Merge remote-tracking branch 'upstream/master' into gm-new-gears

3 years ago · 1c22cb9c11
parent 7350e9ff1a e910ce87a4
commit 1c22cb9c11
215 changed files with 1910 additions and 1163 deletions
--- a/.github/workflows/prebuilt.yaml
+++ b/.github/workflows/prebuilt.yaml
@ -25,11 +25,12 @@ jobs:
      IMAGE_NAME: openpilot-prebuilt
    steps:
    - name: Wait for green check mark
-      uses: lewagon/wait-on-check-action@v0.2
+      uses: commaai/wait-on-check-action@f16fc3bb6cd4886520b4e9328db1d42104d5cadc
      with:
        ref: master
        wait-interval: 30
        running-workflow-name: 'build prebuilt'
        check-regexp: ^((?!.*(build master-ci).*).)*$
    - uses: actions/checkout@v3
      with:
        submodules: true
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@ -12,11 +12,12 @@ jobs:
    if: github.repository == 'commaai/openpilot'
    steps:
    - name: Wait for green check mark
-      uses: lewagon/wait-on-check-action@v0.2
+      uses: commaai/wait-on-check-action@f16fc3bb6cd4886520b4e9328db1d42104d5cadc
      with:
        ref: master
        wait-interval: 30
        running-workflow-name: 'build master-ci'
        check-regexp: ^((?!.*(build prebuilt).*).)*$
    - uses: actions/checkout@v3
      with:
        submodules: true
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@ -20,8 +20,7 @@ env:
  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c
  BUILD_CL: |
-      docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base_cl) || true
+      docker pull $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest || true
      docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
      docker build --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
  RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache $CL_BASE_IMAGE /bin/sh -c
@ -95,7 +94,7 @@ jobs:
      run: |
          ${{ env.RUN }} "scons -j$(nproc) --extras --test && \
                          rm -rf /tmp/scons_cache/* && \
-                          scons -j$(nproc) --cache-populate"
+                          scons -j$(nproc) --extras --test --cache-populate"
  #build_mac:
  #  name: build macos
@ -201,12 +200,15 @@ jobs:
        submodules: true
    - name: Build Docker image
      run: eval "$BUILD"
    - name: Push to container registry
      run: |
        $DOCKER_LOGIN
        docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest
    - name: Build CL Docker image
      run: eval "$BUILD_CL"
    - name: Push to container registry
      run: |
        $DOCKER_LOGIN
        docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest
        docker push $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest
  static_analysis:
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@ -21,6 +21,46 @@ env:
       GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c
 jobs:
  build_latest_ubuntu:
    name: build latest ubuntu
    runs-on: ubuntu-20.04
    timeout-minutes: 60
    steps:
    - uses: actions/checkout@v3
      with:
        submodules: true
    - name: Cache pyenv
      id: ubuntu-latest-pyenv
      uses: actions/cache@v3
      with:
        path: |
          ~/.pyenv
          ~/.local/share/virtualenvs/
        key: ubuntu-latest-python-${{ hashFiles('tools/ubuntu_setup.sh') }}-
    - name: Cache scons
      id: ubuntu-latest-scons
      uses: actions/cache@v3
      with:
        path: /tmp/scons_cache
        key: ubuntu-latest-scons-${{ hashFiles('.github/workflows/tools_test.yaml') }}-
        restore-keys: |
          ubuntu-latest-scons-${{ hashFiles('.github/workflows/tools_test.yaml') }}-
          ubuntu-latest-scons-
    - name: tools/ubuntu_setup.sh
      run: |
        source tools/openpilot_env.sh
        tools/ubuntu_setup.sh
    - name: Build openpilot
      run: |
        source tools/openpilot_env.sh
        pipenv run scons -j$(nproc) --extras --test
    - name: Cleanup scons cache
      run: |
        source tools/openpilot_env.sh
        rm -rf /tmp/scons_cache/*
        pipenv run scons -j$(nproc) --extras --test --cache-populate
  plotjuggler:
    name: plotjuggler
    runs-on: ubuntu-20.04
--- a/.pylintrc
+++ b/.pylintrc
@ -3,7 +3,7 @@
 # A comma-separated list of package or module names from where C extensions may
 # be loaded. Extensions are loading into the active Python interpreter and may
 # run arbitrary code
-extension-pkg-whitelist=scipy cereal.messaging.messaging_pyx
+extension-pkg-whitelist=scipy,cereal.messaging.messaging_pyx,PyQt5,av
 # Add files or directories to the blacklist. They should be base names, not
 # paths.
@ -250,13 +250,6 @@ max-line-length=100
 # Maximum number of lines in a module
 max-module-lines=1000
 # List of optional constructs for which whitespace checking is disabled. `dict-
 # separator` is used to allow tabulation in dicts, etc.: {1  : 1,\n222: 2}.
 # `trailing-comma` allows a space between comma and closing bracket: (a, ).
 # `empty-line` allows space-only lines.
 no-space-check=trailing-comma,
               dict-separator
 # Allow the body of a class to be on the same line as the declaration if body
 # contains single statement.
 single-line-class-stmt=no
--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@ -8,11 +8,6 @@ ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
 RUN mkdir -p ${OPENPILOT_PATH}
 WORKDIR ${OPENPILOT_PATH}
 COPY Pipfile Pipfile.lock $OPENPILOT_PATH
 RUN pip install --no-cache-dir pipenv==2021.5.29 pip==21.3.1 && \
    pipenv install --system --deploy --dev --clear && \
    pip uninstall -y pipenv
 COPY SConstruct ${OPENPILOT_PATH}
 COPY ./pyextra ${OPENPILOT_PATH}/pyextra
@ -30,4 +25,4 @@ COPY ./panda ${OPENPILOT_PATH}/panda
 COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
 COPY ./system ${OPENPILOT_PATH}/system
-RUN scons -j$(nproc)
+RUN scons --cache-readonly -j$(nproc)
--- a/52
+++ b/52
@ -42,6 +42,7 @@ def phone_steps(String device_type, steps) {
 pipeline {
  agent none
  environment {
    CI = "1"
    TEST_DIR = "/data/openpilot"
    SOURCE_DIR = "/data/openpilot_source/"
  }
@ -74,13 +75,37 @@ pipeline {
        }
      }
      stages {
        stage('On-device Tests') {
          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
          stages {
            stage('parallel tests') {
      parallel {
        stage('simulator') {
          agent {
            dockerfile {
              filename 'Dockerfile.sim_nvidia'
              dir 'tools/sim'
              args '--user=root'
            }
          }
          steps {
            sh "git config --global --add safe.directory ${WORKSPACE}"
            sh "git lfs pull"
            sh "${WORKSPACE}/tools/sim/build_container.sh"
            lock(resource: "", label: "simulator", inversePrecedence: true, quantity: 1) {
              sh "DETACH=1 ${WORKSPACE}/tools/sim/start_carla.sh"
              sh "${WORKSPACE}/tools/sim/start_openpilot_docker.sh"
            }
          }
          post {
            always {
              sh "docker kill carla_sim || true"
              sh "rm -rf ${WORKSPACE}/* || true"
              sh "rm -rf .* || true"
            }
          }
        }
        stage('build') {
          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
          environment {
            R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
          }
@ -96,10 +121,11 @@ pipeline {
        }
        stage('HW + Unit Tests') {
          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
          steps {
            phone_steps("tici2", [
              ["build", "cd selfdrive/manager && ./build.py"],
-                      ["test power draw", "python selfdrive/hardware/tici/test_power_draw.py"],
+              ["test power draw", "python system/hardware/tici/test_power_draw.py"],
              ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
              ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
@ -109,6 +135,7 @@ pipeline {
        }
        stage('camerad') {
          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
          steps {
            phone_steps("tici-party", [
              ["build", "cd selfdrive/manager && ./build.py"],
@ -119,6 +146,7 @@ pipeline {
        }
        stage('replay') {
          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
          steps {
            phone_steps("tici3", [
              ["build", "cd selfdrive/manager && ./build.py"],
@ -126,20 +154,8 @@ pipeline {
            ])
          }
        }
              }
            }
      }
          post {
            always {
              cleanWs()
            }
          }
        }
      }
    }
  }
 }
--- a/8
+++ b/8
@ -11,7 +11,7 @@ coverage = "*"
 dictdiffer = "*"
 fastcluster = "*"
 hexdump = "*"
-hypothesis = "*"
+hypothesis = "==6.46.7"
 inputs = "*"
 lru-dict = "*"
 markdown-it-py = "*"
@ -39,7 +39,8 @@ breathe = "*"
 subprocess32 = "*"
 tenacity = "*"
 mpld3 = "*"
-carla = {version = "==0.9.12", markers="platform_system != 'Darwin'"}
+carla = {version = "==0.9.13", markers="platform_system != 'Darwin'"}
 ft4222 = "*"
 [packages]
 atomicwrites = "*"
@ -58,6 +59,7 @@ json-rpc = "*"
 libusb1 = "*"
 nose = "*"
 numpy = "*"
 protobuf = "==3.20.1"
 onnx = "*"
 onnxruntime-gpu = {version = "*", markers="platform_system != 'Darwin'"}
 pillow = "*"
@ -84,6 +86,8 @@ urllib3 = "*"
 utm = "*"
 websocket_client = "*"
 hatanaka = "==2.4"
 PyQt5 = "==5.15.4"
 PyQt5-sip = "==12.9.0"
 [requires]
 python_version = "3.8"
--- a/Pipfile.lock
+++ b/Pipfile.lock
@ -1,7 +1,7 @@
 {
    "_meta": {
        "hash": {
-            "sha256": "50d3486820d05997c1e084e70362fa080e0a294faa01c7f1d43219e44f94a80b"
+            "sha256": "d2629168f477b3a14f68f26e3b63ea9797b20599c066b2aa23a027bcee2ca40a"
        },
        "pipfile-spec": 6,
        "requires": {
@ -18,11 +18,11 @@
    "default": {
        "astroid": {
            "hashes": [
-                "sha256:14ffbb4f6aa2cf474a0834014005487f7ecd8924996083ab411e7fa0b508ce0b",
+                "sha256:4f933d0bf5e408b03a6feb5d23793740c27e07340605f236496cd6ce552043d6",
-                "sha256:f4e4ec5294c4b07ac38bab9ca5ddd3914d4bf46f9006eb5c0ae755755061044e"
+                "sha256:ba33a82a9a9c06a5ceed98180c5aab16e29c285b828d94696bf32d6015ea82a9"
            ],
            "markers": "python_full_version >= '3.6.2'",
-            "version": "==2.11.5"
+            "version": "==2.11.6"
        },
        "atomicwrites": {
            "hashes": [
@ -146,7 +146,7 @@
                "sha256:2857e29ff0d34db842cd7ca3230549d1a697f96ee6d3fb071cfa6c7393832597",
                "sha256:6881edbebdb17b39b4eaaa821b438bf6eddffb4468cf344f09f89def34a8b1df"
            ],
-            "markers": "python_version >= '3'",
+            "markers": "python_full_version >= '3.5.0'",
            "version": "==2.0.12"
        },
        "click": {
@ -347,7 +347,7 @@
                "sha256:84d9dd047ffa80596e0f246e2eab0b391788b0503584e8945f2368256d2735ff",
                "sha256:9d643ff0a55b762d5cdb124b8eaa99c66322e2157b69160bc32796e824360e6d"
            ],
-            "markers": "python_version >= '3'",
+            "markers": "python_full_version >= '3.5.0'",
            "version": "==3.3"
        },
        "importlib-metadata": {
@ -689,21 +689,35 @@
            "hashes": [
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                "sha256:cd68be2559e2a3b84f517fb029ee611546f7812b1fdd0aa2ecc9bc6ec0e4fdde",
                "sha256:cdee09140e1cd184ba9324ec1df410e7147242b94b5f8b0c64fc89e38a8ba531",
@ -712,7 +726,7 @@
                "sha256:e250a42f15bf9d5b09fe1b293bdba2801cd520a9f5ea2d7fb7536d4441811d20",
                "sha256:ff8d8fa42675249bb456f5db06c00de6c2f4c27a065955917b28c4f15978b9c3"
            ],
-            "markers": "python_version >= '3.7'",
+            "index": "pypi",
            "version": "==3.20.1"
        },
        "psutil": {
@ -841,11 +855,11 @@
        },
        "pylint": {
            "hashes": [
-                "sha256:095567c96e19e6f57b5b907e67d265ff535e588fe26b12b5ebe1fc5645b2c731",
+                "sha256:549261e0762c3466cc001024c4419c08252cb8c8d40f5c2c6966fea690e7fe2a",
-                "sha256:705c620d388035bdd9ff8b44c5bcdd235bfb49d276d488dd2c8ff1736aa42526"
+                "sha256:bb71e6d169506de585edea997e48d9ff20c0dc0e2fbc1d166bad6b640120326b"
            ],
            "index": "pypi",
-            "version": "==2.13.9"
+            "version": "==2.14.1"
        },
        "pyopencl": {
            "hashes": [
@ -890,6 +904,53 @@
            "index": "pypi",
            "version": "==2022.1.5"
        },
        "pyqt5": {
            "hashes": [
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            ],
            "index": "pypi",
            "version": "==5.15.4"
        },
        "pyqt5-qt5": {
            "hashes": [
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@ -954,74 +1015,74 @@
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@ -1118,11 +1179,11 @@
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@ -1134,11 +1195,11 @@
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@ -1150,11 +1211,11 @@
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@ -1164,6 +1225,14 @@
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@ -1374,11 +1443,11 @@
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@ -1407,17 +1476,17 @@
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@ -1496,62 +1565,62 @@
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            "version": "==2.0.12"
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@ -1665,11 +1734,11 @@
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@ -1679,6 +1748,33 @@
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@ -1689,6 +1785,8 @@
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@ -1751,52 +1849,52 @@
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-                "sha256:e348f1904a4fab4153407f7ccc27e43b2a139752e8acf12e6640ba683093dd96",
+                "sha256:e7cf940af5fee00a92e281eb157abe8770227a5255207818ea9a34e54a29f5b2",
-                "sha256:e677cc3626287f343de751e11b1e8a5b915a6ac897e8aecdbc996cd34de753a0",
+                "sha256:f70f3d028794e31cf9d1a822914efc935aadb2438ec4e8d4871d95eb1ce032d6",
-                "sha256:f74f2a13af201559e3d32b9ddfc303c94ae63d63d7f4326d06ce6fe67e7a8255",
+                "sha256:fd2842a0faed9ab9aba0922c951906132d9384be89690570f0ed18cd4f20e658",
-                "sha256:fa4d97d7d2b2c082e67907c0b8d9f31b85aa5d3ba0d33096b7116f03f8061261",
+                "sha256:fd628e63ffdba0112e3ddf1b1e9f3db29dd8262345138e08f4938acbc6d0805a",
-                "sha256:ffbdb9a96c536f0405895b5e21ee39ec579cb0ed97bdbd169ae2b55f41d73219"
+                "sha256:ffd7cf165ff71afb202b3f36daafbf298932bee325aac9f58e1c9cd55838bef0"
            ],
            "markers": "python_version >= '3.7'",
-            "version": "==1.4.2"
+            "version": "==1.4.3"
        },
        "lru-dict": {
            "hashes": [
@ -1918,41 +2016,40 @@
        },
        "mpld3": {
            "hashes": [
-                "sha256:3626d37da7ac11d0fce4dd5ceb37d04ba618bf951129bf6ca3f94bf48da87d6f",
+                "sha256:1a167dbef836dd7c66d8aa71c06a32d50bffa18725f304d93cb74fdb3545043b",
-                "sha256:b1290f6cca2d9515e32ee21a8b0c18b2ea361cefce58ba0f4df881e9eeb3f64c",
+                "sha256:41938e65de4ba41a1b53d92e7c8609e7172e09b33ef5db42bb6f73701106c8b7"
                "sha256:c589db8b661aee25c93e198e2e18ed47b9a96951de41d96241345acec5f819ab"
            ],
            "index": "pypi",
-            "version": "==0.5.7"
+            "version": "==0.5.8"
        },
        "mypy": {
            "hashes": [
-                "sha256:0112752a6ff07230f9ec2f71b0d3d4e088a910fdce454fdb6553e83ed0eced7d",
+                "sha256:006be38474216b833eca29ff6b73e143386f352e10e9c2fbe76aa8549e5554f5",
-                "sha256:0384d9f3af49837baa92f559d3fa673e6d2652a16550a9ee07fc08c736f5e6f8",
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+                "sha256:63e85a03770ebf403291ec50097954cc5caf2a9205c888ce3a61bd3f82e17569",
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-                "sha256:77423570c04aca807508a492037abbd72b12a1fb25a385847d191cd50b2c9605",
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-                "sha256:a4d9898f46446bfb6405383b57b96737dcfd0a7f25b748e78ef3e8c576bba3cb",
+                "sha256:9f5f5a74085d9a81a1f9c78081d60a0040c3efb3f28e5c9912b900adf59a16e6",
-                "sha256:a952b8bc0ae278fc6316e6384f67bb9a396eb30aced6ad034d3a76120ebcc519",
+                "sha256:a5ea0875a049de1b63b972456542f04643daf320d27dc592d7c3d9cd5d9bf950",
-                "sha256:b5b5bd0ffb11b4aba2bb6d31b8643902c48f990cc92fda4e21afac658044f0c0",
+                "sha256:b117650592e1782819829605a193360a08aa99f1fc23d1d71e1a75a142dc7e15",
-                "sha256:ca75ecf2783395ca3016a5e455cb322ba26b6d33b4b413fcdedfc632e67941dc",
+                "sha256:b24be97351084b11582fef18d79004b3e4db572219deee0212078f7cf6352723",
-                "sha256:cf9c261958a769a3bd38c3e133801ebcd284ffb734ea12d01457cb09eacf7d7b",
+                "sha256:b88f784e9e35dcaa075519096dc947a388319cb86811b6af621e3523980f1c8a",
-                "sha256:dd4d670eee9610bf61c25c940e9ade2d0ed05eb44227275cce88701fee014b1f",
+                "sha256:bdd5ca340beffb8c44cb9dc26697628d1b88c6bddf5c2f6eb308c46f269bb6f3",
-                "sha256:e19736af56947addedce4674c0971e5dceef1b5ec7d667fe86bcd2b07f8f9075",
+                "sha256:d5aaf1edaa7692490f72bdb9fbd941fbf2e201713523bdb3f4038be0af8846c6",
-                "sha256:eaea21d150fb26d7b4856766e7addcf929119dd19fc832b22e71d942835201ef",
+                "sha256:e999229b9f3198c0c880d5e269f9f8129c8862451ce53a011326cad38b9ccd24",
-                "sha256:eaff8156016487c1af5ffa5304c3e3fd183edcb412f3e9c72db349faf3f6e0eb",
+                "sha256:f4a21d01fc0ba4e31d82f0fff195682e29f9401a8bdb7173891070eb260aeb3b",
-                "sha256:ee0a36edd332ed2c5208565ae6e3a7afc0eabb53f5327e281f2ef03a6bc7687a",
+                "sha256:f4b794db44168a4fc886e3450201365c9526a522c46ba089b55e1f11c163750d",
-                "sha256:ef7beb2a3582eb7a9f37beaf38a28acfd801988cde688760aea9e6cc4832b10b"
+                "sha256:f730d56cb924d371c26b8eaddeea3cc07d78ff51c521c6d04899ac6904b75492"
-            ],
+            ],
-            "index": "pypi",
+            "index": "pypi",
-            "version": "==0.950"
+            "version": "==0.961"
        },
        "mypy-extensions": {
            "hashes": [
@ -1963,11 +2060,11 @@
        },
        "myst-parser": {
            "hashes": [
-                "sha256:1635ce3c18965a528d6de980f989ff64d6a1effb482e1f611b1bfb79e38f3d98",
+                "sha256:4965e51918837c13bf1c6f6fe2c6bddddf193148360fbdaefe743a4981358f6a",
