAR.SKODA_OCTAVIA_MK3: [
    VWCarInfo("Škoda Octavia 2015, 2018-19"),
@ -278,12 +280,14 @@ FW_VERSIONS = {
  CAR.ARTEON_MK1: {
    (Ecu.engine, 0x7e0, None): [
      b'\xf1\x873G0906259F \xf1\x890004',
+      b'\xf1\x873G0906259N \xf1\x890004',
      b'\xf1\x873G0906259P \xf1\x890001',
      b'\xf1\x875NA907115H \xf1\x890002',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'\xf1\x8709G927158L \xf1\x893611',
      b'\xf1\x870GC300011L \xf1\x891401',
+      b'\xf1\x870GC300014M \xf1\x892802',
      b'\xf1\x870GC300040P \xf1\x891401',
    ],
    (Ecu.srs, 0x715, None): [
@ -295,8 +299,10 @@ FW_VERSIONS = {
      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1',
      b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571B00817A1',
      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\00567B0020800',
+      b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002MB4092M7N',
    ],
    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
      b'\xf1\x872Q0907572T \xf1\x890383',
      b'\xf1\x875Q0907572J \xf1\x890654',
    ],
@ -314,11 +320,13 @@ FW_VERSIONS = {
      b'\xf1\x8703H906026J \xf1\x899971',
      b'\xf1\x8703H906026S \xf1\x896693',
      b'\xf1\x8703H906026S \xf1\x899970',
+      b'\xf1\x873CN906259  \xf1\x890005',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'\xf1\x8709G927158A \xf1\x893387',
      b'\xf1\x8709G927158DR\xf1\x893536',
      b'\xf1\x8709G927158DR\xf1\x893742',
+      b'\xf1\x8709G927158F \xf1\x893489',
      b'\xf1\x8709G927158FT\xf1\x893835',
      b'\xf1\x8709G927158GL\xf1\x893939',
    ],
@ -332,6 +340,7 @@ FW_VERSIONS = {
    (Ecu.eps, 0x712, None): [
      b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\00571B60924A1',
      b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6G920A1',
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6080105',
      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6090105',
    ],
    (Ecu.fwdRadar, 0x757, None): [
@ -371,6 +380,7 @@ FW_VERSIONS = {
      b'\xf1\x870EA906016Q \xf1\x895993',
      b'\xf1\x870EA906016S \xf1\x897207',
      b'\xf1\x875G0906259  \xf1\x890007',
+      b'\xf1\x875G0906259D \xf1\x890002',
      b'\xf1\x875G0906259J \xf1\x890002',
      b'\xf1\x875G0906259L \xf1\x890002',
      b'\xf1\x875G0906259N \xf1\x890003',
@ -406,6 +416,7 @@ FW_VERSIONS = {
      b'\xf1\x870D9300012  \xf1\x895045',
      b'\xf1\x870D9300014M \xf1\x895004',
      b'\xf1\x870D9300014Q \xf1\x895006',
+      b'\xf1\x870D9300020J \xf1\x894902',
      b'\xf1\x870D9300020Q \xf1\x895201',
      b'\xf1\x870D9300020S \xf1\x895201',
      b'\xf1\x870D9300040A \xf1\x893613',
@ -453,6 +464,7 @@ FW_VERSIONS = {
      b'\xf1\x873Q0909144F \xf1\x895043\xf1\x82\x0561A01612A0',
      b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\x0566A0J612A1',
      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A00514A1',
+      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A01613A1',
      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A0J712A1',
      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571A0J714A1',
      b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A0JA15A1',
@ -795,6 +807,7 @@ FW_VERSIONS = {
      b'\xf1\x875G0906259L \xf1\x890002',
      b'\xf1\x875G0906259Q \xf1\x890002',
      b'\xf1\x878V0906259F \xf1\x890002',
+      b'\xf1\x878V0906259H \xf1\x890002',
      b'\xf1\x878V0906259J \xf1\x890002',
      b'\xf1\x878V0906259K \xf1\x890001',
      b'\xf1\x878V0906264B \xf1\x890003',
@ -805,6 +818,7 @@ FW_VERSIONS = {
      b'\xf1\x870CW300044T \xf1\x895245',
      b'\xf1\x870CW300048  \xf1\x895201',
      b'\xf1\x870D9300012  \xf1\x894912',
+      b'\xf1\x870D9300012  \xf1\x894931',
      b'\xf1\x870D9300012K \xf1\x894513',
      b'\xf1\x870D9300013B \xf1\x894931',
      b'\xf1\x870D9300041N \xf1\x894512',
@ -827,12 +841,14 @@ FW_VERSIONS = {
      b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\x13111112111111--241115141112221291163221',
      b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\023111112111111--171115141112221291163221',
      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023121111111211--261117141112231291163221',
+      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13111112111111--241115141112221291163221',
      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111111--341117141212231291163221',
      b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112110004110411111421149114',
      b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112111104110411111521159114',
    ],
    (Ecu.eps, 0x712, None): [
      b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\00566G0HA14A1',
+      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566G0HA14A1',
      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G01A16A1',
      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0HA16A1',
      b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571G0JA14A1',
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -12,7 +12,7 @@ import cereal.messaging as messaging
 from common.conversions import Conversions as CV
 from panda import ALTERNATIVE_EXPERIENCE
 from system.swaglog import cloudlog
-from system.version import is_tested_branch, get_short_branch
+from system.version import is_release_branch, get_short_branch
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
 from selfdrive.controls.lib.lateral_planner import CAMERA_OFFSET
@ -21,7 +21,7 @@ from selfdrive.controls.lib.latcontrol import LatControl
 from selfdrive.controls.lib.longcontrol import LongControl
 from selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
-from selfdrive.controls.lib.latcontrol_angle import LatControlAngle
+from selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
 from selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from selfdrive.controls.lib.events import Events, ET
 from selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
@ -132,7 +132,7 @@ class Controls:
      safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
      self.CP.safetyConfigs = [safety_config]

