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

3 years ago · 2c7662f5ec
parent 355e534d0d 9e3e49a81f
commit 2c7662f5ec
137 changed files with 11165 additions and 5948 deletions
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@ -105,7 +105,7 @@ jobs:
  #        /usr/local/Cellar
  #        ~/github_brew_cache_entries.txt
  #        /tmp/scons_cache
-  #      key: macos-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'Pipfile*') }}
+  #      key: macos-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'poetry.lock') }}
  #      restore-keys: macos-
  #  - name: Brew link restored dependencies
  #    run: |
@ -121,11 +121,11 @@ jobs:
  #  - name: Build openpilot
  #    run: |
  #      source tools/openpilot_env.sh
-  #      pipenv run selfdrive/manager/build.py
+  #      poetry run selfdrive/manager/build.py
  #
  #      # cleanup scons cache
  #      rm -rf /tmp/scons_cache/
-  #      pipenv run scons -j$(nproc) --cache-populate
+  #      poetry run scons -j$(nproc) --cache-populate
  #  - name: Remove pre-existing Homebrew packages for caching
  #    if: steps.dependency-cache.outputs.cache-hit != 'true'
  #    run: |
--- a/.gitignore
+++ b/.gitignore
@ -83,3 +83,5 @@ selfdrive/modeld/models/*.thneed
 build/

 !**/.gitkeep
+
+poetry.toml
--- a/.gitmodules
+++ b/.gitmodules
@ -18,4 +18,4 @@
  url = ../../commaai/body.git
 [submodule "tinygrad"]
  path = tinygrad_repo
-  url = ../../commaai/tinygrad.git
+  url = https://github.com/geohot/tinygrad.git
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@ -78,3 +78,7 @@ repos:
        entry: selfdrive/ui/tests/test_translations.py
        language: script
        pass_filenames: false
+-   repo: https://github.com/python-poetry/poetry
+    rev: '1.2.2'
+    hooks:
+    -   id: poetry-check
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@ -12,19 +12,19 @@ ENV LANG en_US.UTF-8
 ENV LANGUAGE en_US:en
 ENV LC_ALL en_US.UTF-8

-ENV PIPENV_SYSTEM=1
+ENV POETRY_VIRTUALENVS_CREATE=false
 ENV PYENV_VERSION=3.8.10
 ENV PYENV_ROOT="/root/.pyenv"
 ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"

-COPY Pipfile Pipfile.lock .python-version update_requirements.sh /tmp/
+COPY pyproject.toml poetry.lock .python-version update_requirements.sh /tmp/
 COPY tools/ubuntu_setup.sh /tmp/tools/
 RUN cd /tmp && \
    tools/ubuntu_setup.sh && \
    rm -rf /var/lib/apt/lists/* && \
    rm -rf /tmp/* && \
    rm -rf /root/.cache && \
-    pip uninstall -y pipenv && \
+    pip uninstall -y poetry && \
    # remove unused architectures from gcc for panda
    cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
    rm -rf arm/ && \
--- a/100
+++ b/100
@ -1,100 +0,0 @@
-[[source]]
-name = "pypi"
-url = "https://pypi.org/simple"
-verify_ssl = true
-
-[dev-packages]
-av = "*"
-azure-storage-blob = "~=2.1"
-control = "*"
-coverage = "*"
-dictdiffer = "*"
-fastcluster = "*"
-hexdump = "*"
-hypothesis = "==6.46.7"
-inputs = "*"
-lru-dict = "*"
-markdown-it-py = "*"
-matplotlib = "*"
-mypy = "*"
-myst-parser = "*"
-natsort = "*"
-numpy = "*"
-opencv-python-headless = "*"
-parameterized = "*"
-paramiko = "*"
-pprofile = "*"
-pre-commit = "*"
-pycurl = "*"
-pygame = "*"
-pyprof2calltree = "*"
-pytest = "*"
-pytest-xdist = "*"
-reverse_geocoder = "*"
-scipy = "*"
-sphinx = "*"
-sphinx-sitemap = "*"
-sphinx-rtd-theme = "*"
-breathe = "*"
-subprocess32 = "*"
-tenacity = "*"
-mpld3 = "*"
-carla = {version = "==0.9.13", markers="platform_system != 'Darwin'"}
-ft4222 = "*"
-pandas = "*"
-tabulate = "*"
-types-pyyaml = "*"
-lxml = "*"
-types-atomicwrites = "*"
-types-pycurl = "*"
-types-requests = "*"
-types-certifi = "*"
-
-[packages]
-atomicwrites = "*"
-casadi = {version = "*", markers="platform_system != 'Darwin'"}
-cffi = "*"
-crcmod = "*"
-cryptography = "*"
-Cython = "*"
-flake8 = "*"
-Flask = "*"
-future-fstrings = "*"  # for acados
-gunicorn = "*"
-hexdump = "*"
-Jinja2 = "*"
-json-rpc = "*"
-libusb1 = "*"
-nose = "*"
-numpy = "*"
-protobuf = "==3.20.1"
-onnx = "*"
-onnxruntime-gpu = {version = "*", markers="platform_system != 'Darwin'"}
-pillow = "*"
-psutil = "*"
-pycapnp = "==1.1.0"
-pycryptodome = "*"
-PyJWT = "*"
-pylint = "*"
-pyopencl = "*"
-pyserial = "*"
-python-dateutil = "*"
-PyYAML = "*"
-pyzmq = "*"
-requests = "*"
-scons = "*"
-sentry-sdk = "*"
-setproctitle = "*"
-six = "*"
-smbus2 = "*"
-sympy = "!=1.6.1"
-timezonefinder = "*"
-tqdm = "*"
-urllib3 = "*"
-utm = "*"
-websocket_client = "*"
-hatanaka = "==2.4"
-PySide2 = "*"
-
-[requires]
-python_version = "3.8"
--- a/Pipfile.lock
+++ b/Pipfile.lock
--- a/RELEASES.md
+++ b/RELEASES.md
@ -2,9 +2,11 @@ Version 0.8.17 (2022-XX-XX)
 ========================
 * New driving model
  * Internal feature space accuracy increased tenfold during training, this makes the model dramatically more accurate.
+* New driver monitoring model
+  * New end-to-end distracted trigger
 * Self-tuning torque lateral controller parameters
  * Parameters learned live for each car
-  * Enabled only on Toyota Corolla for now
+* Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models
 * UI updates
  * Multi-language in navigation
  * Matched speeds shown on car's dash
@ -12,6 +14,8 @@ Version 0.8.17 (2022-XX-XX)
  * Border turns grey while overriding steering
  * Added button to bookmark events while driving; view them later in comma connect
 * AGNOS 6
+* tools: new and improved cabana thanks to deanlee!
+* Kia Sportage Hybrid 2023 support thanks to sunnyhaibin!