-                "sha256:4c076d649e066f9f5c7c661bae2658be1ca06e76b002bb97f02a09398707686c"
+                "sha256:739a4d96773a8e55a2cacd3941ce46a446ee23dcd6b37e06f73f551ad7821d86"
            ],
            "index": "pypi",
-            "version": "==0.17.2"
+            "version": "==0.18.0"
        },
        "natsort": {
            "hashes": [
@ -2014,16 +2111,16 @@
        },
        "opencv-python-headless": {
            "hashes": [
-                "sha256:3f330468c29882dbbec5af25695c5e575572c6b855cb0f9fe53e14116fd46bfc",
+                "sha256:21e70f8b0c04098cdf466d27184fe6c3820aaef944a22548db95099959c95889",
-                "sha256:4bdf982574bf2fefc5f82c86df7cb42e56ad627874c7c0f4d94ecf4ae8885304",
+                "sha256:2c032c373e447c3fc2a670bca20e2918a1205a6e72854df60425fd3f82c78c32",
-                "sha256:567a54c1919bcf5b3d20a9830e3c511e57134de8def286ce137c3544a892f98c",
+                "sha256:3bacd806cce1f1988e58f3d6f761538e0215d6621d316de94c009dc0acbd6ad3",
-                "sha256:62e31878641a8f96e773118d1eea9f34bdda87c9990a0faab04ebaafb5ae015c",
+                "sha256:d5291d7e10aa2c19cab6fd86f0d61af8617290ecd2d7ffcb051e446868d04cc5",
-                "sha256:a60e9ff48854ec37be391e19dd634883cc26c2f0f814e5325b3deca33420912c",
+                "sha256:e6c069bc963d7e8fcec21b3e33e594d35948badd63eccb2e80f88b0a12102c03",
-                "sha256:c3c2dda44d601757a508b07d628537c49f31223ad4edd0f747a70d4c852a7b98",
+                "sha256:eec6281054346103d6af93f173b7c6a206beb2663d3adc04aa3ddc66e85093df",
-                "sha256:ca4f013fa958f60fb2327fe87e6127c1ac0ab536890b1d4b00847f417b7af1ba"
+                "sha256:ffbf26fcd697af996408440a93bc69c49c05a36845771f984156dfbeaa95d497"
            ],
            "index": "pypi",
-            "version": "==4.5.5.64"
+            "version": "==4.6.0.66"
        },
        "packaging": {
            "hashes": [
@ -2329,11 +2426,11 @@
        },
        "requests": {
            "hashes": [
-                "sha256:68d7c56fd5a8999887728ef304a6d12edc7be74f1cfa47714fc8b414525c9a61",
+                "sha256:bc7861137fbce630f17b03d3ad02ad0bf978c844f3536d0edda6499dafce2b6f",
-                "sha256:f22fa1e554c9ddfd16e6e41ac79759e17be9e492b3587efa038054674760e72d"
+                "sha256:d568723a7ebd25875d8d1eaf5dfa068cd2fc8194b2e483d7b1f7c81918dbec6b"
            ],
            "index": "pypi",
-            "version": "==2.27.1"
+            "version": "==2.28.0"
        },
        "reverse-geocoder": {
            "hashes": [
--- a/README.md
+++ b/README.md
@ -35,16 +35,17 @@ What is openpilot?
 </table>
-Running in a car
+Running on a dedicated device in a car
 ------
 To use openpilot in a car, you need four things
-* This software. It's free and available right here.
+* A supported device to run this software: a [comma three](https://comma.ai/shop/products/three).
 * This software. The setup procedure of the comma three allows the user to enter a url for custom software.
 The url, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another github username can install a fork.
 * One of [the 150+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot.
-* A supported device to run this software: a [comma three](https://comma.ai/shop/products/three), or if you like to experiment, a [Ubuntu computer with webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
+* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.
 * A way to connect to your car. With a comma three, you need only a [car harness](https://comma.ai/shop/products/car-harness). With a PC, you also need a [black panda](https://comma.ai/shop/products/panda).
-We have detailed instructions for [how to install the device in a car](https://comma.ai/setup).
+We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
 Running on PC
 ------
@ -55,6 +56,7 @@ With openpilot's tools you can plot logs, replay drives and watch the full-res c
 You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes, but does require a decent GPU.
 A PC running openpilot can also control your vehicle if it is connected to a [a webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and [a harness](https://comma.ai/shop/products/car-harness).
 Community and Contributing
 ------
--- a/RELEASES.md
+++ b/RELEASES.md
@ -5,7 +5,16 @@ Version 0.8.15 (2022-XX-XX)
  * Much smoother control, consistent across the speed range
  * Effective feedforward that uses road roll
  * Simplified tuning, all car-specific parameters can be derived from data
  * Significantly improved control on TSS-P Prius
 * New driver monitoring model
  * takes a larger input frame
  * outputs a driver state for both driver and passenger
  * automatically determines which side the driver is on (soon)
 * Display speed limit while navigating
 * Reduced power usage: device runs cooler and fan spins less
 * AGNOS 5
 * Hyundai Tucson 2021 support thanks to bluesforte!
 * Lexus NX Hybrid 2020 support thanks to AlexandreSato!
 Version 0.8.14 (2022-06-01)
 ========================
--- a/2
+++ b/2
@ -359,6 +359,7 @@ Export('cereal', 'messaging', 'visionipc')
 rednose_config = {
  'generated_folder': '#selfdrive/locationd/models/generated',
  'to_build': {
    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
    'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h']),
    'car': ('#selfdrive/locationd/models/car_kf.py', True, []),
  },
@ -366,7 +367,6 @@ rednose_config = {
 if arch != "larch64":
  rednose_config['to_build'].update({
    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
    'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),
    'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, []),
    'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, []),
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 7cbb4f1c8cb7cfc798a058c611801442b40feb52
+Subproject commit 4b4d9aab03937f5a45677ff15efb275abf9c958b
--- a/common/api/init.py
+++ b/common/api/init.py
@ -3,7 +3,7 @@ import os
 import requests
 from datetime import datetime, timedelta
 from common.basedir import PERSIST
-from selfdrive.version import get_version
+from system.version import get_version
 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
--- a/common/basedir.py
+++ b/common/basedir.py
@ -1,7 +1,7 @@
 import os
 from pathlib import Path
-from selfdrive.hardware import PC
+from system.hardware import PC
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
--- a/common/modeldata.h
+++ b/common/modeldata.h
@ -2,7 +2,7 @@
 #include <array>
 #include "common/mat.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 const int  TRAJECTORY_SIZE = 33;
 const int LAT_MPC_N = 16;
--- a/common/params.cc
+++ b/common/params.cc
@ -8,7 +8,7 @@
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 namespace {
@ -127,6 +127,7 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
    {"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
    {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
    {"LaikadEphemeris", PERSISTENT},
    {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
    {"LastGPSPosition", PERSISTENT},
    {"LastManagerExitReason", CLEAR_ON_MANAGER_START},
--- a/common/realtime.py
+++ b/common/realtime.py
@ -8,7 +8,7 @@ from typing import Optional, List, Union
 from setproctitle import getproctitle  # pylint: disable=no-name-in-module
 from common.clock import sec_since_boot  # pylint: disable=no-name-in-module, import-error
-from selfdrive.hardware import PC
+from system.hardware import PC
 # time step for each process
--- a/common/swaglog.cc
+++ b/common/swaglog.cc
@ -15,7 +15,7 @@
 #include "common/util.h"
 #include "common/version.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 class SwaglogState : public LogState {
 public:
--- a/common/tests/test_swaglog.cc
+++ b/common/tests/test_swaglog.cc
@ -7,7 +7,7 @@
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "common/version.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 const char *SWAGLOG_ADDR = "ipc:///tmp/logmessage";
 std::string daemon_name = "testy";
--- a/docs/CARS.md
+++ b/docs/CARS.md
@ -25,7 +25,8 @@ How We Rate The Cars
 - <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - No steering control below certain speeds.
 ### Steering Torque
- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Car has enough steering torque for comfortable highway driving.
+- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Car has enough steering torque to take tighter turns.
 - <a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a> - Car has enough steering torque for comfortable highway driving.
 - <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Limited ability to make turns.
 ### Actively Maintained
@ -34,7 +35,7 @@ How We Rate The Cars
 **All supported cars can move between the tiers as support changes.**
-## Gold Cars
+# Gold - 28 cars
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
@ -51,7 +52,9 @@ How We Rate The Cars
 |Lexus|ES 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|ES Hybrid 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|NX 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|UX Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Avalon 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry Hybrid 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -65,11 +68,16 @@ How We Rate The Cars
 |Toyota|RAV4 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-## Silver Cars
+# Silver - 76 cars
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
 |Audi|A3 2014-19|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|Q2 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|RS3 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|S3 2015-17|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Genesis|G70 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Genesis|G80 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Elantra 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -87,7 +95,7 @@ How We Rate The Cars
 |Kia|Ceed 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Forte 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Forte 2019-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|K5 2021-22|SCC + LFA|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|K5 2021-22|SCC|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Niro Hybrid 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Niro Hybrid 2022|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Optima 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -95,16 +103,17 @@ How We Rate The Cars
 |Kia|Sorento 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Sorento 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Stinger 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|ES Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|NX 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|NX Hybrid 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|NX Hybrid 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Mazda|CX-5 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |SEAT|Ateca 2018|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |SEAT|Leon 2014-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Forester 2019-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Crosstrek 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Kamiq 2021[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Forester 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Impreza 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Škoda|Karoq 2019|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Škoda|Kodiaq 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Škoda|Octavia 2015, 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -113,40 +122,48 @@ How We Rate The Cars
 |Škoda|Superb 2015-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Alphard 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Avalon Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry Hybrid 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Highlander Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Prius 2016-20|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Prius Prime 2017-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Arteon 2018, 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Passat 2015-19[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Atlas 2018-19, 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf Alltrack 2017-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf GTE 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf GTI 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf R 2016-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf SportsVan 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf SportWagen 2015|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Polo 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|T-Cross 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|T-Roc 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Taos 2022[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Touran 2017|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-## Bronze Cars
+# Bronze - 69 cars
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-19|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Acura|RDX 2016-18|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Acura|RDX 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|A3 2014-19|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|Q3 2020-21|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|Q3 2020-21|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|RS3 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|S3 2015-17|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica 2020|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica 2020|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica Hybrid 2019-21|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Chrysler|Pacifica Hybrid 2019-21|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Genesis|G90 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
 |Honda|Accord 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Accord Hybrid 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Civic 2016-18|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -170,55 +187,41 @@ How We Rate The Cars
 |Hyundai|Ioniq Electric 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Sonata 2018-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Sonata 2018-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Tucson 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Veloster 2019-20|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Jeep|Grand Cherokee 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Jeep|Grand Cherokee 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Optima 2017|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|CT Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|ES Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|IS 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RC 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX Hybrid 2016-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX Hybrid 2016-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Mazda|CX-9 2021|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Nissan|Altima 2019-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Nissan|Leaf 2018-22|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Nissan|Rogue 2018-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Nissan|X-Trail 2017|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Ascent 2019-20|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Ascent 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Crosstrek 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Impreza 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Avalon 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Avalon 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|C-HR 2017-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|C-HR 2017-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|C-HR Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Prius v 2017|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Highlander Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|RAV4 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius 2016-20|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Arteon 2018, 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius Prime 2017-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius v 2017|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Jetta 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Jetta GLI 2021|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Passat 2015-19[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Atlas 2018-19, 2022[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Tiguan 2019-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|California 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Caravelle 2020[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf Alltrack 2017-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf GTE 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf GTI 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf R 2016-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf SportsVan 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf SportWagen 2015|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Jetta 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Jetta GLI 2021|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Tiguan 2019-22[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 <a id="footnotes"></a>
@ -226,10 +229,9 @@ How We Rate The Cars
 <sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
 <sup>3</sup>When disconnecting the Driver Support Unit (DSU), 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>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>5</sup>An inaccurate steering wheel angle sensor makes precise control difficult. <br />
+<sup>5</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>6</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>6</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
-<sup>7</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
+<sup>7</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard. <br />
 <sup>8</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard. <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/conf.py
+++ b/docs/conf.py
@ -14,10 +14,12 @@
 # documentation root, use os.path.abspath to make it absolute, like shown here.
 #
 import os
 from os.path import exists
 import sys
-from selfdrive.version import get_version
+from os.path import exists
 from common.basedir import BASEDIR
 from system.version import get_version
 sys.path.insert(0, os.path.abspath('.'))
 sys.path.insert(0, os.path.abspath('..'))