-    if is_tested_branch():
+    if is_release_branch():
      self.CP.experimentalLongitudinalAvailable = False

    # Write CarParams for radard
@ -249,6 +249,9 @@ class Controls:
      (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
      self.events.add(EventName.pedalPressed)

+    if CS.brakePressed and CS.standstill:
+      self.events.add(EventName.preEnableStandstill)
+
    if CS.gasPressed:
      self.events.add(EventName.gasPressedOverride)

@ -275,7 +278,7 @@ class Controls:
    #  self.events.add(EventName.highCpuUsage)

    # Alert if fan isn't spinning for 5 seconds
-    if self.sm['peripheralState'].pandaType == PandaType.dos:
+    if self.sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
      if self.sm['peripheralState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50:
        if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0:
          self.events.add(EventName.fanMalfunction)
@ -417,16 +420,6 @@ class Controls:
      if self.sm['liveLocationKalman'].excessiveResets:
        self.events.add(EventName.localizerMalfunction)

-    # Only allow engagement with brake pressed when stopped behind another stopped car
-    speeds = self.sm['longitudinalPlan'].speeds
-    if len(speeds) > 1:
-      v_future = speeds[-1]
-    else:
-      v_future = 100.0
-    if CS.brakePressed and v_future >= self.CP.vEgoStarting \
-      and self.CP.openpilotLongitudinalControl and CS.vEgo < 0.3:
-      self.events.add(EventName.noTarget)
-
  def data_sample(self):
    """Receive data from sockets and update carState"""

@ -518,10 +511,7 @@ class Controls:

        # PRE ENABLING
        elif self.state == State.preEnabled:
-          if self.events.any(ET.NO_ENTRY):
-            self.state = State.disabled
-            self.current_alert_types.append(ET.NO_ENTRY)
-          elif not self.events.any(ET.PRE_ENABLE):
+          if not self.events.any(ET.PRE_ENABLE):
            self.state = State.enabled
          else:
            self.current_alert_types.append(ET.PRE_ENABLE)
@ -582,11 +572,16 @@ class Controls:
    # Check which actuators can be enabled
    CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
                   CS.vEgo > self.CP.minSteerSpeed and not CS.standstill
-    CC.longActive = self.active and not self.events.any(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
+    CC.longActive = self.enabled and not self.events.any(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl

    actuators = CC.actuators
    actuators.longControlState = self.LoC.long_control_state

+    # Enable blinkers while lane changing
+    if self.sm['lateralPlan'].laneChangeState != LaneChangeState.off:
+      CC.leftBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.left
+      CC.rightBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.right
+
    if CS.leftBlinker or CS.rightBlinker:
      self.last_blinker_frame = self.sm.frame

@ -635,7 +630,7 @@ class Controls:
      max_torque = abs(self.last_actuators.steer) > 0.99
      if undershooting and turning and good_speed and max_torque:
        self.events.add(EventName.steerSaturated)
-    elif lac_log.active and not CS.steeringPressed and lac_log.saturated:
+    elif lac_log.active and lac_log.saturated:
      dpath_points = lat_plan.dPathPoints
      if len(dpath_points):
        # Check if we deviated from the path
@ -732,7 +727,11 @@ class Controls:
      self.last_actuators, can_sends = self.CI.apply(CC)
      self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
      CC.actuatorsOutput = self.last_actuators
-      self.steer_limited = abs(CC.actuators.steer - CC.actuatorsOutput.steer) > 1e-2
+      if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
+        self.steer_limited = abs(CC.actuators.steeringAngleDeg - CC.actuatorsOutput.steeringAngleDeg) > \
+                             STEER_ANGLE_SATURATION_THRESHOLD
+      else:
+        self.steer_limited = abs(CC.actuators.steer - CC.actuatorsOutput.steer) > 1e-2

    force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \
                  (self.state == State.softDisabling)
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@ -12,6 +12,7 @@ V_CRUISE_MAX = 145  # kph
 V_CRUISE_MIN = 8  # kph
 V_CRUISE_ENABLE_MIN = 40  # kph
 V_CRUISE_INITIAL = 255  # kph
+IMPERIAL_INCREMENT = 1.6  # should be CV.MPH_TO_KPH, but this causes rounding errors

 MIN_SPEED = 1.0
 LAT_MPC_N = 16
@ -73,8 +74,7 @@ class VCruiseHelper:
    long_press = False
    button_type = None

-    # should be CV.MPH_TO_KPH, but this causes rounding errors
-    v_cruise_delta = 1. if is_metric else 1.6
+    v_cruise_delta = 1. if is_metric else IMPERIAL_INCREMENT

    for b in CS.buttonEvents:
      if b.type.raw in self.button_timers and not b.pressed:
@ -149,6 +149,12 @@ def apply_deadzone(error, deadzone):
  return error


+def apply_center_deadzone(error, deadzone):
+  if (error > - deadzone) and (error < deadzone):
+    error = 0.
+  return error
+
+
 def rate_limit(new_value, last_value, dw_step, up_step):
  return clip(new_value, last_value + dw_step, last_value + up_step)

--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@ -250,10 +250,9 @@ def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messag


 def no_gps_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
-  gps_integrated = sm['peripheralState'].pandaType in (log.PandaState.PandaType.uno, log.PandaState.PandaType.dos)
  return Alert(
    "Poor GPS reception",
-    "Hardware malfunctioning if sky is visible" if gps_integrated else "Check GPS antenna placement",
+    "Hardware malfunctioning if sky is visible",
    AlertStatus.normal, AlertSize.mid,
    Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=300.)