 Version 0.8.16 (2022-08-26)
 ========================
--- a/1
+++ b/1
@ -327,6 +327,7 @@ qt_flags = [
 qt_env['CXXFLAGS'] += qt_flags
 qt_env['LIBPATH'] += ['#selfdrive/ui']
 qt_env['LIBS'] = qt_libs
+qt_env['QT_MOCHPREFIX'] = cache_dir + '/moc_files/moc_'

 if GetOption("clazy"):
  checks = [
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 5766e645f2ee2a131b145fb1ea9e3b7c55a4a740
+Subproject commit 1d25fc3f202d5ddeee97848480323e9b14f9bdfa
--- a/docs/CARS.md
+++ b/docs/CARS.md
@ -4,7 +4,7 @@

 A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.

-# 208 Supported Cars
+# 211 Supported Cars

 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
@ -18,8 +18,8 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
 |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
 |Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
-|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
+|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
 |Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
@ -32,7 +32,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
 |Genesis|G90 2017-18|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
 |GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
 |Honda|Accord 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
 |Honda|Accord Hybrid 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
@ -55,8 +55,10 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
 |Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
 |Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
+|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J|
+|Hyundai|i30 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
 |Hyundai|Ioniq 5 (with HDA II) 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|
 |Hyundai|Ioniq 5 (without HDA II) 2022|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
@ -100,6 +102,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
 |Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
 |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
+|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
 |Kia|Telluride 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
 |Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
@ -119,7 +122,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Lexus|RX Hybrid 2017-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
 |Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
 |Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Mazda|CX-5 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|
+|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|
 |Mazda|CX-9 2021-22|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|
 |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan B|
 |Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
--- a/docs/docker/Dockerfile
+++ b/docs/docker/Dockerfile
@ -4,16 +4,11 @@ ENV PYTHONUNBUFFERED 1

 ENV OPENPILOT_PATH /home/batman/openpilot/
 ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
+ENV POETRY_VIRUALENVS_CREATE false