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit ba6ed3277cadfdc8697206784afbd7f9a223798b
+Subproject commit a3a80dc4f7977b2232946e56a16770e413190818
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@ -22,12 +22,12 @@ function agnos_init {
  # Check if AGNOS update is required
  if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
-    AGNOS_PY="$DIR/selfdrive/hardware/tici/agnos.py"
+    AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
-    MANIFEST="$DIR/selfdrive/hardware/tici/agnos.json"
+    MANIFEST="$DIR/system/hardware/tici/agnos.json"
    if $AGNOS_PY --verify $MANIFEST; then
      sudo reboot
    fi
-    $DIR/selfdrive/hardware/tici/updater $AGNOS_PY $MANIFEST
+    $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
  fi
 }
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 7701277d2666119bc7fcaca9f8cfefd50cd5b071
+Subproject commit a7b391cce88908824f1417f0c7abd35e3ae16f96
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 475a9a312410908abcaa32f2e48140fcbfc2362f
+Subproject commit 42772b49e313688f8f96114806a72784f978e990
--- a/release/files_common
+++ b/release/files_common
@ -61,17 +61,17 @@ release/*
 tools/lib/*
 tools/joystick/*
 selfdrive/version.py
 selfdrive/__init__.py
 selfdrive/sentry.py
 selfdrive/swaglog.py
 selfdrive/logmessaged.py
 selfdrive/tombstoned.py
 selfdrive/updated.py
 selfdrive/rtshield.py
 selfdrive/statsd.py
 system/logmessaged.py
 system/swaglog.py
 system/version.py
 selfdrive/athena/__init__.py
 selfdrive/athena/athenad.py
 selfdrive/athena/manage_athenad.py
@ -104,6 +104,7 @@ selfdrive/car/fw_versions.py
 selfdrive/car/isotp_parallel_query.py
 selfdrive/car/tests/__init__.py
 selfdrive/car/tests/test_car_interfaces.py
 selfdrive/car/torque_data.json
 selfdrive/car/body/*.py
 selfdrive/car/chrysler/*.py
@ -181,21 +182,21 @@ selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
 selfdrive/controls/lib/lateral_mpc_lib/*
 selfdrive/controls/lib/longitudinal_mpc_lib/*
-selfdrive/hardware/__init__.py
+system/hardware/__init__.py
-selfdrive/hardware/base.h
+system/hardware/base.h
-selfdrive/hardware/base.py
+system/hardware/base.py
-selfdrive/hardware/hw.h
+system/hardware/hw.h
-selfdrive/hardware/tici/__init__.py
+system/hardware/tici/__init__.py
-selfdrive/hardware/tici/hardware.h
+system/hardware/tici/hardware.h
-selfdrive/hardware/tici/hardware.py
+system/hardware/tici/hardware.py
-selfdrive/hardware/tici/pins.py
+system/hardware/tici/pins.py
-selfdrive/hardware/tici/agnos.py
+system/hardware/tici/agnos.py
-selfdrive/hardware/tici/agnos.json
+system/hardware/tici/agnos.json
-selfdrive/hardware/tici/amplifier.py
+system/hardware/tici/amplifier.py
-selfdrive/hardware/tici/updater
+system/hardware/tici/updater
-selfdrive/hardware/tici/iwlist.py
+system/hardware/tici/iwlist.py
-selfdrive/hardware/pc/__init__.py
+system/hardware/pc/__init__.py
-selfdrive/hardware/pc/hardware.py
+system/hardware/pc/hardware.py
 selfdrive/locationd/__init__.py
 selfdrive/locationd/.gitignore
@ -472,7 +473,6 @@ opendbc/gm_global_a_powertrain_generated.dbc
 opendbc/gm_global_a_object.dbc
 opendbc/gm_global_a_chassis.dbc
 opendbc/ford_fusion_2018_adas.dbc
 opendbc/ford_lincoln_base_pt.dbc
 opendbc/honda_accord_2018_can_generated.dbc
--- a/release/files_tici
+++ b/release/files_tici
@ -2,7 +2,7 @@ third_party/snpe/larch64**
 third_party/snpe/aarch64-ubuntu-gcc7.5/*
 third_party/mapbox-gl-native-qt/include/*
-selfdrive/timezoned.py
+system/timezoned.py
 selfdrive/assets/navigation/*
 selfdrive/assets/training_wide/*
--- a/scripts/disable-powersave.py
+++ b/scripts/disable-powersave.py
@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from selfdrive.hardware import HARDWARE
+from system.hardware import HARDWARE
 if __name__ == "__main__":
  HARDWARE.set_power_save(False)
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@ -32,12 +32,12 @@ from common.basedir import PERSIST
 from common.file_helpers import CallbackReader
 from common.params import Params
 from common.realtime import sec_since_boot, set_core_affinity
-from selfdrive.hardware import HARDWARE, PC, AGNOS
+from system.hardware import HARDWARE, PC, AGNOS
 from selfdrive.loggerd.config import ROOT
 from selfdrive.loggerd.xattr_cache import getxattr, setxattr
 from selfdrive.statsd import STATS_DIR
-from selfdrive.swaglog import SWAGLOG_DIR, cloudlog
+from system.swaglog import SWAGLOG_DIR, cloudlog
-from selfdrive.version import get_commit, get_origin, get_short_branch, get_version
+from system.version import get_commit, get_origin, get_short_branch, get_version
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
--- a/selfdrive/athena/manage_athenad.py
+++ b/selfdrive/athena/manage_athenad.py
@ -5,8 +5,8 @@ from multiprocessing import Process
 from common.params import Params
 from selfdrive.manager.process import launcher
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
-from selfdrive.version import get_version, is_dirty
+from system.version import get_version, is_dirty
 ATHENA_MGR_PID_PARAM = "AthenadPid"
--- a/selfdrive/athena/registration.py
+++ b/selfdrive/athena/registration.py
@ -11,8 +11,8 @@ from common.params import Params
 from common.spinner import Spinner
 from common.basedir import PERSIST
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
-from selfdrive.hardware import HARDWARE, PC
+from system.hardware import HARDWARE, PC
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 UNREGISTERED_DONGLE_ID = "UnregisteredDevice"
--- a/selfdrive/athena/tests/test_athenad.py
+++ b/selfdrive/athena/tests/test_athenad.py
@ -16,7 +16,7 @@ from unittest import mock
 from websocket import ABNF
 from websocket._exceptions import WebSocketConnectionClosedException
-from selfdrive import swaglog
+from system import swaglog
 from selfdrive.athena import athenad
 from selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher
 from selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server
@ -120,6 +120,13 @@ class TestAthenadMethods(unittest.TestCase):
    self.assertTrue(resp, 'list empty!')
    self.assertCountEqual(resp, expected)
  def test_strip_bz2_extension(self):
    fn = os.path.join(athenad.ROOT, 'qlog.bz2')
    Path(fn).touch()
    if fn.endswith('.bz2'):
      self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4]) 
  @with_http_server
  def test_do_upload(self, host):
    fn = os.path.join(athenad.ROOT, 'qlog.bz2')
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@ -27,7 +27,7 @@
 #include "common/swaglog.h"
 #include "common/timing.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/boardd/pigeon.h"
--- a/selfdrive/boardd/main.cc
+++ b/selfdrive/boardd/main.cc
@ -3,7 +3,7 @@
 #include "selfdrive/boardd/boardd.h"
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 int main(int argc, char *argv[]) {
  LOGW("starting boardd");
--- a/selfdrive/boardd/pandad.py
+++ b/selfdrive/boardd/pandad.py
@ -10,8 +10,8 @@ from functools import cmp_to_key
 from panda import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, Panda, PandaDFU
 from common.basedir import BASEDIR
 from common.params import Params
-from selfdrive.hardware import HARDWARE
+from system.hardware import HARDWARE
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 def get_expected_signature(panda: Panda) -> bytes:
--- a/selfdrive/boardd/tests/boardd_old.py
+++ b/selfdrive/boardd/tests/boardd_old.py
@ -13,7 +13,7 @@ import time
 import cereal.messaging as messaging
 from common.realtime import Ratekeeper
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.boardd.boardd import can_capnp_to_can_list
 from cereal import car
--- a/selfdrive/boardd/tests/test_boardd_loopback.py
+++ b/selfdrive/boardd/tests/test_boardd_loopback.py
@ -12,7 +12,7 @@ from common.spinner import Spinner
 from common.timeout import Timeout
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car import make_can_msg
-from selfdrive.hardware import TICI
+from system.hardware import TICI
 from selfdrive.test.helpers import phone_only, with_processes
--- a/selfdrive/camerad/cameras/camera_common.cc
+++ b/selfdrive/camerad/cameras/camera_common.cc
@ -15,7 +15,7 @@
 #include "common/modeldata.h"
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "msm_media_info.h"
 #ifdef QCOM2
--- a/selfdrive/camerad/cameras/camera_common.h
+++ b/selfdrive/camerad/cameras/camera_common.h
@ -13,7 +13,7 @@
 #include "common/mat.h"
 #include "common/queue.h"
 #include "common/swaglog.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #define CAMERA_ID_IMX298 0
 #define CAMERA_ID_IMX179 1
--- a/selfdrive/camerad/cameras/camera_qcom2.cc
+++ b/selfdrive/camerad/cameras/camera_qcom2.cc
@ -837,7 +837,6 @@ void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_i
  s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_RGB_ROAD, VISION_STREAM_ROAD, !env_disable_road);
  s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_RGB_WIDE_ROAD, VISION_STREAM_WIDE_ROAD, !env_disable_wide_road);
  s->sm = new SubMaster({"driverState"});
  s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
 }
@ -948,7 +947,6 @@ void cameras_close(MultiCameraState *s) {
  s->road_cam.camera_close();
  s->wide_road_cam.camera_close();
  delete s->sm;
  delete s->pm;
 }
@ -1221,7 +1219,7 @@ static void ar0231_process_registers(MultiCameraState *s, CameraState *c, cereal
  framed.setTemperaturesC({temp_0, temp_1});
 }
-static void driver_cam_auto_exposure(CameraState *c, SubMaster &sm) {
+static void driver_cam_auto_exposure(CameraState *c) {
  struct ExpRect {int x1, x2, x_skip, y1, y2, y_skip;};
  const CameraBuf *b = &c->buf;
  static ExpRect rect = {96, 1832, 2, 242, 1148, 4};
@ -1229,8 +1227,7 @@ static void driver_cam_auto_exposure(CameraState *c, SubMaster &sm) {
 }
 static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
-  s->sm->update(0);
+  driver_cam_auto_exposure(c);
  driver_cam_auto_exposure(c, *(s->sm));
  MessageBuilder msg;
  auto framed = msg.initEvent().initDriverCameraState();
--- a/selfdrive/camerad/cameras/camera_qcom2.h
+++ b/selfdrive/camerad/cameras/camera_qcom2.h
@ -106,6 +106,5 @@ typedef struct MultiCameraState {
  CameraState wide_road_cam;
  CameraState driver_cam;
  SubMaster *sm;
  PubMaster *pm;
 } MultiCameraState;
--- a/selfdrive/camerad/main.cc
+++ b/selfdrive/camerad/main.cc
@ -4,7 +4,7 @@
 #include "common/params.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 int main(int argc, char *argv[]) {
  if (!Hardware::PC()) {
--- a/selfdrive/camerad/snapshot/snapshot.py
+++ b/selfdrive/camerad/snapshot/snapshot.py
@ -9,7 +9,7 @@ import cereal.messaging as messaging
 from cereal.visionipc import VisionIpcClient, VisionStreamType
 from common.params import Params
 from common.realtime import DT_MDL
-from selfdrive.hardware import PC
+from system.hardware import PC
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
 from selfdrive.manager.process_config import managed_processes
--- a/selfdrive/camerad/test/camera_test.h
+++ b/selfdrive/camerad/test/camera_test.h
@ -19,7 +19,6 @@ typedef struct MultiCameraState {
  CameraState road_cam;
  CameraState driver_cam;
  SubMaster *sm = nullptr;
  PubMaster *pm = nullptr;
 } MultiCameraState;
--- a/selfdrive/camerad/test/test_camerad.py
+++ b/selfdrive/camerad/test/test_camerad.py
@ -4,7 +4,7 @@ import time
 import unittest
 import cereal.messaging as messaging
-from selfdrive.hardware import TICI
+from system.hardware import TICI
 from selfdrive.test.helpers import with_processes
 TEST_TIMESPAN = 30 # random.randint(60, 180) # seconds
--- a/selfdrive/camerad/test/test_exposure.py
+++ b/selfdrive/camerad/test/test_exposure.py
@ -6,7 +6,7 @@ import numpy as np
 from selfdrive.test.helpers import with_processes
 from selfdrive.camerad.snapshot.snapshot import get_snapshots
-from selfdrive.hardware import TICI
+from system.hardware import TICI
 TEST_TIME = 45
 REPEAT = 5
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@ -14,31 +14,19 @@ Cars are organized into three tiers:
 How We Rate The Cars
 ---
-### openpilot Adaptive Cruise Control (ACC)
+{% for star_row in star_descriptions.values() %}
- {{star_icon.format(Star.FULL.value)}} - openpilot is able to control the gas and brakes.
+{% for name, stars in star_row.items() %}
- {{star_icon.format(Star.HALF.value)}} - openpilot is able to control the gas and brakes with some restrictions.
+### {{name}}
- {{star_icon.format(Star.EMPTY.value)}} - The gas and brakes are controlled by the car's stock Adaptive Cruise Control (ACC) system.
+{% for star, description in stars %}
-
+- {{star_icon.format(star)}} - {{description}}
-### Stop and Go
+{% endfor %}
 - {{star_icon.format(Star.FULL.value)}} - Adaptive Cruise Control (ACC) operates down to 0 mph.
 - {{star_icon.format(Star.EMPTY.value)}} - Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed.
 ### Steer to 0
 - {{star_icon.format(Star.FULL.value)}} - openpilot can control the steering wheel down to 0 mph.
 - {{star_icon.format(Star.EMPTY.value)}} - No steering control below certain speeds.