@ -501,9 +500,9 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {

  EventName.resumeRequired: {
    ET.WARNING: Alert(
-      "STOPPED",
-      "Press Resume to Go",
-      AlertStatus.userPrompt, AlertSize.mid,
+      "Press Resume to Exit Standstill",
+      "",
+      AlertStatus.userPrompt, AlertSize.small,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
  },

@ -616,9 +615,9 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
                              visual_alert=VisualAlert.brakePressed),
  },

-  EventName.pedalPressedPreEnable: {
+  EventName.preEnableStandstill: {
    ET.PRE_ENABLE: Alert(
-      "Release Pedal to Engage",
+      "Release Brake to Engage",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1, creation_delay=1.),
@ -807,9 +806,9 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
  },

  EventName.accFaulted: {
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Faulted"),
-    ET.PERMANENT: NormalPermanentAlert("Cruise Faulted", ""),
-    ET.NO_ENTRY: NoEntryAlert("Cruise Faulted"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Fault: Restart the Car"),
+    ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"),
+    ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
  },

  EventName.accFaultedTemp: {
@ -917,15 +916,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
    ET.NO_ENTRY: NoEntryAlert("Harness Relay Malfunction"),
  },

-  EventName.noTarget: {
-    ET.IMMEDIATE_DISABLE: Alert(
-      "openpilot Canceled",
-      "No close lead car",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.HIGH, VisualAlert.none, AudibleAlert.disengage, 3.),
-    ET.NO_ENTRY: NoEntryAlert("No Close Lead Car"),
-  },
-
  EventName.speedTooLow: {
    ET.IMMEDIATE_DISABLE: Alert(
      "openpilot Canceled",
--- a/selfdrive/controls/lib/latcontrol.py
+++ b/selfdrive/controls/lib/latcontrol.py
@ -11,6 +11,7 @@ class LatControl(ABC):
    self.sat_count_rate = 1.0 * DT_CTRL
    self.sat_limit = CP.steerLimitTimer
    self.sat_count = 0.
+    self.sat_check_min_speed = 10.

    # we define the steer torque scale as [-1.0...1.0]
    self.steer_max = 1.0
@ -23,7 +24,7 @@ class LatControl(ABC):
    self.sat_count = 0.

  def _check_saturation(self, saturated, CS, steer_limited):
-    if saturated and CS.vEgo > 10. and not steer_limited and not CS.steeringPressed:
+    if saturated and CS.vEgo > self.sat_check_min_speed and not steer_limited and not CS.steeringPressed:
      self.sat_count += self.sat_count_rate
    else:
      self.sat_count -= self.sat_count_rate
--- a/selfdrive/controls/lib/latcontrol_angle.py
+++ b/selfdrive/controls/lib/latcontrol_angle.py
@ -7,6 +7,10 @@ STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees


 class LatControlAngle(LatControl):
+  def __init__(self, CP, CI):
+    super().__init__(CP, CI)
+    self.sat_check_min_speed = 5.
+
  def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
    angle_log = log.ControlsState.LateralAngleState.new_message()

@ -19,7 +23,7 @@ class LatControlAngle(LatControl):
      angle_steers_des += params.angleOffsetDeg

    angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
-    angle_log.saturated = self._check_saturation(angle_control_saturated, CS, steer_limited)
+    angle_log.saturated = self._check_saturation(angle_control_saturated, CS, False)
    angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
    angle_log.steeringAngleDesiredDeg = angle_steers_des
    return 0, float(angle_steers_des), angle_log
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@ -10,12 +10,14 @@ LongCtrlState = car.CarControl.Actuators.LongControlState

 def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
                             v_target_1sec, brake_pressed, cruise_standstill):
+  # Ignore cruise standstill if car has a gas interceptor
+  cruise_standstill = cruise_standstill and not CP.enableGasInterceptor
  accelerating = v_target_1sec > v_target
  planned_stop = (v_target < CP.vEgoStopping and
                  v_target_1sec < CP.vEgoStopping and
                  not accelerating)
  stay_stopped = (v_ego < CP.vEgoStopping and
-               (brake_pressed or cruise_standstill))
+                  (brake_pressed or cruise_standstill))
  stopping_condition = planned_stop or stay_stopped

  starting_condition = (v_target_1sec > CP.vEgoStarting and
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@ -352,7 +352,7 @@ class LongitudinalMpc:
      x_and_cruise = np.column_stack([x, cruise_target])
      x = np.min(x_and_cruise, axis=1)