 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
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit dde0ff6f4456c167df204bf5ac1e3f2979c844c9
+Subproject commit a95b0ae8a5244a9d6311bf72aa2a7d63d41b4a9f
--- a/poetry.lock
+++ b/poetry.lock
--- a/pyproject.toml
+++ b/pyproject.toml
@ -0,0 +1,177 @@
+[tool.poetry]
+name = "openpilot"
+version = "0.1.0"
+description = "an open source driver assistance system"
+authors = ["Vehicle Researcher <user@comma.ai>"]
+license = "MIT"
+readme = "README.md"
+repository = "https://github.com/commaai/openpilot"
+documentation = "https://docs.comma.ai"
+
+
+[tool.poetry.dependencies]
+python = "~3.8"
+atomicwrites = "^1.4.0"
+casadi = { version = "==3.5.5", markers = "platform_system != 'Darwin'" }
+cffi = "^1.15.1"
+crcmod = "^1.7"
+cryptography = "^37.0.4"
+Cython = "^0.29.30"
+flake8 = "^4.0.1"
+Flask = "^2.1.2"
+future-fstrings = "^1.2.0"  # for acados
+gunicorn = "^20.1.0"
+hatanaka = "==2.4"
+hexdump = "^3.3"
+Jinja2 = "^3.1.2"
+json-rpc = "^1.13.0"
+libusb1 = "^3.0.0"
+nose = "^1.3.7"
+numpy = "^1.23.0"
+onnx = "^1.12.0"
+onnxruntime-gpu = { version = "^1.11.1", markers = "platform_system != 'Darwin'" }
+pillow = "^9.2.0"
+poetry = "==1.2.2"
+protobuf = "==3.20.1"
+psutil = "^5.9.1"
+pycapnp = "==1.1.0"
+pycryptodome = "^3.15.0"
+PyJWT = "^2.5.0"
+pylint = "^2.15.4"
+pyopencl = "^2022.2.4"
+pyserial = "^3.5"
+python-dateutil = "^2.8.2"
+PyYAML = "^6.0"
+pyzmq = "^23.2.0"
+requests = "^2.28.1"
+scons = "^4.3.0"
+sentry-sdk = "^1.6.0"
+setproctitle = "^1.2.3"
+six = "^1.16.0"
+smbus2 = "^0.4.2"
+sympy = "^1.10.1"
+timezonefinder = "^6.0.1"
+tqdm = "^4.64.0"
+urllib3 = "^1.26.10"
+utm = "^0.7.0"
+websocket_client = "^1.3.3"
+
+
+[tool.poetry.group.dev.dependencies]
+av = "^9.2.0"
+azure-storage-blob = "~2.1"
+breathe = "^4.34.0"
+carla = "==0.9.13"
+control = "^0.9.2"
+coverage = "^6.4.1"
+dictdiffer = "^0.9.0"
+fastcluster = "^1.2.6"
+ft4222 = "^1.4.1"
+hexdump = "^3.3"
+hypothesis = "==6.46.7"
+inputs = "^0.5"
+lru-dict = "^1.1.7"
+lxml = "^4.9.1"
+markdown-it-py = "^2.1.0"
+matplotlib = "^3.5.2"
+mpld3 = "^0.5.8"
+mypy = "^0.961"
+myst-parser = "^0.18.0"
+natsort = "^8.1.0"
+numpy = "^1.23.0"
+opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl" }
+pandas = "^1.4.3"
+parameterized = "^0.8.1"
+paramiko = "^2.11.0"
+pprofile = "^2.1.0"
+pre-commit = "^2.19.0"
+pycurl = "^7.45.1"
+pygame = "^2.1.2"
+pyprof2calltree = "^1.4.5"
+pytest = "^7.1.2"
+pytest-xdist = "^2.5.0"
+reverse_geocoder = "^1.5.1"
+scipy = "^1.8.1"
+sphinx = "^5.0.2"
+sphinx-rtd-theme = "^1.0.0"
+sphinx-sitemap = "^2.2.0"
+subprocess32 = "^3.5.4"
+tabulate = "^0.8.10"
+tenacity = "^8.0.1"
+types-atomicwrites = "^1.4.5"
+types-certifi = "^2021.10.8"
+types-pycurl = "^7.45.1"
+types-PyYAML = "^6.0"
+types-requests = "^2.28.11"
+
+
+[tool.poetry.group.xx]
+optional = true
+
+[tool.poetry.group.xx.dependencies]
+aenum = "^3.1.11"
+aiohttp = "^3.8.1"
+albumentations = "^1.2.1"
+apex = { url = "https://github.com/commaai/apex/releases/download/pytorch1.10.0%2Bcu11.1/apex-0.1-cp38-cp38-linux_x86_64.whl" }
+azure-cli-core = "^2.38.0"
+azure-common = "^1.1.28"
+azure-core = "^1.24.2"
+azure-nspkg = "~3.0"
+azure-storage-blob = "~2.1"
+azure-storage-common = "~2.1"
+azure-storage-nspkg = "~3.1"
+blosc = "==1.9.2"
+cloudpickle = "^2.1.0"
+configargparse = "^1.5.3"
+cupy-cuda113 = "^10.6.0"
+datadog = "^0.44.0"
+dotmap = "^1.3.30"
+einops = "^0.5.0"
+elasticsearch = "^8.3.1"
+Flask-Cors = "^3.0.10"
+Flask-SocketIO = "^5.2.0"
+GeoAlchemy2 = "^0.12.1"
+imageio = "^2.19.5"
+influxdb-client = "^1.30.0"
+ipykernel = "^6.15.1"
+ipython = "^8.4.0"
+joblib = "^1.1.0"
+json-logging-py = "^0.2"
+jupyter = "^1.0.0"
+jupyterlab = "^3.4.4"
+jupyterlab-vim = "^0.15.1"
+Markdown = "^3.4.1"
+mpld3 = "^0.5.8"
+msgpack-python = "^0.5.6"
+networkx = "~2.3"
+nvidia-ml-py3 = "^7.352.0"
+onnxoptimizer = "^0.3.1"
+opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl" }
+osmium = "^3.3.0"
+pandas = "^1.4.3"
+pillow-avif-plugin = "^1.2.2"
+pipenv = "==2022.10.12"
+plotly = "^5.9.0"
+pycuda = "^2022.1"
+Pygments = "^2.12.0"
+PyMySQL = "~0.9"
+pyproj = "^3.3.1"
+python-logstash = "^0.4.8"
+redis = "^4.3.4"
+s2sphere = "^0.2.5"
+scikit-image = "^0.19.3"
+scikit-learn = "^1.1.1"
+segmentation-models-pytorch = "==0.2.1"
+simplejson = "^3.17.6"
+SQLAlchemy = "^1.4.39"
+torch = { url = "https://download.pytorch.org/whl/cu113/torch-1.11.0%2Bcu113-cp38-cp38-linux_x86_64.whl" }
+torchsummary = "^1.5.1"
+torchvision = { url = "https://download.pytorch.org/whl/cu113/torchvision-0.12.0%2Bcu113-cp38-cp38-linux_x86_64.whl" }
+triton = "^1.1.1"
+Werkzeug = "^2.1.2"
+zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "master" }
+
+
+[build-system]
+requires = ["poetry-core"]
+build-backend = "poetry.core.masonry.api"
--- a/release/files_common
+++ b/release/files_common
@ -565,6 +565,7 @@ opendbc/tesla_powertrain.dbc
 tinygrad_repo/openpilot/compile.py
 tinygrad_repo/accel/opencl/*
 tinygrad_repo/extra/onnx.py
+tinygrad_repo/extra/thneed.py
 tinygrad_repo/extra/utils.py
 tinygrad_repo/tinygrad/llops/ops_gpu.py
 tinygrad_repo/tinygrad/llops/ops_opencl.py
--- a/selfdrive/athena/tests/test_athenad.py
+++ b/selfdrive/athena/tests/test_athenad.py
@ -9,6 +9,7 @@ import threading
 import queue
 import unittest
 from datetime import datetime, timedelta
+from typing import Optional