 ### Steering Torque
 - {{star_icon.format(Star.FULL.value)}} - Car has enough steering torque for comfortable highway driving.
 - {{star_icon.format(Star.EMPTY.value)}} - Limited ability to make turns.
 ### Actively Maintained
 - {{star_icon.format(Star.FULL.value)}} - Mainline software support, harness hardware sold by comma, lots of users, primary development target.
 - {{star_icon.format(Star.EMPTY.value)}} - Low user count, community maintained, harness hardware not sold by comma.
 {% endfor %}
 {% endfor %}
 **All supported cars can move between the tiers as support changes.**
 {% for tier, cars in tiers.items() %}
-## {{tier.name.title()}} Cars
+# {{tier.name.title()}} - {{cars | length}} cars
 |{{Column | map(attribute='value') | join('|')}}|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@ -19,7 +19,6 @@ class CarInterface(CarInterfaceBase):
    ret.minSteerSpeed = -math.inf
    ret.maxLateralAccel = math.inf  # TODO: set to a reasonable value
    ret.steerRatio = 0.5
    ret.steerRateCost = 0.5
    ret.steerLimitTimer = 1.0
    ret.steerActuatorDelay = 0.
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@ -4,12 +4,12 @@ from typing import Dict, List
 from cereal import car
 from common.params import Params
 from common.basedir import BASEDIR
-from selfdrive.version import is_comma_remote, is_tested_branch
+from system.version import is_comma_remote, is_tested_branch
 from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from selfdrive.car.vin import get_vin, VIN_UNKNOWN
 from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@ -20,17 +20,8 @@ class CarInterface(CarInterfaceBase):
    ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
    ret.lateralTuning.pid.kf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
    ret.steerActuatorDelay = 0.1
    ret.steerRateCost = 0.7
    ret.steerLimitTimer = 0.4
    # set max lateral acceleration
    if candidate in (CAR.PACIFICA_2018, CAR.PACIFICA_2019_HYBRID, CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
      ret.maxLateralAccel = 1.6
    if candidate in (CAR.PACIFICA_2018_HYBRID,):
      ret.maxLateralAccel = 1.4
    if candidate in (CAR.PACIFICA_2017_HYBRID,):
      ret.maxLateralAccel = 1.2
    if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
      ret.wheelbase = 2.91  # in meters
      ret.steerRatio = 12.7
--- a/selfdrive/car/disable_ecu.py
+++ b/selfdrive/car/disable_ecu.py
@ -1,5 +1,5 @@
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 EXT_DIAG_REQUEST = b'\x10\x03'
 EXT_DIAG_RESPONSE = b'\x50\x03'
--- a/selfdrive/car/docs.py
+++ b/selfdrive/car/docs.py
@ -7,7 +7,7 @@ from natsort import natsorted
 from typing import Dict, List
 from common.basedir import BASEDIR
-from selfdrive.car.docs_definitions import CarInfo, Column, Star, Tier
+from selfdrive.car.docs_definitions import STAR_DESCRIPTIONS, CarInfo, Column, Star, Tier
 from selfdrive.car.car_helpers import interfaces, get_interface_attr
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR as HKG_RADAR_START_ADDR
 from selfdrive.car.tests.routes import non_tested_cars
@ -65,7 +65,7 @@ def generate_cars_md(all_car_info: List[CarInfo], template_fn: str) -> str:
  footnotes = [fn.value.text for fn in ALL_FOOTNOTES]
  cars_md: str = template.render(tiers=sort_by_tier(all_car_info), all_car_info=all_car_info,
-                                 footnotes=footnotes, Star=Star, Column=Column)
+                                 footnotes=footnotes, Star=Star, Column=Column, star_descriptions=STAR_DESCRIPTIONS)
  return cars_md
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@ -6,7 +6,9 @@ from dataclasses import dataclass
 from enum import Enum
 from typing import Dict, List, Optional, Union, no_type_check
-STEERING_TORQUE_THRESHOLD = 2.0  # m/s^2
+TACO_TORQUE_THRESHOLD = 2.5  # m/s^2
 GREAT_TORQUE_THRESHOLD = 1.4  # m/s^2
 GOOD_TORQUE_THRESHOLD = 1.0  # m/s^2
 class Tier(Enum):
@ -70,11 +72,6 @@ class CarInfo:
    if self.min_enable_speed is not None:
      min_enable_speed = self.min_enable_speed
    # TODO: remove hardcoded good torque and just use maxLateralAccel
    good_torque = self.good_torque
    if not math.isnan(CP.maxLateralAccel):
      good_torque = CP.maxLateralAccel >= STEERING_TORQUE_THRESHOLD
    self.car_name = CP.carName
    self.make, self.model = self.name.split(' ', 1)
    self.row = {
@ -82,21 +79,27 @@ class CarInfo:
      Column.MODEL: self.model,
      Column.PACKAGE: self.package,
      # StarColumns
-      Column.LONGITUDINAL: CP.openpilotLongitudinalControl and not CP.radarOffCan,
+      Column.LONGITUDINAL: Star.FULL if CP.openpilotLongitudinalControl and not CP.radarOffCan else Star.EMPTY,
-      Column.FSR_LONGITUDINAL: min_enable_speed <= 0.,
+      Column.FSR_LONGITUDINAL: Star.FULL if min_enable_speed <= 0. else Star.EMPTY,
-      Column.FSR_STEERING: min_steer_speed <= 0.,
+      Column.FSR_STEERING: Star.FULL if min_steer_speed <= 0. else Star.EMPTY,
-      Column.STEERING_TORQUE: good_torque,
+      Column.STEERING_TORQUE: Star.FULL if self.good_torque else Star.EMPTY,  # TODO: remove hardcoding and use maxLateralAccel
-      Column.MAINTAINED: CP.carFingerprint not in non_tested_cars and self.harness is not Harness.none,
+      Column.MAINTAINED: Star.FULL if CP.carFingerprint not in non_tested_cars and self.harness is not Harness.none else Star.EMPTY,
    }
    if not math.isnan(CP.maxLateralAccel):
      if CP.maxLateralAccel >= GREAT_TORQUE_THRESHOLD:
        self.row[Column.STEERING_TORQUE] = Star.FULL
      elif CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD:
        self.row[Column.STEERING_TORQUE] = Star.HALF
      else:
        self.row[Column.STEERING_TORQUE] = Star.EMPTY
    if CP.notCar:
      for col in StarColumns:
-        self.row[col] = True
+        self.row[col] = Star.FULL
    self.all_footnotes = all_footnotes
    for column in StarColumns:
      self.row[column] = Star.FULL if self.row[column] else Star.EMPTY
      # Demote if footnote specifies a star
      footnote = get_footnote(self.footnotes, column)
      if footnote is not None and footnote.value.star is not None:
@ -120,7 +123,7 @@ class CarInfo:
 class Harness(Enum):
  nidec = "Honda Nidec"
-  bosch = "Honda Bosch"
+  bosch = "Honda Bosch A"
  toyota = "Toyota"
  subaru = "Subaru"
  fca = "FCA"
@ -147,3 +150,35 @@ class Harness(Enum):
  nissan_b = "Nissan B"
  mazda = "Mazda"
  none = "None"
 STAR_DESCRIPTIONS = {
  "Gas & Brakes": {  # icon and row name
    "openpilot Adaptive Cruise Control (ACC)": [  # star column
      [Star.FULL.value, "openpilot is able to control the gas and brakes."],
      [Star.HALF.value, "openpilot is able to control the gas and brakes with some restrictions."],
      [Star.EMPTY.value, "The gas and brakes are controlled by the car's stock Adaptive Cruise Control (ACC) system."],
    ],
    Column.FSR_LONGITUDINAL.value: [
      [Star.FULL.value, "Adaptive Cruise Control (ACC) operates down to 0 mph."],
      [Star.EMPTY.value, "Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed."],
    ],
  },
  "Steering": {
    Column.FSR_STEERING.value: [
      [Star.FULL.value, "openpilot can control the steering wheel down to 0 mph."],
      [Star.EMPTY.value, "No steering control below certain speeds."],
    ],
    Column.STEERING_TORQUE.value: [
      [Star.FULL.value, "Car has enough steering torque to take tighter turns."],
      [Star.HALF.value, "Car has enough steering torque for comfortable highway driving."],
      [Star.EMPTY.value, "Limited ability to make turns."],
    ],
  },
  "Support": {
    Column.MAINTAINED.value: [
      [Star.FULL.value, "Mainline software support, harness hardware sold by comma, lots of users, primary development target."],
      [Star.EMPTY.value, "Low user count, community maintained, harness hardware not sold by comma."],
    ],
  },
 }
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@ -59,7 +59,6 @@ class CarInterface(CarInterfaceBase):
    # LCA can steer down to zero
    ret.minSteerSpeed = 0.
    ret.steerRateCost = 1.0
    ret.centerToFront = ret.wheelbase * 0.44
    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
--- a/selfdrive/car/ford/radar_interface.py
+++ b/selfdrive/car/ford/radar_interface.py
@ -9,6 +9,9 @@ RADAR_MSGS = list(range(0x500, 0x540))
 def _create_radar_can_parser(car_fingerprint):
  if DBC[car_fingerprint]['radar'] is None:
    return None
  msg_n = len(RADAR_MSGS)
  signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
                     RADAR_MSGS * 3))
@ -27,6 +30,9 @@ class RadarInterface(RadarInterfaceBase):
    self.updated_messages = set()
  def update(self, can_strings):
    if self.rcp is None:
      return super().update(None)
    vls = self.rcp.update_strings(can_strings)
    self.updated_messages.update(vls)
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@ -79,6 +79,6 @@ FW_VERSIONS = {
 DBC = {
-  CAR.ESCAPE_MK4: dbc_dict('ford_lincoln_base_pt', 'ford_fusion_2018_adas'),
+  CAR.ESCAPE_MK4: dbc_dict('ford_lincoln_base_pt', None),
-  CAR.FOCUS_MK4: dbc_dict('ford_lincoln_base_pt', 'ford_fusion_2018_adas'),
+  CAR.FOCUS_MK4: dbc_dict('ford_lincoln_base_pt', None),
 }
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@ -12,7 +12,7 @@ from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import FW_VERSIONS
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
 from selfdrive.car.toyota.values import CAR as TOYOTA
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 Ecu = car.CarParams.Ecu
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@ -67,7 +67,7 @@ class CarState(CarStateBase):
    ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
    ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
-    ret.parkingBrake = pt_cp.vl["EPBStatus"]["EPBClosed"] == 1
+    ret.parkingBrake = pt_cp.vl["VehicleIgnitionAlt"]["ParkBrake"] == 1
    ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
    ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
    ret.accFaulted = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED
@ -104,7 +104,7 @@ class CarState(CarStateBase):
      ("LKATorqueDelivered", "PSCMStatus"),
      ("LKATorqueDeliveredStatus", "PSCMStatus"),
      ("TractionControlOn", "ESPStatus"),
-      ("EPBClosed", "EPBStatus"),
+      ("ParkBrake", "VehicleIgnitionAlt"),
      ("CruiseMainOn", "ECMEngineStatus"),
    ]
@ -114,7 +114,7 @@ class CarState(CarStateBase):
      ("PSCMStatus", 10),
      ("ESPStatus", 10),
      ("BCMDoorBeltStatus", 10),
-      ("EPBStatus", 20),
+      ("VehicleIgnitionAlt", 10),
      ("EBCMWheelSpdFront", 20),
      ("EBCMWheelSpdRear", 20),
      ("AcceleratorPedal2", 33),
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@ -59,24 +59,30 @@ class CarInterface(CarInterfaceBase):
    ret.openpilotLongitudinalControl = True
    tire_stiffness_factor = 0.444  # not optimized yet
-    # Start with a baseline lateral tuning for all GM vehicles. Override tuning as needed in each model section below.
+    # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
    ret.minSteerSpeed = 7 * CV.MPH_TO_MS
    ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
    ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
    ret.lateralTuning.pid.kf = 0.00004   # full torque for 20 deg at 80mph means 0.00007818594
    ret.steerRateCost = 1.0
    ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
-    if candidate == CAR.VOLT:
+    ret.longitudinalTuning.kpBP = [5., 35.]
-      # supports stop and go, but initial engage must be above 18mph (which include conservatism)
+    ret.longitudinalTuning.kpV = [2.4, 1.5]
    ret.longitudinalTuning.kiBP = [0.]
    ret.longitudinalTuning.kiV = [0.36]
    ret.steerLimitTimer = 0.4
    ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
    # supports stop and go, but initial engage must (conservatively) be above 18mph
    ret.minEnableSpeed = 18 * CV.MPH_TO_MS
    if candidate == CAR.VOLT:
      ret.mass = 1607. + STD_CARGO_KG
      ret.wheelbase = 2.69
      ret.steerRatio = 17.7  # Stock 15.7, LiveParameters
      tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
      ret.steerRatioRear = 0.
      ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh
      ret.maxLateralAccel = 1.6
      ret.lateralTuning.pid.kpBP = [0., 40.]
      ret.lateralTuning.pid.kpV = [0., 0.17]
@ -86,12 +92,9 @@ class CarInterface(CarInterfaceBase):
      ret.steerActuatorDelay = 0.2
    elif candidate == CAR.MALIBU:
      # supports stop and go, but initial engage must be above 18mph (which include conservatism)
      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
      ret.mass = 1496. + STD_CARGO_KG
      ret.wheelbase = 2.83
      ret.steerRatio = 15.8
      ret.steerRatioRear = 0.
      ret.centerToFront = ret.wheelbase * 0.4  # wild guess
    elif candidate == CAR.HOLDEN_ASTRA:
@ -99,34 +102,26 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.662
      # Remaining parameters copied from Volt for now
      ret.centerToFront = ret.wheelbase * 0.4
      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
      ret.steerRatio = 15.7
      ret.steerRatioRear = 0.
    elif candidate == CAR.ACADIA:
      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
      ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG
      ret.wheelbase = 2.86
      ret.steerRatio = 14.4  # end to end is 13.46
      ret.steerRatioRear = 0.
      ret.centerToFront = ret.wheelbase * 0.4
      ret.maxLateralAccel = 1.4
      ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_acadia()
    elif candidate == CAR.BUICK_REGAL:
      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
      ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG  # (3849+3708)/2
      ret.wheelbase = 2.83  # 111.4 inches in meters
      ret.steerRatio = 14.4  # guess for tourx
      ret.steerRatioRear = 0.
      ret.centerToFront = ret.wheelbase * 0.4  # guess for tourx
    elif candidate == CAR.CADILLAC_ATS:
      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
      ret.mass = 1601. + STD_CARGO_KG
      ret.wheelbase = 2.78
      ret.steerRatio = 15.3
      ret.steerRatioRear = 0.
      ret.centerToFront = ret.wheelbase * 0.49
    elif candidate == CAR.ESCALADE_ESV:
@ -149,14 +144,6 @@ class CarInterface(CarInterfaceBase):
    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                         tire_stiffness_factor=tire_stiffness_factor)
    ret.longitudinalTuning.kpBP = [5., 35.]
    ret.longitudinalTuning.kpV = [2.4, 1.5]
    ret.longitudinalTuning.kiBP = [0.]