-      self.source = 'e2e' if x_and_cruise[0,0] < x_and_cruise[0,1] else 'cruise'
+      self.source = 'e2e' if x_and_cruise[1,0] < x_and_cruise[1,1] else 'cruise'

    else:
      raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner update')
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@ -6,7 +6,6 @@ from common.numpy_fast import clip, interp
 import cereal.messaging as messaging
 from common.conversions import Conversions as CV
 from common.filter_simple import FirstOrderFilter
-from common.params import Params
 from common.realtime import DT_MDL
 from selfdrive.modeld.constants import T_IDXS
 from selfdrive.controls.lib.longcontrol import LongCtrlState
@ -48,12 +47,7 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
 class LongitudinalPlanner:
  def __init__(self, CP, init_v=0.0, init_a=0.0):
    self.CP = CP
-    self.params = Params()
-    self.param_read_counter = 0
-
    self.mpc = LongitudinalMpc()
-    self.read_param()
-
    self.fcw = False

    self.a_desired = init_a
@ -65,10 +59,6 @@ class LongitudinalPlanner:
    self.j_desired_trajectory = np.zeros(CONTROL_N)
    self.solverExecutionTime = 0.0

-  def read_param(self):
-    e2e = self.params.get_bool('ExperimentalMode') and self.CP.openpilotLongitudinalControl
-    self.mpc.mode = 'blended' if e2e else 'acc'
-
  @staticmethod
  def parse_model(model_msg, model_error):
    if (len(model_msg.position.x) == 33 and
@ -85,10 +75,8 @@ class LongitudinalPlanner:
      j = np.zeros(len(T_IDXS_MPC))
    return x, v, a, j

-  def update(self, sm, read=True):
-    if self.param_read_counter % 50 == 0 and read:
-      self.read_param()
-    self.param_read_counter += 1
+  def update(self, sm):
+    self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'

    v_ego = sm['carState'].vEgo
    v_cruise_kph = sm['controlsState'].vCruise
--- a/selfdrive/controls/tests/test_cruise_speed.py
+++ b/selfdrive/controls/tests/test_cruise_speed.py
@ -3,17 +3,16 @@ import numpy as np
 from parameterized import parameterized_class
 import unittest

-from selfdrive.controls.lib.drive_helpers import VCruiseHelper, V_CRUISE_MAX, V_CRUISE_ENABLE_MIN
+from selfdrive.controls.lib.drive_helpers import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_ENABLE_MIN, IMPERIAL_INCREMENT
 from cereal import car
 from common.conversions import Conversions as CV
-from common.params import Params
 from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver

 ButtonEvent = car.CarState.ButtonEvent
 ButtonType = car.CarState.ButtonEvent.Type


-def run_cruise_simulation(cruise, t_end=20.):
+def run_cruise_simulation(cruise, e2e, t_end=20.):
  man = Maneuver(
    '',
    duration=t_end,
@ -23,6 +22,7 @@ def run_cruise_simulation(cruise, t_end=20.):
    cruise_values=[cruise],
    prob_lead_values=[0.0],
    breakpoints=[0.],
+    e2e=e2e,
  )
  valid, output = man.evaluate()
  assert valid
@ -31,14 +31,12 @@ def run_cruise_simulation(cruise, t_end=20.):

 class TestCruiseSpeed(unittest.TestCase):
  def test_cruise_speed(self):
-    params = Params()
    for e2e in [False, True]:
-      params.put_bool("ExperimentalMode", e2e)
      for speed in np.arange(5, 40, 5):
        print(f'Testing {speed} m/s')
        cruise_speed = float(speed)