 from multiprocessing import Process
 from pathlib import Path
@ -46,12 +47,26 @@ class TestAthenadMethods(unittest.TestCase):
      else:
        os.unlink(p)

-  def wait_for_upload(self):
+
+  # *** test helpers ***
+
+  @staticmethod
+  def _wait_for_upload():
    now = time.time()
    while time.time() - now < 5:
      if athenad.upload_queue.qsize() == 0:
        break

+  @staticmethod
+  def _create_file(file: str, parent: Optional[str] = None) -> str:
+    fn = os.path.join(athenad.ROOT if parent is None else parent, file)
+    os.makedirs(os.path.dirname(fn), exist_ok=True)
+    Path(fn).touch()
+    return fn
+
+
+  # *** test cases ***
+
  def test_echo(self):
    assert dispatcher["echo"]("bob") == "bob"

@ -85,9 +100,7 @@ class TestAthenadMethods(unittest.TestCase):
    filenames = ['qlog', 'qcamera.ts', 'rlog', 'fcamera.hevc', 'ecamera.hevc', 'dcamera.hevc']
    files = [f'{route}--{s}/{f}' for s in segments for f in filenames]
    for file in files:
-      fn = os.path.join(athenad.ROOT, file)
-      os.makedirs(os.path.dirname(fn), exist_ok=True)
-      Path(fn).touch()
+      self._create_file(file)

    resp = dispatcher["listDataDirectory"]()
    self.assertTrue(resp, 'list empty!')
@ -121,16 +134,14 @@ class TestAthenadMethods(unittest.TestCase):
    self.assertCountEqual(resp, expected)

  def test_strip_bz2_extension(self):
-    fn = os.path.join(athenad.ROOT, 'qlog.bz2')
-    Path(fn).touch()
+    fn = self._create_file('qlog.bz2')
    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')
-    Path(fn).touch()
+    fn = self._create_file('qlog.bz2')

    item = athenad.UploadItem(path=fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='')
    with self.assertRaises(requests.exceptions.ConnectionError):
@ -142,8 +153,7 @@ class TestAthenadMethods(unittest.TestCase):