    ret.longitudinalTuning.kiV = [0.36]
    ret.steerLimitTimer = 0.4
    ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
    return ret
  # returns a car.CarState
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@ -95,8 +95,8 @@ def process_hud_alert(hud_alert):
 HUDData = namedtuple("HUDData",
-                     ["pcm_accel", "v_cruise", "car",
+                     ["pcm_accel", "v_cruise", "lead_visible",
-                      "lanes", "fcw", "acc_alert", "steer_required"])
+                      "lanes_visible", "fcw", "acc_alert", "steer_required"])
 class CarController:
@ -138,19 +138,6 @@ class CarController:
    self.brake_last = rate_limit(pre_limit_brake, self.brake_last, -2., DT_CTRL)
    # vehicle hud display, wait for one update from 10Hz 0x304 msg
    if hud_control.lanesVisible:
      hud_lanes = 1
    else:
      hud_lanes = 0
    if CC.enabled:
      if hud_control.leadVisible:
        hud_car = 2
      else:
        hud_car = 1
    else:
      hud_car = 0
    fcw_display, steer_required, acc_alert = process_hud_alert(hud_control.visualAlert)
    # **** process the car messages ****
@ -172,8 +159,6 @@ class CarController:
    can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, CC.latActive, self.CP.carFingerprint,
                                                      idx, CS.CP.openpilotLongitudinalControl))
    stopping = actuators.longControlState == LongCtrlState.stopping
    # wind brake from air resistance decel at high speed
    wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])
    # all of this is only relevant for HONDA NIDEC
@ -222,6 +207,8 @@ class CarController:
        if self.CP.carFingerprint in HONDA_BOSCH:
          self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX)
          self.gas = interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V)
          stopping = actuators.longControlState == LongCtrlState.stopping
          can_sends.extend(hondacan.create_acc_commands(self.packer, CC.enabled, CC.longActive, self.accel, self.gas,
                                                        idx, stopping, self.CP.carFingerprint))
        else:
@ -252,9 +239,9 @@ class CarController:
    # Send dashboard UI commands.
    if self.frame % 10 == 0:
      idx = (self.frame // 10) % 4
-      hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_car,
+      hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
-                    hud_lanes, fcw_display, acc_alert, steer_required)
+                    hud_control.lanesVisible, fcw_display, acc_alert, steer_required)
-      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud))
+      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud))
      if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
        self.speed = pcm_speed
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@ -22,9 +22,9 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
    ("STEER_ANGLE_RATE", "STEERING_SENSORS"),
    ("MOTOR_TORQUE", "STEER_MOTOR_TORQUE"),
    ("STEER_TORQUE_SENSOR", "STEER_STATUS"),
    ("IMPERIAL_UNIT", "CAR_SPEED"),
    ("LEFT_BLINKER", "SCM_FEEDBACK"),
    ("RIGHT_BLINKER", "SCM_FEEDBACK"),
    ("GEAR", gearbox_msg),
    ("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS"),
    ("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS"),
    ("BRAKE_PRESSED", "POWERTRAIN_DATA"),
@ -35,6 +35,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
    ("BRAKE_HOLD_ACTIVE", "VSA_STATUS"),
    ("STEER_STATUS", "STEER_STATUS"),
    ("GEAR_SHIFTER", gearbox_msg),
    ("GEAR", gearbox_msg),
    ("PEDAL_GAS", "POWERTRAIN_DATA"),
    ("CRUISE_SETTING", "SCM_BUTTONS"),
    ("ACC_STATUS", "POWERTRAIN_DATA"),
@ -48,6 +49,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
    ("SEATBELT_STATUS", 10),
    ("CRUISE", 10),
    ("POWERTRAIN_DATA", 100),
    ("CAR_SPEED", 10),
    ("VSA_STATUS", 50),
    ("STEER_STATUS", 100),
    ("STEER_MOTOR_TORQUE", 0),  # TODO: not on every car
@ -73,16 +75,11 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
    signals.append(("BRAKE_PRESSED", "BRAKE_MODULE"))
    checks.append(("BRAKE_MODULE", 50))
-  if CP.carFingerprint in HONDA_BOSCH:
+  if CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}):
-    signals += [
+    signals.append(("EPB_STATE", "EPB_STATUS"))
-      ("EPB_STATE", "EPB_STATUS"),
+    checks.append(("EPB_STATUS", 50))
      ("IMPERIAL_UNIT", "CAR_SPEED"),
    ]
    checks += [
      ("EPB_STATUS", 50),
      ("CAR_SPEED", 10),
    ]
  if CP.carFingerprint in HONDA_BOSCH:
    if not CP.openpilotLongitudinalControl:
      signals += [
        ("CRUISE_CONTROL_LABEL", "ACC_HUD"),
@ -121,17 +118,6 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
      ("STANDSTILL", 50),
    ]
  if CP.carFingerprint == CAR.CIVIC:
    signals += [("IMPERIAL_UNIT", "HUD_SETTING"),
                ("EPB_STATE", "EPB_STATUS")]
    checks += [
      ("HUD_SETTING", 50),
      ("EPB_STATUS", 50),
    ]
  elif CP.carFingerprint in (CAR.ODYSSEY, CAR.ODYSSEY_CHN):
    signals.append(("EPB_STATE", "EPB_STATUS"))
    checks.append(("EPB_STATUS", 50))
  # add gas interceptor reading if we are using it
  if CP.enableGasInterceptor:
    signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR"))
@ -179,6 +165,11 @@ class CarState(CarStateBase):
    # update prevs, update must run once per loop
    self.prev_cruise_buttons = self.cruise_buttons
    self.prev_cruise_setting = self.cruise_setting
    self.cruise_setting = cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"]
    self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"]
    # used for car hud message
    self.is_metric = not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"]
    # ******************* parse out can *******************
    # STANDSTILL->WHEELS_MOVING bit can be noisy around zero, so use XMISSION_SPEED
@ -219,16 +210,12 @@ class CarState(CarStateBase):
    ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE"]
    ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE_RATE"]
    self.cruise_setting = cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"]
    self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"]
    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(
      250, cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"], cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"])
    ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1
    # TODO: set for all cars
-    if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH,
+    if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}):
                                  CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):
      ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
    gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
@ -281,14 +268,6 @@ class CarState(CarStateBase):
      if ret.brake > 0.1:
        ret.brakePressed = True
    # TODO: discover the CAN msg that has the imperial unit bit for all other cars
    if self.CP.carFingerprint in (CAR.CIVIC, ):
      self.is_metric = not cp.vl["HUD_SETTING"]["IMPERIAL_UNIT"]
    elif self.CP.carFingerprint in HONDA_BOSCH:
      self.is_metric = not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"]
    else:
      self.is_metric = False
    if self.CP.carFingerprint in HONDA_BOSCH:
      ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
    else:
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@ -98,47 +98,40 @@ def create_bosch_supplemental_1(packer, car_fingerprint, idx):
  return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values, idx)
-def create_ui_commands(packer, CP, pcm_speed, hud, is_metric, idx, stock_hud):
+def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stock_hud):
  commands = []
  bus_pt = get_pt_bus(CP.carFingerprint)
  radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl
  bus_lkas = get_lkas_cmd_bus(CP.carFingerprint, radar_disabled)
  if CP.openpilotLongitudinalControl:
    if CP.carFingerprint in HONDA_BOSCH:
      acc_hud_values = {
        'CRUISE_SPEED': hud.v_cruise,
        'ENABLE_MINI_CAR': 1,
        'SET_TO_1': 1,
        'HUD_LEAD': hud.car,
        'HUD_DISTANCE': 3,
        'ACC_ON': hud.car != 0,
        'SET_TO_X1': 1,
        'IMPERIAL_UNIT': int(not is_metric),
        'FCM_OFF': 1,
      }
    else:
    acc_hud_values = {
        'PCM_SPEED': pcm_speed * CV.MS_TO_KPH,
        'PCM_GAS': hud.pcm_accel,
      'CRUISE_SPEED': hud.v_cruise,
      'ENABLE_MINI_CAR': 1,
        'HUD_LEAD': hud.car,
      'HUD_DISTANCE': 3,  # max distance setting on display
      'IMPERIAL_UNIT': int(not is_metric),
      'HUD_LEAD': 2 if enabled and hud.lead_visible else 1 if enabled else 0,
      'SET_ME_X01_2': 1,
        'SET_ME_X01': 1,
        "FCM_OFF": stock_hud["FCM_OFF"],
        "FCM_OFF_2": stock_hud["FCM_OFF_2"],
        "FCM_PROBLEM": stock_hud["FCM_PROBLEM"],
        "ICONS": stock_hud["ICONS"],
    }
    if CP.carFingerprint in HONDA_BOSCH:
      acc_hud_values['ACC_ON'] = int(enabled)
      acc_hud_values['FCM_OFF'] = 1
      acc_hud_values['FCM_OFF_2'] = 1
    else:
      acc_hud_values['PCM_SPEED'] = pcm_speed * CV.MS_TO_KPH
      acc_hud_values['PCM_GAS'] = hud.pcm_accel
      acc_hud_values['SET_ME_X01'] = 1
      acc_hud_values['FCM_OFF'] = stock_hud['FCM_OFF']
      acc_hud_values['FCM_OFF_2'] = stock_hud['FCM_OFF_2']
      acc_hud_values['FCM_PROBLEM'] = stock_hud['FCM_PROBLEM']
      acc_hud_values['ICONS'] = stock_hud['ICONS']
    commands.append(packer.make_can_msg("ACC_HUD", bus_pt, acc_hud_values, idx))
  lkas_hud_values = {
    'SET_ME_X41': 0x41,
    'STEERING_REQUIRED': hud.steer_required,
-    'SOLID_LANES': hud.lanes,
+    'SOLID_LANES': hud.lanes_visible,
    'BEEP': 0,
  }
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@ -100,7 +100,6 @@ class CarInterface(CarInterfaceBase):
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
      else:
        ret.maxLateralAccel = 1.7
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
      tire_stiffness_factor = 1.
@ -113,7 +112,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 15.38  # 10.93 is end-to-end spec
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      tire_stiffness_factor = 1.
      ret.maxLateralAccel = 1.6
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
    elif candidate in (CAR.ACCORD, CAR.ACCORDH):
@ -128,7 +126,6 @@ class CarInterface(CarInterfaceBase):
      if eps_modified:
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
      else:
        ret.maxLateralAccel = 1.6
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
    elif candidate == CAR.ACURA_ILX:
@ -165,7 +162,6 @@ class CarInterface(CarInterfaceBase):
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
      else:
        ret.maxLateralAccel = 1.7
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
      tire_stiffness_factor = 0.677
@ -190,7 +186,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 13.06
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      tire_stiffness_factor = 0.75
      ret.maxLateralAccel = 1.7
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
    elif candidate == CAR.FREED:
@ -222,7 +217,6 @@ class CarInterface(CarInterfaceBase):
      ret.centerToFront = ret.wheelbase * 0.38
      ret.steerRatio = 15.0  # as spec
      tire_stiffness_factor = 0.444
      ret.maxLateralAccel = 0.9
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
@ -232,7 +226,6 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.75
      ret.centerToFront = ret.wheelbase * 0.41
      ret.steerRatio = 11.95  # as spec
      ret.maxLateralAccel = 1.2
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
      tire_stiffness_factor = 0.677
@ -245,7 +238,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 14.35  # as spec
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      tire_stiffness_factor = 0.82
      ret.maxLateralAccel = 1.5
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
    elif candidate == CAR.ODYSSEY_CHN:
@ -266,7 +258,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 17.25  # as spec
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      tire_stiffness_factor = 0.444
      ret.maxLateralAccel = 1.5
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
    elif candidate == CAR.RIDGELINE:
@ -277,7 +268,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 15.59  # as spec
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      tire_stiffness_factor = 0.444
      ret.maxLateralAccel = 1.3
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
    elif candidate == CAR.INSIGHT:
@ -288,7 +278,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 15.0  # 12.58 is spec end-to-end
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      tire_stiffness_factor = 0.82
      ret.maxLateralAccel = 1.4
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
    elif candidate == CAR.HONDA_E:
@ -330,7 +319,6 @@ class CarInterface(CarInterfaceBase):
                                                                         tire_stiffness_factor=tire_stiffness_factor)
    ret.steerActuatorDelay = 0.1
    ret.steerRateCost = 0.5
    ret.steerLimitTimer = 0.8
    return ret
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@ -1,4 +1,5 @@
 #!/usr/bin/env python3
 import os
 from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
@ -37,10 +38,11 @@ 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.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30} or candidate in HDA2_CAR
+    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30}
    if candidate in HDA2_CAR:
      ret.dashcamOnly = not os.path.exists('/data/enable-ev6')
    ret.steerActuatorDelay = 0.1  # Default delay
    ret.steerRateCost = 0.5
    ret.steerLimitTimer = 0.4
    tire_stiffness_factor = 1.
@ -52,7 +54,7 @@ class CarInterface(CarInterfaceBase):
    ret.stopAccel = 0.0
    ret.longitudinalActuatorDelayUpperBound = 1.0  # s
-
+    torque_params = CarInterfaceBase.get_torque_params(candidate)
    if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
      ret.lateralTuning.pid.kf = 0.00005
      ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
@ -60,24 +62,19 @@ class CarInterface(CarInterfaceBase):
      # Values from optimizer
      ret.steerRatio = 16.55  # 13.8 is spec end-to-end
      tire_stiffness_factor = 0.82
      ret.maxLateralAccel = 3.2
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
    elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID):
      ret.lateralTuning.pid.kf = 0.00005
      ret.mass = 1513. + STD_CARGO_KG
      ret.wheelbase = 2.84
      ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
      tire_stiffness_factor = 0.65
-      ret.maxLateralAccel = 2.5
+      set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
    elif candidate == CAR.SONATA_LF:
      ret.lateralTuning.pid.kf = 0.00005
      ret.mass = 4497. * CV.LB_TO_KG
      ret.wheelbase = 2.804
      ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
      ret.maxLateralAccel = 1.8
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
    elif candidate == CAR.PALISADE:
@ -86,7 +83,6 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.90
      ret.steerRatio = 15.6 * 1.15
      tire_stiffness_factor = 0.63
      ret.maxLateralAccel = 2.5
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
    elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
@ -99,21 +95,17 @@ class CarInterface(CarInterfaceBase):
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
      ret.minSteerSpeed = 32 * CV.MPH_TO_MS
    elif candidate == CAR.ELANTRA_2021:
      ret.lateralTuning.pid.kf = 0.00005
      ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG
      ret.wheelbase = 2.72
      ret.steerRatio = 12.9
      tire_stiffness_factor = 0.65
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
    elif candidate == CAR.ELANTRA_HEV_2021:
      ret.lateralTuning.pid.kf = 0.00005
      ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG
      ret.wheelbase = 2.72
      ret.steerRatio = 12.9
      tire_stiffness_factor = 0.65
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
    elif candidate == CAR.HYUNDAI_GENESIS:
      ret.lateralTuning.pid.kf = 0.00005
      ret.mass = 2060. + STD_CARGO_KG
@ -143,7 +135,6 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.7
      ret.steerRatio = 13.73  # Spec
      tire_stiffness_factor = 0.385
      ret.maxLateralAccel = 3.0
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
      if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
@ -170,9 +161,9 @@ class CarInterface(CarInterfaceBase):
      tire_stiffness_factor = 0.5
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
-    elif candidate == CAR.TUCSON_DIESEL_2019:
+    elif candidate == CAR.TUCSON:
      ret.lateralTuning.pid.kf = 0.00005
-      ret.mass = 3633. * CV.LB_TO_KG
+      ret.mass = 3520. * CV.LB_TO_KG
      ret.wheelbase = 2.67
      ret.steerRatio = 14.00 * 1.15
      tire_stiffness_factor = 0.385
@ -193,7 +184,6 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.7
      ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73  # Spec
      tire_stiffness_factor = 0.385
      ret.maxLateralAccel = 2.9
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
      if candidate == CAR.KIA_NIRO_HEV:
@ -213,19 +203,17 @@ class CarInterface(CarInterfaceBase):
      ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
      ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
    elif candidate in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H):
      ret.lateralTuning.pid.kf = 0.00005
      ret.mass = 3558. * CV.LB_TO_KG
      ret.wheelbase = 2.80
      ret.steerRatio = 13.75
      tire_stiffness_factor = 0.5
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
+      torque_params = CarInterfaceBase.get_torque_params(CAR.KIA_OPTIMA)
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+      set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
    elif candidate == CAR.KIA_STINGER:
      ret.lateralTuning.pid.kf = 0.00005
      ret.mass = 1825. + STD_CARGO_KG
      ret.wheelbase = 2.78
      ret.steerRatio = 14.4 * 1.15   # 15% higher at the center seems reasonable
      ret.maxLateralAccel = 2.4
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
    elif candidate == CAR.KIA_FORTE:
@ -251,7 +239,6 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.85
      ret.steerRatio = 13.27  # 2021 Kia K5 Steering Ratio (all trims)
      tire_stiffness_factor = 0.5
      ret.maxLateralAccel = 2.1
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
    elif candidate == CAR.KIA_EV6:
@ -263,7 +250,8 @@ class CarInterface(CarInterfaceBase):
      tire_stiffness_factor = 0.65
      ret.maxLateralAccel = 2.