-        simulation_steady_state = run_cruise_simulation(cruise_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')


@ -110,6 +108,30 @@ class TestVCruiseHelper(unittest.TestCase):
        should_equal = standstill or pressed
        self.assertEqual(should_equal, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last)

+  def test_set_gas_pressed(self):
+    """
+    Asserts pressing set while enabled with gas pressed sets
+    the speed to the maximum of vEgo and current cruise speed.
+    """
+
+    for v_ego in np.linspace(0, 100, 101):
+      self.reset_cruise_speed_state()
+      self.enable(V_CRUISE_ENABLE_MIN * CV.KPH_TO_MS)
+
+      # first decrement speed, then perform gas pressed logic
+      expected_v_cruise_kph = self.v_cruise_helper.v_cruise_kph - IMPERIAL_INCREMENT
+      expected_v_cruise_kph = max(expected_v_cruise_kph, v_ego * CV.MS_TO_KPH)  # clip to min of vEgo
+      expected_v_cruise_kph = float(np.clip(round(expected_v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX))
+
+      CS = car.CarState(vEgo=float(v_ego), gasPressed=True, cruiseState={"available": True})
+      CS.buttonEvents = [ButtonEvent(type=ButtonType.decelCruise, pressed=False)]
+      self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=False)
+
+      # TODO: fix skipping first run due to enabled on rising edge exception
+      if v_ego == 0.0:
+        continue
+      self.assertEqual(expected_v_cruise_kph, self.v_cruise_helper.v_cruise_kph)
+
  def test_initialize_v_cruise(self):
    """
    Asserts allowed cruise speeds on enabling with SET.
--- a/selfdrive/controls/tests/test_following_distance.py
+++ b/selfdrive/controls/tests/test_following_distance.py
@ -1,12 +1,11 @@
 #!/usr/bin/env python3
 import unittest
 import numpy as np
-from common.params import Params
-

 from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance
 from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver

+
 def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False):
  man = Maneuver(
    '',
@ -16,7 +15,7 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False):
    initial_distance_lead=100,
    speed_lead_values=[v_lead],
    breakpoints=[0.],
-    e2e=e2e
+    e2e=e2e,
  )
  valid, output = man.evaluate()
  assert valid
@ -25,13 +24,11 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False):

 class TestFollowingDistance(unittest.TestCase):
  def test_following_distance(self):
-    params = Params()
    for e2e in [False, True]:
-      params.put_bool("ExperimentalMode", e2e)
      for speed in np.arange(0, 40, 5):
        print(f'Testing {speed} m/s')
        v_lead = float(speed)
-        simulation_steady_state = run_following_distance_simulation(v_lead)
+        simulation_steady_state = run_following_distance_simulation(v_lead, e2e=e2e)
        correct_steady_state = desired_follow_distance(v_lead, v_lead)
        err_ratio = 0.2 if e2e else 0.1
        self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5))
--- a/selfdrive/controls/tests/test_state_machine.py
+++ b/selfdrive/controls/tests/test_state_machine.py
@ -79,7 +79,7 @@ class TestStateMachine(unittest.TestCase):
    self.assertEqual(self.controlsd.state, State.disabled)

  def test_no_entry(self):
-    # disabled with enable events
+    # Make sure noEntry keeps us disabled
    for et in ENABLE_EVENT_TYPES:
      self.controlsd.events.add(make_event([ET.NO_ENTRY, et]))
      self.controlsd.state_transition(self.CS)
@ -87,11 +87,11 @@ class TestStateMachine(unittest.TestCase):
      self.controlsd.events.clear()