  @with_http_server
  def test_uploadFileToUrl(self, host):
-    fn = os.path.join(athenad.ROOT, 'qlog.bz2')
-    Path(fn).touch()
+    fn = self._create_file('qlog.bz2')

    resp = dispatcher["uploadFileToUrl"]("qlog.bz2", f"{host}/qlog.bz2", {})
    self.assertEqual(resp['enqueued'], 1)
@ -154,8 +164,7 @@ class TestAthenadMethods(unittest.TestCase):

  @with_http_server
  def test_uploadFileToUrl_duplicate(self, host):
-    fn = os.path.join(athenad.ROOT, 'qlog.bz2')
-    Path(fn).touch()
+    self._create_file('qlog.bz2')

    url1 = f"{host}/qlog.bz2?sig=sig1"
    dispatcher["uploadFileToUrl"]("qlog.bz2", url1, {})
@ -172,8 +181,7 @@ class TestAthenadMethods(unittest.TestCase):

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

    end_event = threading.Event()
@ -182,7 +190,7 @@ class TestAthenadMethods(unittest.TestCase):

    athenad.upload_queue.put_nowait(item)
    try:
-      self.wait_for_upload()
+      self._wait_for_upload()
      time.sleep(0.1)

      # TODO: verify that upload actually succeeded
@ -195,8 +203,7 @@ class TestAthenadMethods(unittest.TestCase):
  def test_upload_handler_retry(self, host, mock_put):
    for status, retry in ((500, True), (412, False)):
      mock_put.return_value.status_code = status
-      fn = os.path.join(athenad.ROOT, 'qlog.bz2')
-      Path(fn).touch()
+      fn = self._create_file('qlog.bz2')
      item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)

      end_event = threading.Event()
@ -205,7 +212,7 @@ class TestAthenadMethods(unittest.TestCase):

      athenad.upload_queue.put_nowait(item)
      try:
-        self.wait_for_upload()
+        self._wait_for_upload()
        time.sleep(0.1)

        self.assertEqual(athenad.upload_queue.qsize(), 1 if retry else 0)
@ -217,8 +224,7 @@ class TestAthenadMethods(unittest.TestCase):

  def test_upload_handler_timeout(self):
    """When an upload times out or fails to connect it should be placed back in the queue"""
-    fn = os.path.join(athenad.ROOT, 'qlog.bz2')
-    Path(fn).touch()
+    fn = self._create_file('qlog.bz2')
    item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
    item_no_retry = item._replace(retry_count=MAX_RETRY_COUNT)

@ -228,14 +234,14 @@ class TestAthenadMethods(unittest.TestCase):

    try:
      athenad.upload_queue.put_nowait(item_no_retry)
-      self.wait_for_upload()
+      self._wait_for_upload()
      time.sleep(0.1)

      # Check that upload with retry count exceeded is not put back
      self.assertEqual(athenad.upload_queue.qsize(), 0)

      athenad.upload_queue.put_nowait(item)
-      self.wait_for_upload()
+      self._wait_for_upload()
      time.sleep(0.1)

      # Check that upload item was put back in the queue with incremented retry count
@ -256,7 +262,7 @@ class TestAthenadMethods(unittest.TestCase):
    thread = threading.Thread(target=athenad.upload_handler, args=(end_event,))
    thread.start()
    try:
-      self.wait_for_upload()
+      self._wait_for_upload()
      time.sleep(0.1)

      self.assertEqual(athenad.upload_queue.qsize(), 0)
@ -269,8 +275,7 @@ class TestAthenadMethods(unittest.TestCase):
    ts = int(t_future.strftime("%s")) * 1000

    # Item that would time out if actually uploaded
-    fn = os.path.join(athenad.ROOT, 'qlog.bz2')
-    Path(fn).touch()
+    fn = self._create_file('qlog.bz2')
    item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=ts, id='', allow_cellular=True)