-      set_torque_tune(ret.lateralTuning, ret.maxLateralAccel, 0.01)
+      # TODO override until there is more data
      set_torque_tune(ret.lateralTuning, 2.0, 0.05)
    # Genesis
    elif candidate == CAR.GENESIS_G70:
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@ -52,7 +52,7 @@ class CAR:
  SANTA_FE_PHEV_2022 = "HYUNDAI SANTA FE PlUG-IN HYBRID 2022"
  SONATA = "HYUNDAI SONATA 2020"
  SONATA_LF = "HYUNDAI SONATA 2019"
-  TUCSON_DIESEL_2019 = "HYUNDAI TUCSON DIESEL 2019"
+  TUCSON = "HYUNDAI TUCSON 2019"
  PALISADE = "HYUNDAI PALISADE 2020"
  VELOSTER = "HYUNDAI VELOSTER 2019"
  SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
@ -80,6 +80,8 @@ class CAR:
@dataclass
 class HyundaiCarInfo(CarInfo):
  # TODO: we can probably remove LKAS. LKAS is standard on many
  # HKG and for others, it's likely packaged together with SCC
  package: str = "SCC + LKAS"
  good_torque: bool = True
@ -105,7 +107,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
  CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness=Harness.hyundai_l),
  CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-22", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a),
  CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness=Harness.hyundai_e),
-  CAR.TUCSON_DIESEL_2019: HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l),
+  CAR.TUCSON: [
    HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l),
    HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l),
  ],
  CAR.PALISADE: [
    HyundaiCarInfo("Hyundai Palisade 2020-21", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h),
    HyundaiCarInfo("Kia Telluride 2020", harness=Harness.hyundai_h),
@ -118,7 +123,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
    HyundaiCarInfo("Kia Forte 2018", harness=Harness.hyundai_b),
    HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g),
  ],
-  CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "SCC + LFA", harness=Harness.hyundai_a),
+  CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "SCC", harness=Harness.hyundai_a),
  CAR.KIA_NIRO_EV: [
    HyundaiCarInfo("Kia Niro Electric 2019-20", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f),
    HyundaiCarInfo("Kia Niro Electric 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c),
@ -498,6 +503,7 @@ FW_VERSIONS = {
    ],
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00LFF LKAS AT USA LHD 1.00 1.01 95740-C1000 E51',
      b'\xf1\x00LFF LKAS AT USA LHD 1.01 1.02 95740-C1000 E52',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5',
@ -506,20 +512,25 @@ FW_VERSIONS = {
      b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24SL2n\x8d\xbe\xd8',
      b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2\x00\x00\x00\x00',
      b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm',
      b'\xf1\x87LAJSG49645724HF0\x87x\x87\x88\x87www\x88\x99\xa8\x89\x88\x99\xa8\x89\x88\x99\xa8\x89S_\xfb\xff\x87f\x7f\xff^2\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm',
    ],
  },
-  CAR.TUCSON_DIESEL_2019: {
+  CAR.TUCSON: {
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00TL__ FCA F-CUP      1.00 1.01 99110-D3500         ',
      b'\xf1\x00TL__ FCA F-CUP      1.00 1.02 99110-D3510         ',
    ],
    (Ecu.engine, 0x7e0, None): [
      b'\xf1\x8971TLC2NAIDDIR002\xf1\x8271TLC2NAIDDIR002',
      b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00TL  MFC  AT KOR LHD 1.00 1.02 95895-D3800 180719',
      b'\xf1\x00TL  MFC  AT USA LHD 1.00 1.06 95895-D3800 190107',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'\xf1\x87LBJXAN202299KF22\x87x\x87\x88ww\x87xx\x88\x97\x88\x87\x88\x98x\x88\x99\x98\x89\x87o\xf6\xff\x87w\x7f\xff\x12\x9a\xf1\x81U083\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U083\x00\x00\x00\x00\x00\x00TTL2V20KL1\x8fRn\x8a',
      b'\xf1\x87KMLDCU585233TJ20wx\x87\x88x\x88\x98\x89vfwfwwww\x87f\x9f\xff\x98\xff\x7f\xf9\xf7s\xf1\x816T6G4051\x00\x00\xf1\x006T6J0_C2\x00\x006T6G4051\x00\x00TTL4G24NH2\x00\x00\x00\x00',
    ],
  },
  CAR.SANTA_FE: {
@ -845,7 +856,7 @@ FW_VERSIONS = {
  },
  CAR.KIA_CEED:  {
    (Ecu.fwdRadar, 0x7D0, None): [b'\xf1\000CD__ SCC F-CUP      1.00 1.02 99110-J7000         ', ],
-    (Ecu.esp, 0x7D4, None): [b'\xf1\000CD  MDPS C 1.00 1.06 56310-XX000 4CDEC106', ],
+    (Ecu.eps, 0x7D4, None): [b'\xf1\000CD  MDPS C 1.00 1.06 56310-XX000 4CDEC106', ],
    (Ecu.fwdCamera, 0x7C4, None): [b'\xf1\000CD  LKAS AT EUR LHD 1.00 1.01 99211-J7000 B40', ],
    (Ecu.engine, 0x7E0, None): [b'\001TCD-JECU4F202H0K', ],
    (Ecu.transmission, 0x7E1, None): [
@ -1198,11 +1209,11 @@ CHECKSUM = {
 FEATURES = {
  # which message has the gear
  "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
-  "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON_DIESEL_2019},
+  "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019},
  # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
-  "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, 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_DIESEL_2019},
+  "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, 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},
 }
 HDA2_CAR = {CAR.KIA_EV6, }
@ -1250,7 +1261,7 @@ DBC = {
  CAR.SANTA_FE_PHEV_2022: dbc_dict('hyundai_kia_generic', None),
  CAR.SONATA: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
  CAR.SONATA_LF: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
-  CAR.TUCSON_DIESEL_2019: dbc_dict('hyundai_kia_generic', None),
+  CAR.TUCSON: dbc_dict('hyundai_kia_generic', None),
  CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
  CAR.VELOSTER: dbc_dict('hyundai_kia_generic', None),
  CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None),
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@ -1,3 +1,4 @@
 import json
 import os
 import time
 from abc import abstractmethod, ABC
@ -19,6 +20,7 @@ EventName = car.CarEvent.EventName
 MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
 ACCEL_MAX = 2.0
 ACCEL_MIN = -3.5
 TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data.json')
 # generic car and radar interfaces
@ -81,7 +83,7 @@ class CarInterfaceBase(ABC):
    ret.steerControlType = car.CarParams.SteerControlType.torque
    ret.minSteerSpeed = 0.
    ret.wheelSpeedFactor = 1.0
-    ret.maxLateralAccel = float('nan')
+    ret.maxLateralAccel = CarInterfaceBase.get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED']
    ret.pcmCruise = True     # openpilot's state is tied to the PCM's cruise state on most cars
    ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
@ -105,6 +107,12 @@ class CarInterfaceBase(ABC):
    ret.steerLimitTimer = 1.0
    return ret
  @staticmethod
  def get_torque_params(candidate, default=float('NaN')):
    with open(TORQUE_PARAMS_PATH) as f:
      data = json.load(f)
    return {key: data[key].get(candidate, default) for key in data}
  @abstractmethod
  def _update(self, c: car.CarControl) -> car.CarState:
    pass
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@ -4,13 +4,13 @@ from functools import partial
 from typing import Optional
 import cereal.messaging as messaging
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr
 class IsoTpParallelQuery:
-  def __init__(self, sendcan, logcan, bus, addrs, request, response, response_offset=0x8, functional_addr=False, debug=False):
+  def __init__(self, sendcan, logcan, bus, addrs, request, response, response_offset=0x8, functional_addr=False, debug=False, response_pending_timeout=10):
    self.sendcan = sendcan
    self.logcan = logcan
    self.bus = bus
@ -18,6 +18,7 @@ class IsoTpParallelQuery:
    self.response = response
    self.debug = debug
    self.functional_addr = functional_addr
    self.response_pending_timeout = response_pending_timeout
    self.real_addrs = []
    for a in addrs:
@ -71,10 +72,7 @@ class IsoTpParallelQuery:
    messaging.drain_sock(self.logcan)
    self.msg_buffer = defaultdict(list)
-  def get_data(self, timeout, total_timeout=None):
+  def get_data(self, timeout, total_timeout=60.):
    if total_timeout is None:
      total_timeout = 10 * timeout
    self._drain_rx()
    # Create message objects
@ -100,7 +98,7 @@ class IsoTpParallelQuery:
    results = {}
    start_time = time.monotonic()
-    last_response_time = start_time
+    response_timeouts = {tx_addr: start_time + timeout for tx_addr in self.msg_addrs}
    while True:
      self.rx()
@ -123,21 +121,27 @@ class IsoTpParallelQuery:
        response_valid = dat[:len(expected_response)] == expected_response
        if response_valid:
-          last_response_time = time.monotonic()
+          response_timeouts[tx_addr] = time.monotonic() + timeout
          if counter + 1 < len(self.request):
            msg.send(self.request[counter + 1])
            request_counter[tx_addr] += 1
          else:
            results[tx_addr] = dat[len(expected_response):]
            request_done[tx_addr] = True
        else:
          error_code = dat[2] if len(dat) > 2 else -1
          if error_code == 0x78:
            response_timeouts[tx_addr] = time.monotonic() + self.response_pending_timeout
            if self.debug:
              cloudlog.warning(f"iso-tp query response pending: {tx_addr}")
          else:
            request_done[tx_addr] = True
            cloudlog.warning(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
      cur_time = time.monotonic()
-      if cur_time - last_response_time > timeout:
+      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]):
+          if request_counter[tx_addr] > 0 and not request_done[tx_addr]:
            cloudlog.warning(f"iso-tp query timeout after receiving response: {tx_addr}")
        break
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@ -25,7 +25,6 @@ class CarInterface(CarInterfaceBase):
    ret.dashcamOnly = candidate not in (CAR.CX5_2022, CAR.CX9_2021)
    ret.steerActuatorDelay = 0.1
    ret.steerRateCost = 1.0
    ret.steerLimitTimer = 0.8
    tire_stiffness_factor = 0.70   # not optimized yet
--- a/selfdrive/car/mock/interface.py
+++ b/selfdrive/car/mock/interface.py
@ -2,7 +2,7 @@
 import math
 from cereal import car
 from common.conversions import Conversions as CV
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@ -14,7 +14,6 @@ class CarInterface(CarInterfaceBase):
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
    ret.steerLimitTimer = 1.0
    ret.steerRateCost = 0.5
    ret.steerActuatorDelay = 0.1
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@ -22,7 +22,6 @@ class CarInterface(CarInterfaceBase):
    ret.dashcamOnly = candidate in PREGLOBAL_CARS
    ret.steerRateCost = 0.7
    ret.steerLimitTimer = 0.4
    if candidate == CAR.ASCENT:
@ -51,7 +50,6 @@ class CarInterface(CarInterfaceBase):
      ret.centerToFront = ret.wheelbase * 0.5
      ret.steerRatio = 17           # learned, 14 stock
      ret.steerActuatorDelay = 0.1
      ret.maxLateralAccel = 1.3
      ret.lateralTuning.pid.kf = 0.00005
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
@ -62,7 +60,6 @@ class CarInterface(CarInterfaceBase):
      ret.centerToFront = ret.wheelbase * 0.5
      ret.steerRatio = 17           # learned, 14 stock
      ret.steerActuatorDelay = 0.1
      ret.maxLateralAccel = 3.2
      ret.lateralTuning.pid.kf = 0.000038
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@ -41,7 +41,7 @@ class SubaruCarInfo(CarInfo):
 CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
-  CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20"),
+  CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20", "All"),
  CAR.IMPREZA: [
    SubaruCarInfo("Subaru Impreza 2017-19"),
    SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
@ -50,7 +50,7 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
    SubaruCarInfo("Subaru Impreza 2020-21"),
    SubaruCarInfo("Subaru Crosstrek 2020-21"),
  ],
-  CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21"),
+  CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"),
  CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"),
  CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"),
  CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"),
--- a/selfdrive/car/tesla/interface.py
+++ b/selfdrive/car/tesla/interface.py
@ -42,7 +42,6 @@ class CarInterface(CarInterfaceBase):
    ret.steerLimitTimer = 1.0
    ret.steerActuatorDelay = 0.25
    ret.steerRateCost = 0.5
    if candidate in (CAR.AP2_MODELS, CAR.AP1_MODELS):
      ret.mass = 2100. + STD_CARGO_KG
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@ -84,7 +84,7 @@ routes = [
  TestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
  TestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA),
  TestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF),
-  TestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON_DIESEL_2019),
+  TestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON),
  TestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
  TestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
  TestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019),
@ -144,6 +144,7 @@ routes = [
  TestRoute("ec429c0f37564e3c|2020-02-01--17-28-12", TOYOTA.LEXUS_NXH),
  TestRoute("964c09eb11ca8089|2020-11-03--22-04-00", TOYOTA.LEXUS_NX),
  TestRoute("3fd5305f8b6ca765|2021-04-28--19-26-49", TOYOTA.LEXUS_NX_TSS2),
  TestRoute("09ae96064ed85a14|2022-06-09--12-22-31", TOYOTA.LEXUS_NXH_TSS2),
  TestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2),
  TestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDERH_TSS2),
  TestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER),
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@ -1,4 +1,5 @@
 #!/usr/bin/env python3
 import math
 import unittest
 import importlib
 from parameterized import parameterized
@ -32,14 +33,15 @@ class TestCarInterfaces(unittest.TestCase):
    assert car_interface
    self.assertGreater(car_params.mass, 1)
    self.assertGreater(car_params.steerRateCost, 1e-3)
    if car_params.steerControlType != car.CarParams.SteerControlType.angle:
      tuning = car_params.lateralTuning.which()
      if tuning == 'pid':
        self.assertTrue(len(car_params.lateralTuning.pid.kpV))
      elif tuning == 'torque':
-        self.assertTrue(car_params.lateralTuning.torque.kf > 0)
+        kf = car_params.lateralTuning.torque.kf
        self.assertTrue(not math.isnan(kf) and kf > 0)
        self.assertTrue(not math.isnan(car_params.lateralTuning.torque.friction))
      elif tuning == 'indi':
        self.assertTrue(len(car_params.lateralTuning.indi.outerLoopGainV))
--- a/selfdrive/car/tests/test_docs.py
+++ b/selfdrive/car/tests/test_docs.py
@ -3,6 +3,7 @@ import unittest
 from selfdrive.car.car_helpers import interfaces, get_interface_attr
 from selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info
 from selfdrive.car.docs_definitions import Column, Star
 class TestCarDocs(unittest.TestCase):
@ -37,6 +38,11 @@ class TestCarDocs(unittest.TestCase):
        if "rav4" in tokens:
          self.assertIn("RAV4", car.model, "Use correct capitalization")
  def test_torque_star(self):
    for car in self.all_cars:
      if car.car_name == "honda":
        self.assertTrue(car.row[Column.STEERING_TORQUE] in (Star.EMPTY, Star.HALF), f"{car.name} has full torque star")
 if __name__ == "__main__":
  unittest.main()
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@ -121,7 +121,6 @@ class TestCarModelBase(unittest.TestCase):
    # make sure car params are within a valid range
    self.assertGreater(self.CP.mass, 1)
    self.assertGreater(self.CP.steerRateCost, 1e-3)
    if self.CP.steerControlType != car.CarParams.SteerControlType.angle:
      tuning = self.CP.lateralTuning.which()
--- a/selfdrive/car/torque_data.json
+++ b/selfdrive/car/torque_data.json
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@ -2,6 +2,7 @@
 from cereal import car
 from common.conversions import Conversions as CV
 from panda import Panda
 from selfdrive.controls.lib.latcontrol_torque import set_torque_tune
 from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune
 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, CarControllerParams
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
@ -31,6 +32,9 @@ class CarInterface(CarInterfaceBase):
    ret.stoppingControl = False  # Toyota starts braking more when it thinks you want to stop