  def test_no_entry_pre_enable(self):
-    # preEnabled with preEnabled event
+    # preEnabled with noEntry event
    self.controlsd.state = State.preEnabled
    self.controlsd.events.add(make_event([ET.NO_ENTRY, ET.PRE_ENABLE]))
    self.controlsd.state_transition(self.CS)
-    self.assertEqual(self.controlsd.state, State.disabled)
+    self.assertEqual(self.controlsd.state, State.preEnabled)

  def test_maintain_states(self):
    # Given current state's event type, we should maintain state
--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/selfdrive/debug/test_fw_query_on_routes.py
@ -68,7 +68,7 @@ if __name__ == "__main__":
      CP = None
      for msg in lr:
        if msg.which() == "pandaStates":
-          if msg.pandaStates[0].pandaType not in ('uno', 'blackPanda', 'dos'):
+          if msg.pandaStates[0].pandaType in ('unknown', 'whitePanda', 'greyPanda', 'pedal'):
            print("wrong panda type")
            break

--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@ -24,6 +24,7 @@ procs = [
  NativeProcess("logcatd", "system/logcatd", ["./logcatd"]),
  NativeProcess("proclogd", "system/proclogd", ["./proclogd"]),
  PythonProcess("logmessaged", "system.logmessaged", offroad=True),
+  PythonProcess("micd", "system.micd"),
  PythonProcess("timezoned", "system.timezoned", enabled=not PC, offroad=True),

  DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
@ -31,7 +32,8 @@ procs = [
  NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]),
  NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging),
  NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
-  # NativeProcess("mapsd", "selfdrive/navd", ["./map_renderer"]),
+  NativeProcess("mapsd", "selfdrive/navd", ["./map_renderer"], enabled=False),
+  NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], enabled=False),
  NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC),
  NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=(not PC or WEBCAM)),
  NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)),
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@ -112,3 +112,8 @@ llenv.Program('_modeld', [
    "modeld.cc",
    "models/driving.cc",
  ]+common_model, LIBS=libs + transformations)
+
+lenv.Program('_navmodeld', [
+    "navmodeld.cc",
+    "models/nav.cc",
+  ]+common_model, LIBS=libs + transformations)
--- a/selfdrive/modeld/modeld.cc
+++ b/selfdrive/modeld/modeld.cc
@ -15,6 +15,7 @@
 #include "common/util.h"
 #include "system/hardware/hw.h"
 #include "selfdrive/modeld/models/driving.h"
+#include "selfdrive/modeld/models/nav.h"


 ExitHandler do_exit;
@ -72,6 +73,8 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl
  mat3 model_transform_main = {};
  mat3 model_transform_extra = {};
  bool live_calib_seen = false;
+  float driving_style[DRIVING_STYLE_LEN] = {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0};
+  float nav_features[NAV_FEATURE_LEN] = {0};

  VisionBuf *buf_main = nullptr;
  VisionBuf *buf_extra = nullptr;
@ -151,7 +154,7 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl
    }

    double mt1 = millis_since_boot();
-    ModelOutput *model_output = model_eval_frame(&model, buf_main, buf_extra, model_transform_main, model_transform_extra, vec_desire, is_rhd, prepare_only);
+    ModelOutput *model_output = model_eval_frame(&model, buf_main, buf_extra, model_transform_main, model_transform_extra, vec_desire, is_rhd, driving_style, nav_features, prepare_only);
    double mt2 = millis_since_boot();
    float model_execution_time = (mt2 - mt1) / 1000.0;

--- a/selfdrive/modeld/models/commonmodel.h
+++ b/selfdrive/modeld/models/commonmodel.h
@ -13,6 +13,7 @@
 #endif

 #include "common/mat.h"
+#include "cereal/messaging/messaging.h"
 #include "selfdrive/modeld/transforms/loadyuv.h"
 #include "selfdrive/modeld/transforms/transform.h"

@ -21,6 +22,11 @@ const bool send_raw_pred = getenv("SEND_RAW_PRED") != NULL;
 void softmax(const float* input, float* output, size_t len);
 float sigmoid(float input);