@ -279,7 +284,7 @@ class TestAthenadMethods(unittest.TestCase):
    thread.start()
    try:
      athenad.upload_queue.put_nowait(item)
-      self.wait_for_upload()
+      self._wait_for_upload()
      time.sleep(0.1)

      self.assertEqual(athenad.upload_queue.qsize(), 0)
@ -292,8 +297,7 @@ class TestAthenadMethods(unittest.TestCase):

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

    end_event = threading.Event()
@ -302,7 +306,7 @@ class TestAthenadMethods(unittest.TestCase):

    try:
      athenad.upload_queue.put_nowait(item)
-      self.wait_for_upload()
+      self._wait_for_upload()

      items = dispatcher["listUploadQueue"]()
      self.assertEqual(len(items), 1)
@ -405,9 +409,9 @@ class TestAthenadMethods(unittest.TestCase):
  def test_get_logs_to_send_sorted(self):
    fl = list()
    for i in range(10):
-      fn = os.path.join(swaglog.SWAGLOG_DIR, f'swaglog.{i:010}')
-      Path(fn).touch()
-      fl.append(os.path.basename(fn))
+      file = f'swaglog.{i:010}'
+      self._create_file(file, athenad.SWAGLOG_DIR)
+      fl.append(file)

    # ensure the list is all logs except most recent
    sl = athenad.get_logs_to_send_sorted()
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@ -76,7 +76,7 @@ interfaces = load_interfaces(interface_names)


 # **** for use live only ****
-def fingerprint(logcan, sendcan):
+def fingerprint(logcan, sendcan, num_pandas):
  fixed_fingerprint = os.environ.get('FINGERPRINT', "")
  skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
  ecu_rx_addrs = set()
@ -100,7 +100,7 @@ def fingerprint(logcan, sendcan):
      cloudlog.warning("Getting VIN & FW versions")
      vin_rx_addr, vin = get_vin(logcan, sendcan, bus)
      ecu_rx_addrs = get_present_ecus(logcan, sendcan)
-      car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs)
+      car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas)
      cached = False

    exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
@ -173,8 +173,8 @@ def fingerprint(logcan, sendcan):
  return car_fingerprint, finger, vin, car_fw, source, exact_match


-def get_car(logcan, sendcan):
-  candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan)
+def get_car(logcan, sendcan, num_pandas=1):
+  candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)

  if candidate is None:
    cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@ -194,14 +194,14 @@ def get_brand_ecu_matches(ecu_rx_addrs):
  return brand_matches


-def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=False, progress=False):
+def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False):
  """Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""

  all_car_fw = []
  brand_matches = get_brand_ecu_matches(ecu_rx_addrs)

  for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True):
-    car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, debug=debug, progress=progress)
+    car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress)
    all_car_fw.extend(car_fw)
    # Try to match using FW returned from this brand only
    matches = match_fw_to_car_exact(build_fw_dict(car_fw))
@ -211,7 +211,7 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa
  return all_car_fw


-def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, debug=False, progress=False):
+def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False):
  versions = VERSIONS.copy()

  # Each brand can define extra ECUs to query for data collection
@ -252,6 +252,10 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
  for addr in tqdm(addrs, disable=not progress):
    for addr_chunk in chunks(addr):
      for brand, r in requests:
+        # Skip query if no panda available
+        if r.bus > num_pandas * 4 - 1:
+          continue
+
        try:
          addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and
                   (len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)]
@ -292,6 +296,7 @@ if __name__ == "__main__":
  args = parser.parse_args()

  logcan = messaging.sub_sock('can')
+  pandaStates_sock = messaging.sub_sock('pandaStates')
  sendcan = messaging.pub_sock('sendcan')

  extra: Any = None
@ -305,6 +310,7 @@ if __name__ == "__main__":
    extra = {"any": {"debug": extra}}

  time.sleep(1.)
+  num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates)

  t = time.time()
  print("Getting vin...")
@ -314,7 +320,7 @@ if __name__ == "__main__":
  print()

  t = time.time()
-  fw_vers = get_fw_versions(logcan, sendcan, query_brand=args.brand, extra=extra, debug=args.debug, progress=True)
+  fw_vers = get_fw_versions(logcan, sendcan, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True)
  _, candidates = match_fw_to_car(fw_vers)

  print()
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@ -10,6 +10,9 @@ from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButt
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 NetworkLocation = car.CarParams.NetworkLocation

+# Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
+CAMERA_CANCEL_DELAY_FRAMES = 10
+

 class CarController:
  def __init__(self, dbc_name, CP, VM):
@ -19,7 +22,9 @@ class CarController:
    self.apply_gas = 0
    self.apply_brake = 0
    self.frame = 0
+    self.last_steer_frame = 0
    self.last_button_frame = 0
+    self.cancel_counter = 0

    self.lka_steering_cmd_counter = 0
    self.sent_lka_steering_cmd = False
@ -42,15 +47,21 @@ class CarController:
    # Send CAN commands.
    can_sends = []