    stop_and_go = False
    torque_params = CarInterfaceBase.get_torque_params(candidate)
    steering_angle_deadzone_deg = 0.0
    set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)
    if candidate == CAR.PRIUS:
      stop_and_go = True
@ -38,8 +42,11 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 15.74   # unknown end-to-end spec
      tire_stiffness_factor = 0.6371   # hand-tune
      ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.maxLateralAccel = 1.7
+      # Only give steer angle deadzone to for bad angle sensor prius
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.06)
+      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
          set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)
    elif candidate == CAR.PRIUS_V:
      stop_and_go = True
@ -47,8 +54,10 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 17.4
      tire_stiffness_factor = 0.5533
      ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG
      # TODO override until there is enough data
      ret.maxLateralAccel = 1.8
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.06)
+      torque_params = CarInterfaceBase.get_torque_params(CAR.PRIUS)
      set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)
    elif candidate in (CAR.RAV4, CAR.RAV4H):
      stop_and_go = True if (candidate in CAR.RAV4H) else False
@ -56,16 +65,12 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 16.88   # 14.5 is spec end-to-end
      tire_stiffness_factor = 0.5533
      ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
      ret.maxLateralAccel = 1.8
      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.06)
    elif candidate == CAR.COROLLA:
      ret.wheelbase = 2.70
      ret.steerRatio = 18.27
      tire_stiffness_factor = 0.444  # not optimized yet
      ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
      ret.maxLateralAccel = 2.8
      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.024)
    elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2):
      stop_and_go = True
@ -74,7 +79,6 @@ class CarInterface(CarInterfaceBase):
      ret.wheelSpeedFactor = 1.035
      tire_stiffness_factor = 0.5533
      ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
      ret.maxLateralAccel = 1.4
      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
    elif candidate in (CAR.CHR, CAR.CHRH):
@ -83,7 +87,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 13.6
      tire_stiffness_factor = 0.7933
      ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
      ret.maxLateralAccel = 1.3
      set_lat_tune(ret.lateralTuning, LatTunes.PID_F)
    elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
@ -92,11 +95,7 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 13.7
      tire_stiffness_factor = 0.7933
      ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      if candidate in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
+      if candidate not in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
        ret.maxLateralAccel = 2.4
        set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.05)
      else:
        ret.maxLateralAccel = 2.0
        set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
    elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
@ -105,7 +104,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 16.0
      tire_stiffness_factor = 0.8
      ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG  # 4260 + 4-5 people
      ret.maxLateralAccel = 2.0
      set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
    elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH):
@ -114,7 +112,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 16.0
      tire_stiffness_factor = 0.8
      ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid limited
      ret.maxLateralAccel = 1.8
      set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
    elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2):
@ -125,7 +122,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 14.8  # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
      tire_stiffness_factor = 0.7983
      ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
      ret.maxLateralAccel = 1.6
      set_lat_tune(ret.lateralTuning, LatTunes.PID_H)
    elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022):
@ -134,9 +130,12 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 14.3
      tire_stiffness_factor = 0.7933
      ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG  # Average between ICE and Hybrid
      ret.maxLateralAccel = 2.5
      set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
      # TODO: remove once there's data
      if candidate == CAR.RAV4_TSS2_2022:
        ret.maxLateralAccel = CarInterfaceBase.get_torque_params(CAR.RAV4H_TSS2_2022)['MAX_LAT_ACCEL_MEASURED']
      # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
      # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
      for fw in car_fw:
@ -150,8 +149,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 13.9
      tire_stiffness_factor = 0.444  # not optimized yet
      ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
      ret.maxLateralAccel = 2.0
      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.07)
    elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH):
      stop_and_go = True
@ -159,7 +156,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 16.0  # not optimized
      tire_stiffness_factor = 0.444  # not optimized yet
      ret.mass = 3677. * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
      ret.maxLateralAccel = 2.2
      set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
    elif candidate == CAR.SIENNA:
@ -168,7 +164,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 15.5
      tire_stiffness_factor = 0.444
      ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
      ret.maxLateralAccel = 1.6
      set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
    elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_RC):
@ -186,13 +181,12 @@ class CarInterface(CarInterfaceBase):
      ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
      set_lat_tune(ret.lateralTuning, LatTunes.PID_M)
-    elif candidate in (CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2):
+    elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NXH, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2):
      stop_and_go = True
      ret.wheelbase = 2.66
      ret.steerRatio = 14.7
      tire_stiffness_factor = 0.444  # not optimized yet
      ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
      ret.maxLateralAccel = 2.0
      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
    elif candidate == CAR.PRIUS_TSS2:
@ -201,7 +195,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 13.4   # True steerRatio from older prius
      tire_stiffness_factor = 0.6371   # hand-tune
      ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
      ret.maxLateralAccel = 2.0
      set_lat_tune(ret.lateralTuning, LatTunes.PID_N)
    elif candidate == CAR.MIRAI:
@ -210,7 +203,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 14.8
      tire_stiffness_factor = 0.8
      ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
      ret.maxLateralAccel = 2.4
      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
    elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2):
@ -221,7 +213,6 @@ class CarInterface(CarInterfaceBase):
      ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG
      set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
    ret.steerRateCost = 1.
    ret.centerToFront = ret.wheelbase * 0.44
    # TODO: get actual value, for now starting with reasonable value for
--- a/selfdrive/car/toyota/tunes.py
+++ b/selfdrive/car/toyota/tunes.py
@ -50,9 +50,9 @@ def set_long_tune(tune, name):
 ###### LAT ######
-def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=0.01, use_steering_angle=True):
+def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0, use_steering_angle=True):
  if name == LatTunes.TORQUE:
-    set_torque_tune(tune, MAX_LAT_ACCEL, FRICTION)
+    set_torque_tune(tune, MAX_LAT_ACCEL, FRICTION, steering_angle_deadzone_deg)
  elif 'PID' in str(name):
    tune.init('pid')
    tune.pid.kiBP = [0.0]
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@ -77,6 +77,7 @@ class CAR:
  LEXUS_NX = "LEXUS NX 2018"
  LEXUS_NXH = "LEXUS NX HYBRID 2018"
  LEXUS_NX_TSS2 = "LEXUS NX 2020"
  LEXUS_NXH_TSS2 = "LEXUS NX HYBRID 2020"
  LEXUS_RC = "LEXUS RC 2020"
  LEXUS_RX = "LEXUS RX 2016"
  LEXUS_RXH = "LEXUS RX HYBRID 2017"
@ -92,9 +93,6 @@ class Footnote(Enum):
  CAMRY = CarFootnote(
    "28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.",
    Column.FSR_LONGITUDINAL)
  ANGLE_SENSOR = CarFootnote(
    "An inaccurate steering wheel angle sensor makes precise control difficult.",
    Column.STEERING_TORQUE, star=Star.HALF)
@dataclass
@ -132,10 +130,10 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
  CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19", footnotes=[Footnote.DSU]),
  CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-22"),
  CAR.PRIUS: [
-    ToyotaCarInfo("Toyota Prius 2016-20", "TSS-P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU, Footnote.ANGLE_SENSOR]),
+    ToyotaCarInfo("Toyota Prius 2016-20", "TSS-P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
-    ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU, Footnote.ANGLE_SENSOR]),
+    ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
  ],
-  CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "TSS-P", min_enable_speed=MIN_ACC_SPEED, footnotes=[Footnote.DSU, Footnote.ANGLE_SENSOR]),
+  CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "TSS-P", min_enable_speed=MIN_ACC_SPEED, footnotes=[Footnote.DSU]),
  CAR.PRIUS_TSS2: [
    ToyotaCarInfo("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
    ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
@ -158,6 +156,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
  CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19", footnotes=[Footnote.DSU]),
  CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19", footnotes=[Footnote.DSU]),
  CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020"),
  CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020"),
  CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2020"),
  CAR.LEXUS_RX: ToyotaCarInfo("Lexus RX 2016-18", footnotes=[Footnote.DSU]),
  CAR.LEXUS_RXH: ToyotaCarInfo("Lexus RX Hybrid 2016-19", footnotes=[Footnote.DSU]),
@ -558,6 +557,7 @@ FW_VERSIONS = {
      b'\x033F401100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203102\x00\x00\x00\x00',
      b'\x033F401200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
      b'\x033F424000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
      b'\x033F424000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [
      b'8821F0W01000    ',
@ -1251,6 +1251,7 @@ FW_VERSIONS = {
      b'\x01F15260R220\x00\x00\x00\x00\x00\x00',
      b'\x01F15260R290\x00\x00\x00\x00\x00\x00',
      b'\x01F15260R300\x00\x00\x00\x00\x00\x00',
      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'\x01F152642700\x00\x00\x00\x00\x00\x00',
@ -1583,6 +1584,23 @@ FW_VERSIONS = {
      b'\x028646F7803100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
    ],
  },
  CAR.LEXUS_NXH_TSS2: {
    (Ecu.engine, 0x7e0, None): [
      b'\x0237887000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.esp, 0x7b0, None): [
      b'F152678210\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.eps, 0x7a1, None): [
      b'8965B78120\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [
      b'\x018821F3301400\x00\x00\x00\x00',
    ],
    (Ecu.fwdCamera, 0x750, 0x6d): [
      b'\x028646F78030A0\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
    ],
  },
  CAR.LEXUS_NXH: {
    (Ecu.engine, 0x7e0, None): [
      b'\x0237841000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
@ -1825,7 +1843,10 @@ FW_VERSIONS = {
  },
  CAR.MIRAI: {
    (Ecu.esp, 0x7D1, None): [b'\x01898A36203000\x00\x00\x00\x00',],
-    (Ecu.esp, 0x7B0, None): [b'\x01F15266203200\x00\x00\x00\x00',], # a second ESP ECU
+    (Ecu.esp, 0x7B0, None): [  # a second ESP ECU
      b'\x01F15266203200\x00\x00\x00\x00',
      b'\x01F15266203500\x00\x00\x00\x00',
    ],
    (Ecu.eps, 0x7A1, None): [b'\x028965B6204100\x00\x00\x00\x008965B6203100\x00\x00\x00\x00',],
    (Ecu.fwdRadar, 0x750, 0xf): [b'\x018821F6201200\x00\x00\x00\x00',],
    (Ecu.fwdCamera, 0x750, 0x6d): [b'\x028646F6201400\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',],
@ -1910,6 +1931,7 @@ DBC = {
  CAR.LEXUS_NXH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
  CAR.LEXUS_NX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
  CAR.LEXUS_NX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
  CAR.LEXUS_NXH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
  CAR.PRIUS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
  CAR.MIRAI: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
  CAR.ALPHARD_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
@ -1922,7 +1944,7 @@ EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_I
 # Toyota/Lexus Safety Sense 2.0 and 2.5
 TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
            CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2,
-            CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2}
+            CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2}
 NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
@ -1931,7 +1953,7 @@ RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022}
 EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.COROLLAH_TSS2, CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS,
                 CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH,
-                 CAR.LEXUS_RXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2}
+                 CAR.LEXUS_RXH_TSS2, CAR.LEXUS_NXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2}
 # no resume button press required
 NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH}
--- a/selfdrive/car/vin.py
+++ b/selfdrive/car/vin.py
@ -6,7 +6,7 @@ import cereal.messaging as messaging
 import panda.python.uds as uds
 from panda.python.uds import FUNCTIONAL_ADDRS
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 OBD_VIN_REQUEST = b'\x09\x02'
 OBD_VIN_RESPONSE = b'\x49\x02\x01'
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@ -45,7 +45,6 @@ class CarInterface(CarInterfaceBase):
    # Global lateral tuning defaults, can be overridden per-vehicle
    ret.steerActuatorDelay = 0.1
    ret.steerRateCost = 1.0
    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
@ -64,17 +63,14 @@ class CarInterface(CarInterfaceBase):
    elif candidate == CAR.ATLAS_MK1:
      ret.mass = 2011 + STD_CARGO_KG
      ret.wheelbase = 2.98
      ret.maxLateralAccel = 1.4
    elif candidate == CAR.GOLF_MK7:
      ret.mass = 1397 + STD_CARGO_KG
      ret.wheelbase = 2.62
      ret.maxLateralAccel = 1.5
    elif candidate == CAR.JETTA_MK7:
      ret.mass = 1328 + STD_CARGO_KG
      ret.wheelbase = 2.71
      ret.maxLateralAccel = 1.2
    elif candidate == CAR.PASSAT_MK8:
      ret.mass = 1551 + STD_CARGO_KG
@ -95,7 +91,6 @@ class CarInterface(CarInterfaceBase):
    elif candidate == CAR.TIGUAN_MK2:
      ret.mass = 1715 + STD_CARGO_KG
      ret.wheelbase = 2.74
      ret.maxLateralAccel = 1.1
    elif candidate == CAR.TOURAN_MK2:
      ret.mass = 1516 + STD_CARGO_KG
@ -113,7 +108,6 @@ class CarInterface(CarInterfaceBase):
    elif candidate == CAR.AUDI_A3_MK3:
      ret.mass = 1335 + STD_CARGO_KG
      ret.wheelbase = 2.61
      ret.maxLateralAccel = 1.7
    elif candidate == CAR.AUDI_Q2_MK1:
      ret.mass = 1205 + STD_CARGO_KG
@ -122,7 +116,6 @@ class CarInterface(CarInterfaceBase):
    elif candidate == CAR.AUDI_Q3_MK2:
      ret.mass = 1623 + STD_CARGO_KG
      ret.wheelbase = 2.68
      ret.maxLateralAccel = 1.6
    elif candidate == CAR.SEAT_ATECA_MK1:
      ret.mass = 1900 + STD_CARGO_KG
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@ -533,6 +533,7 @@ FW_VERSIONS = {
  },
  CAR.TIGUAN_MK2: {
    (Ecu.engine, 0x7e0, None): [
      b'\xf1\x8704E906027NB\xf1\x899504',