+template<class T, size_t size>
+constexpr const kj::ArrayPtr<const T> to_kj_array_ptr(const std::array<T, size> &arr) {
+  return kj::ArrayPtr(arr.data(), arr.size());
+}
+
 class ModelFrame {
 public:
  ModelFrame(cl_device_id device_id, cl_context context);
--- a/selfdrive/modeld/models/driving.cc
+++ b/selfdrive/modeld/models/driving.cc
@ -22,11 +22,6 @@ std::array<float, 3> prev_brake_3ms2_probs = {0,0,0};

 // #define DUMP_YUV

-template<class T, size_t size>
-constexpr const kj::ArrayPtr<const T> to_kj_array_ptr(const std::array<T, size> &arr) {
-  return kj::ArrayPtr(arr.data(), arr.size());
-}
-
 void model_init(ModelState* s, cl_device_id device_id, cl_context context) {
  s->frame = new ModelFrame(device_id, context);
  s->wide_frame = new ModelFrame(device_id, context);
@ -51,10 +46,19 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context) {
 #ifdef TRAFFIC_CONVENTION
  s->m->addTrafficConvention(s->traffic_convention, TRAFFIC_CONVENTION_LEN);
 #endif
+
+#ifdef DRIVING_STYLE
+  s->m->addDrivingStyle(s->driving_style, DRIVING_STYLE_LEN);
+#endif
+
+#ifdef NAV
+  s->m->addNavFeatures(s->nav_features, NAV_FEATURE_LEN);
+#endif
+
 }

 ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf,
-                              const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, bool prepare_only) {
+                              const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, float *driving_style, float *nav_features, bool prepare_only) {
 #ifdef DESIRE
  std::memmove(&s->pulse_desire[0], &s->pulse_desire[DESIRE_LEN], sizeof(float) * DESIRE_LEN*HISTORY_BUFFER_LEN);
  if (desire_in != NULL) {
@ -72,6 +76,14 @@ ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf,
 LOGT("Desire enqueued");
 #endif

+#ifdef NAV
+  std::memcpy(s->nav_features, nav_features, sizeof(float)*NAV_FEATURE_LEN);
+#endif
+
+#ifdef DRIVING_STYLE
+  std::memcpy(s->driving_style, driving_style, sizeof(float)*DRIVING_STYLE_LEN);
+#endif
+
  int rhd_idx = is_rhd;
  s->traffic_convention[rhd_idx] = 1.0;
  s->traffic_convention[1-rhd_idx] = 0.0;
--- a/selfdrive/modeld/models/driving.h
+++ b/selfdrive/modeld/models/driving.h
@ -14,6 +14,7 @@
 #include "common/modeldata.h"
 #include "common/util.h"
 #include "selfdrive/modeld/models/commonmodel.h"
+#include "selfdrive/modeld/models/nav.h"
 #include "selfdrive/modeld/runners/run.h"

 constexpr int FEATURE_LEN = 128;
@ -21,6 +22,7 @@ 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 DRIVING_STYLE_LEN = 12;
 constexpr int MODEL_FREQ = 20;

 constexpr int DISENGAGE_LEN = 5;
@ -259,11 +261,17 @@ struct ModelState {
 #ifdef TRAFFIC_CONVENTION
  float traffic_convention[TRAFFIC_CONVENTION_LEN] = {};
 #endif
+#ifdef DRIVING_STYLE
+  float driving_style[DRIVING_STYLE_LEN] = {};
+#endif
+#ifdef NAV
+  float nav_features[NAV_FEATURE_LEN] = {};
+#endif
 };

 void model_init(ModelState* s, cl_device_id device_id, cl_context context);
 ModelOutput *model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* buf_wide,
-                              const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, bool prepare_only);
+                              const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, float *driving_style, float *nav_features, bool prepare_only);
 void model_free(ModelState* s);
 void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop,
                   const ModelOutput &net_outputs, uint64_t timestamp_eof,
--- a/Show More
+++ b/Show More