-    # Steering (50Hz)
+    # Steering (Active: 50Hz, inactive: 10Hz)
+    # Attempt to sync with camera on startup at 50Hz, first few msgs are blocked
+    init_lka_counter = not self.sent_lka_steering_cmd and self.CP.networkLocation == NetworkLocation.fwdCamera
+    steer_step = self.params.INACTIVE_STEER_STEP
+    if CC.latActive or init_lka_counter:
+      steer_step = self.params.ACTIVE_STEER_STEP
+
    # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we just received the
    # next Panda loopback confirmation in the current CS frame.
    if CS.loopback_lka_steering_cmd_updated:
      self.lka_steering_cmd_counter += 1
      self.sent_lka_steering_cmd = True
-    elif (self.frame % self.params.STEER_STEP) == 0:
-      # Initialize ASCMLKASteeringCmd counter using the camera
-      if not self.sent_lka_steering_cmd and self.CP.networkLocation == NetworkLocation.fwdCamera:
+    elif (self.frame - self.last_steer_frame) >= steer_step:
+      # Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus
+      if init_lka_counter:
        self.lka_steering_cmd_counter = CS.camera_lka_steering_cmd_counter + 1

      if CC.latActive:
@ -59,6 +70,7 @@ class CarController:
      else:
        apply_steer = 0

+      self.last_steer_frame = self.frame
      self.apply_steer_last = apply_steer
      idx = self.lka_steering_cmd_counter % 4
      can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive))
@ -67,8 +79,8 @@ class CarController:
      # Gas/regen, brakes, and UI commands - all at 25Hz
      if self.frame % 4 == 0:
        if not CC.longActive:
-          # Stock ECU sends max regen when not enabled
-          self.apply_gas = self.params.MAX_ACC_REGEN
+          # ASCM sends max regen when not enabled
+          self.apply_gas = self.params.INACTIVE_REGEN
          self.apply_brake = 0
        else:
          if self.CP.carFingerprint in EV_CAR:
@ -111,12 +123,21 @@ class CarController:
        can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)

    else:
+      # While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.
+      # A delayed cancellation allows camera to cancel and avoids a fault when user depresses brake quickly
+      self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0
+
      # Stock longitudinal, integrated at camera
      if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
-        if CC.cruiseControl.cancel:
+        if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
          self.last_button_frame = self.frame
          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))

+    if self.CP.networkLocation == NetworkLocation.fwdCamera:
+      # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
+      if self.frame % 10 == 0:
+        can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status))
+
    # Show green icon when LKA torque is applied, and
    # alarming orange icon when approaching torque limit.
    # If not sent again, LKA icon disappears in about 5 seconds.
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@ -1,3 +1,4 @@
+import copy
 from cereal import car
 from common.conversions import Conversions as CV
 from common.numpy_fast import mean
@ -8,6 +9,7 @@ from selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD

 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
+STANDSTILL_THRESHOLD = 10 * 0.0311 * CV.KPH_TO_MS


 class CarState(CarStateBase):
@ -25,9 +27,10 @@ class CarState(CarStateBase):
    self.prev_cruise_buttons = self.cruise_buttons
    self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
    self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
+    self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])

    # Variables used for avoiding LKAS faults
-    self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]) > 0
+    self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
    if self.CP.networkLocation == NetworkLocation.fwdCamera:
      self.camera_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]

@ -39,7 +42,8 @@ class CarState(CarStateBase):
    )
    ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = ret.vEgoRaw < 0.01
+    # sample rear wheel speeds, standstill=True if ECM allows engagement with brake
+    ret.standstill = ret.wheelSpeeds.rl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD

    if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1:
      ret.gearShifter = self.parse_gear_shifter("T")
@ -51,12 +55,7 @@ class CarState(CarStateBase):
    # To avoid a cruise fault we need to match the ECM's brake pressed signal and threshold
    # https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf
    ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
-    if self.CP.networkLocation != NetworkLocation.fwdCamera:
    ret.brakePressed = ret.brake >= 8
-    else:
-      # While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.
-      # Match ECM threshold at a standstill to allow the camera to cancel earlier
-      ret.brakePressed = ret.brake >= 20