      b'\xf1\x8704L906026EJ\xf1\x893661',
      b'\xf1\x8704L906027G \xf1\x899893',
      b'\xf1\x875N0906259  \xf1\x890002',
@ -544,6 +545,7 @@ FW_VERSIONS = {
      b'\xf1\x8709G927158DT\xf1\x893698',
      b'\xf1\x8709G927158GC\xf1\x893821',
      b'\xf1\x8709G927158GD\xf1\x893820',
      b'\xf1\x870D9300043  \xf1\x895202',
      b'\xf1\x870DL300011N \xf1\x892001',
      b'\xf1\x870DL300011N \xf1\x892012',
      b'\xf1\x870DL300013A \xf1\x893005',
@ -555,11 +557,14 @@ FW_VERSIONS = {
      b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02316143231313500314641011750179333423100',
      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02312110031333300314240583752379333423100',
      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02331310031333336313140013950399333423100',
      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140013750379333423100',
      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140573752379333423100',
      b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1316143231313500314647021750179333613100',
    ],
    (Ecu.eps, 0x712, None): [
      b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603',
      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1',
      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600',
      b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\00571A60634A1',
      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60604A1',
      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A60604A1',
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -11,7 +11,7 @@ from common.params import Params, put_nonblocking
 import cereal.messaging as messaging
 from common.conversions import Conversions as CV
 from panda import ALTERNATIVE_EXPERIENCE
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 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.lane_planner import CAMERA_OFFSET
@ -27,7 +27,7 @@ from selfdrive.controls.lib.events import Events, ET
 from selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.locationd.calibrationd import Calibration
-from selfdrive.hardware import HARDWARE
+from system.hardware import HARDWARE
 from selfdrive.manager.process_config import managed_processes
 SOFT_DISABLE_TIME = 3  # seconds
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@ -38,6 +38,16 @@ class MPC_COST_LAT:
  STEER_RATE = 1.0
 def apply_deadzone(error, deadzone):
  if error > deadzone:
    error -= deadzone
  elif error < - deadzone:
    error += deadzone
  else:
    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)
@ -97,26 +107,27 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
    psis = [0.0]*CONTROL_N
    curvatures = [0.0]*CONTROL_N
    curvature_rates = [0.0]*CONTROL_N
  v_ego = max(v_ego, 0.1)
  # TODO this needs more thought, use .2s extra for now to estimate other delays
  delay = CP.steerActuatorDelay + .2
  current_curvature = curvatures[0]
  psi = interp(delay, T_IDXS[:CONTROL_N], psis)
  desired_curvature_rate = curvature_rates[0]
  # MPC can plan to turn the wheel and turn back before t_delay. This means
  # in high delay cases some corrections never even get commanded. So just use
  # psi to calculate a simple linearization of desired curvature
-  curvature_diff_from_psi = psi / (max(v_ego, 1e-1) * delay) - current_curvature
+  current_curvature_desired = curvatures[0]
-  desired_curvature = current_curvature + 2 * curvature_diff_from_psi
+  psi = interp(delay, T_IDXS[:CONTROL_N], psis)
  average_curvature_desired = psi / (v_ego * delay)
  desired_curvature = 2 * average_curvature_desired - current_curvature_desired
-  v_ego = max(v_ego, 0.1)
+  # This is the "desired rate of the setpoint" not an actual desired rate
  desired_curvature_rate = curvature_rates[0]
  max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2)
  safe_desired_curvature_rate = clip(desired_curvature_rate,
                                          -max_curvature_rate,
                                          max_curvature_rate)
  safe_desired_curvature = clip(desired_curvature,
-                                     current_curvature - max_curvature_rate * DT_MDL,
+                                     current_curvature_desired - max_curvature_rate * DT_MDL,
-                                     current_curvature + max_curvature_rate * DT_MDL)
+                                     current_curvature_desired + max_curvature_rate * DT_MDL)
  return safe_desired_curvature, safe_desired_curvature_rate
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@ -8,7 +8,7 @@ import cereal.messaging as messaging
 from common.conversions import Conversions as CV
 from common.realtime import DT_CTRL
 from selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
-from selfdrive.version import get_short_branch
+from system.version import get_short_branch
 AlertSize = log.ControlsState.AlertSize
 AlertStatus = log.ControlsState.AlertStatus
--- a/selfdrive/controls/lib/lane_planner.py
+++ b/selfdrive/controls/lib/lane_planner.py
@ -3,7 +3,7 @@ from cereal import log
 from common.filter_simple import FirstOrderFilter
 from common.numpy_fast import interp
 from common.realtime import DT_MDL
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 TRAJECTORY_SIZE = 33
--- a/selfdrive/controls/lib/latcontrol_indi.py
+++ b/selfdrive/controls/lib/latcontrol_indi.py
@ -78,6 +78,7 @@ class LatControlINDI(LatControl):
    steers_des += math.radians(params.angleOffsetDeg)
    indi_log.steeringAngleDesiredDeg = math.degrees(steers_des)
    # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
    rate_des = VM.get_steer_from_curvature(-desired_curvature_rate, CS.vEgo, 0)
    indi_log.steeringRateDesiredDeg = math.degrees(rate_des)
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@ -4,6 +4,7 @@ from cereal import log
 from common.numpy_fast import interp
 from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
 from selfdrive.controls.lib.pid import PIDController
 from selfdrive.controls.lib.drive_helpers import apply_deadzone
 from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 # At higher speeds (25+mph) we can assume:
@ -18,17 +19,17 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 # move it at all, this is compensated for too.
-LOW_SPEED_FACTOR = 200
+FRICTION_THRESHOLD = 0.2
 JERK_THRESHOLD = 0.2
-def set_torque_tune(tune, MAX_LAT_ACCEL=2.5, FRICTION=0.01):
+def set_torque_tune(tune, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0):
  tune.init('torque')
  tune.torque.useSteeringAngle = True
  tune.torque.kp = 1.0 / MAX_LAT_ACCEL
  tune.torque.kf = 1.0 / MAX_LAT_ACCEL
  tune.torque.ki = 0.1 / MAX_LAT_ACCEL
  tune.torque.friction = FRICTION
  tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg
 class LatControlTorque(LatControl):
@ -40,10 +41,7 @@ class LatControlTorque(LatControl):
    self.use_steering_angle = CP.lateralTuning.torque.useSteeringAngle
    self.friction = CP.lateralTuning.torque.friction
    self.kf = CP.lateralTuning.torque.kf
-
+    self.steering_angle_deadzone_deg = CP.lateralTuning.torque.steeringAngleDeadzoneDeg
  def reset(self):
    super().reset()
    self.pid.reset()
  def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
    pid_log = log.ControlsState.LateralTorqueState.new_message()
@ -54,22 +52,29 @@ class LatControlTorque(LatControl):
    else:
      if self.use_steering_angle:
        actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
        curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
      else:
        actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
        actual_curvature_llk = llk.angularVelocityCalibrated.value[2] / CS.vEgo
        actual_curvature = interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_llk])
        curvature_deadzone = 0.0
      desired_lateral_accel = desired_curvature * CS.vEgo ** 2
-      desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2
+
      # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
      #desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2
      actual_lateral_accel = actual_curvature * CS.vEgo ** 2
      lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
-      setpoint = desired_lateral_accel + LOW_SPEED_FACTOR * desired_curvature
+      low_speed_factor = interp(CS.vEgo, [0, 15], [500, 0])
-      measurement = actual_lateral_accel + LOW_SPEED_FACTOR * actual_curvature
+      setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
-      error = setpoint - measurement
+      measurement = actual_lateral_accel + low_speed_factor * actual_curvature
      error = apply_deadzone(setpoint - measurement, lateral_accel_deadzone)
      pid_log.error = error
      ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY
      # convert friction into lateral accel units for feedforward
-      friction_compensation = interp(desired_lateral_jerk, [-JERK_THRESHOLD, JERK_THRESHOLD], [-self.friction, self.friction])
+      friction_compensation = interp(error, [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-self.friction, self.friction])
      ff += friction_compensation / self.kf
      freeze_integrator = CS.steeringRateLimited or CS.steeringPressed or CS.vEgo < 5
      output_torque = self.pid.update(error,
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@ -1,7 +1,7 @@
 import numpy as np
 from common.realtime import sec_since_boot, DT_MDL
 from common.numpy_fast import interp
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
 from selfdrive.controls.lib.drive_helpers import CONTROL_N, MPC_COST_LAT, LAT_MPC_N, CAR_ROTATION_RADIUS
 from selfdrive.controls.lib.lane_planner import LanePlanner, TRAJECTORY_SIZE
@ -11,13 +11,12 @@ from cereal import log
 class LateralPlanner:
-  def __init__(self, CP, use_lanelines=True, wide_camera=False):
+  def __init__(self, use_lanelines=True, wide_camera=False):
    self.use_lanelines = use_lanelines
    self.LP = LanePlanner(wide_camera)
    self.DH = DesireHelper()
    self.last_cloudlog_t = 0
    self.steer_rate_cost = CP.steerRateCost
    self.solution_invalid_cnt = 0
    self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3))
@ -59,12 +58,12 @@ class LateralPlanner:
    # Calculate final driving path and set MPC costs
    if self.use_lanelines:
      d_path_xyz = self.LP.get_d_path(v_ego, self.t_idxs, self.path_xyz)
-      self.lat_mpc.set_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.HEADING, self.steer_rate_cost)
+      self.lat_mpc.set_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.HEADING, MPC_COST_LAT.STEER_RATE)
    else:
      d_path_xyz = self.path_xyz
      # Heading cost is useful at low speed, otherwise end of plan can be off-heading
      heading_cost = interp(v_ego, [5.0, 10.0], [MPC_COST_LAT.HEADING, 0.15])
-      self.lat_mpc.set_weights(MPC_COST_LAT.PATH, heading_cost, self.steer_rate_cost)
+      self.lat_mpc.set_weights(MPC_COST_LAT.PATH, heading_cost, MPC_COST_LAT.STEER_RATE)
    y_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:, 1])
    heading_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw)
@ -79,6 +78,9 @@ class LateralPlanner:
                     y_pts,
                     heading_pts)
    # init state for next
    # mpc.u_sol is the desired curvature rate given x0 curv state.
    # with x0[3] = measured_curvature, this would be the actual desired rate.
    # instead, interpolate x_sol so that x0[3] is the desired curvature for lat_control.
    self.x0[3] = interp(DT_MDL, self.t_idxs[:LAT_MPC_N + 1], self.lat_mpc.x_sol[:, 3])
    #  Check for infeasible MPC solution
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@ -1,7 +1,7 @@
 from cereal import car
 from common.numpy_fast import clip, interp
 from common.realtime import DT_CTRL
-from selfdrive.controls.lib.drive_helpers import CONTROL_N
+from selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone
 from selfdrive.controls.lib.pid import PIDController
 from selfdrive.modeld.constants import T_IDXS
@ -12,16 +12,6 @@ ACCEL_MIN_ISO = -3.5  # m/s^2
 ACCEL_MAX_ISO = 2.0  # m/s^2
 def apply_deadzone(error, deadzone):
  if error > deadzone:
    error -= deadzone
  elif error < - deadzone:
    error += deadzone
  else:
    error = 0.
  return error
 def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
                             v_target_future, brake_pressed, cruise_standstill):
  """Update longitudinal control state machine"""
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@ -4,7 +4,7 @@ import numpy as np
 from common.realtime import sec_since_boot
 from common.numpy_fast import clip, interp
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.modeld.constants import index_function
 from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@ -12,7 +12,7 @@ from selfdrive.controls.lib.longcontrol import LongCtrlState
 from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
 from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
 from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 LON_MPC_STEP = 0.2  # first step is 0.2s
 AWARENESS_DECEL = -0.2  # car smoothly decel at .2m/s^2 when user is distracted
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@ -2,7 +2,7 @@
 from cereal import car
 from common.params import Params
 from common.realtime import Priority, config_realtime_process
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.controls.lib.longitudinal_planner import Planner
 from selfdrive.controls.lib.lateral_planner import LateralPlanner
 import cereal.messaging as messaging
@ -22,7 +22,7 @@ def plannerd_thread(sm=None, pm=None):
  cloudlog.event("e2e mode", on=use_lanelines)
  longitudinal_planner = Planner(CP)
-  lateral_planner = LateralPlanner(CP, use_lanelines=use_lanelines, wide_camera=wide_camera)
+  lateral_planner = LateralPlanner(use_lanelines=use_lanelines, wide_camera=wide_camera)
  if sm is None:
    sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'modelV2'],
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@ -10,7 +10,7 @@ from common.params import Params
 from common.realtime import Ratekeeper, Priority, config_realtime_process
 from selfdrive.controls.lib.cluster.fastcluster_py import cluster_points_centroid
 from selfdrive.controls.lib.radar_helpers import Cluster, Track, RADAR_TO_CAMERA
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 class KalmanParams():
--- a/selfdrive/debug/count_events.py
+++ b/selfdrive/debug/count_events.py
@ -4,6 +4,7 @@ from collections import Counter
 from pprint import pprint
 from tqdm import tqdm
 from cereal.services import service_list
 from tools.lib.route import Route
 from tools.lib.logreader import LogReader
@ -13,6 +14,9 @@ if __name__ == "__main__":
  cnt_valid: Counter = Counter()
  cnt_events: Counter = Counter()
  cams = [s for s in service_list if s.endswith('CameraState')]
  cnt_cameras = dict.fromkeys(cams, 0)
  for q in tqdm(r.qlog_paths()):
    if q is None:
      continue
@ -21,12 +25,21 @@ if __name__ == "__main__":
      if msg.which() == 'carEvents':
        for e in msg.carEvents:
          cnt_events[e.name] += 1
      elif msg.which() in cams:
        cnt_cameras[msg.which()] += 1
      if not msg.valid:
        cnt_valid[msg.which()] += 1
  print("Events")
  pprint(cnt_events)
-  print("\n\n")
+  print("\n")
  print("Not valid")
  pprint(cnt_valid)
  print("\n")
  print("Cameras")
  for k, v in cnt_cameras.items():
    print("  ", k.ljust(20), v)
--- a/selfdrive/debug/disable_ecu.py
+++ b/selfdrive/debug/disable_ecu.py
@ -3,7 +3,7 @@ import traceback
 import cereal.messaging as messaging
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 EXT_DIAG_REQUEST = b'\x10\x03'
 EXT_DIAG_RESPONSE = b'\x50\x03'
--- a/selfdrive/hardware
+++ b/selfdrive/hardware
@ -0,0 +1 @@
 ../system/hardware/
--- a/Show More
+++ b/Show More
		`@ -1 +1 @@`
			`Subproject commit 7cbb4f1c8cb7cfc798a058c611801442b40feb52`				`Subproject commit 4b4d9aab03937f5a45677ff15efb275abf9c958b`
		`@ -1 +1 @@`
			`Subproject commit ba6ed3277cadfdc8697206784afbd7f9a223798b`				`Subproject commit a3a80dc4f7977b2232946e56a16770e413190818`
		`@ -1 +1 @@`
			`Subproject commit 7701277d2666119bc7fcaca9f8cfefd50cd5b071`				`Subproject commit a7b391cce88908824f1417f0c7abd35e3ae16f96`
		`@ -1 +1 @@`
			`Subproject commit 475a9a312410908abcaa32f2e48140fcbfc2362f`				`Subproject commit 42772b49e313688f8f96114806a72784f978e990`