    # Regen braking is braking
    if self.CP.transmissionType == TransmissionType.direct:
@ -96,9 +95,7 @@ class CarState(CarStateBase):
    ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
    if self.CP.networkLocation == NetworkLocation.fwdCamera:
      ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
-
      ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
-      ret.stockFcw = cam_cp.vl["ASCMActiveCruiseControlStatus"]["FCWAlert"] != 0

    return ret

@ -110,7 +107,6 @@ class CarState(CarStateBase):
      signals += [
        ("AEBCmdActive", "AEBCmd"),
        ("RollingCounter", "ASCMLKASteeringCmd"),
-        ("FCWAlert", "ASCMActiveCruiseControlStatus"),
        ("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"),
      ]
      checks += [
@ -148,6 +144,11 @@ class CarState(CarStateBase):
      ("LKADriverAppldTrq", "PSCMStatus"),
      ("LKATorqueDelivered", "PSCMStatus"),
      ("LKATorqueDeliveredStatus", "PSCMStatus"),
+      ("HandsOffSWlDetectionStatus", "PSCMStatus"),
+      ("HandsOffSWDetectionMode", "PSCMStatus"),
+      ("LKATotalTorqueDelivered", "PSCMStatus"),
+      ("PSCMStatusChecksum", "PSCMStatus"),
+      ("RollingCounter", "PSCMStatus"),
      ("TractionControlOn", "ESPStatus"),
      ("ParkBrake", "VehicleIgnitionAlt"),
      ("CruiseMainOn", "ECMEngineStatus"),
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@ -1,5 +1,6 @@
 from selfdrive.car import make_can_msg

+
 def create_buttons(packer, bus, idx, button):
  values = {
    "ACCButtons": button,
@ -7,8 +8,15 @@ def create_buttons(packer, bus, idx, button):
  }
  return packer.make_can_msg("ASCMSteeringButton", bus, values)

-def create_steering_control(packer, bus, apply_steer, idx, lkas_active):

+def create_pscm_status(packer, bus, pscm_status):
+  checksum_mod = int(1 - pscm_status["HandsOffSWlDetectionStatus"]) << 5
+  pscm_status["HandsOffSWlDetectionStatus"] = 1
+  pscm_status["PSCMStatusChecksum"] += checksum_mod
+  return packer.make_can_msg("PSCMStatus", bus, pscm_status)
+
+
+def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
  values = {
    "LKASteeringCmdActive": lkas_active,
    "LKASteeringCmd": apply_steer,
@ -18,15 +26,17 @@ def create_steering_control(packer, bus, apply_steer, idx, lkas_active):

  return packer.make_can_msg("ASCMLKASteeringCmd", bus, values)

+
 def create_adas_keepalive(bus):
  dat = b"\x00\x00\x00\x00\x00\x00\x00"
  return [make_can_msg(0x409, dat, bus), make_can_msg(0x40a, dat, bus)]

-def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, at_full_stop):
+
+def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
  values = {
-    "GasRegenCmdActive": acc_engaged,
+    "GasRegenCmdActive": enabled,
    "RollingCounter": idx,
-    "GasRegenCmdActiveInv": 1 - acc_engaged,
+    "GasRegenCmdActiveInv": 1 - enabled,
    "GasRegenCmd": throttle,
    "GasRegenFullStopActive": at_full_stop,
    "GasRegenAlwaysOne": 1,
@ -41,6 +51,7 @@ def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, at_full_st

  return packer.make_can_msg("ASCMGasRegenCmd", bus, values)

+
 def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_full_stop):
  mode = 0x1
  if apply_brake > 0:
@ -65,15 +76,16 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_f

  return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)

-def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lead_car_in_sight, fcw):
+
+def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, lead_car_in_sight, fcw):
  target_speed = min(target_speed_kph, 255)

  values = {
    "ACCAlwaysOne": 1,
    "ACCResumeButton": 0,
    "ACCSpeedSetpoint": target_speed,
-    "ACCGapLevel" : 3 * acc_engaged,  # 3 "far", 0 "inactive"
-    "ACCCmdActive" : acc_engaged,
+    "ACCGapLevel": 3 * enabled,  # 3 "far", 0 "inactive"
+    "ACCCmdActive": enabled,
    "ACCAlwaysOne2": 1,
    "ACCLeadCar": lead_car_in_sight,
    "FCWAlert": 0x3 if fcw else 0
@ -81,6 +93,7 @@ def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lea

  return packer.make_can_msg("ASCMActiveCruiseControlStatus", bus, values)

+
 def create_adas_time_status(bus, tt, idx):
  dat = [(tt >> 20) & 0xff, (tt >> 12) & 0xff, (tt >> 4) & 0xff,
         ((tt & 0xf) << 4) + (idx << 2)]
@ -89,12 +102,14 @@ def create_adas_time_status(bus, tt, idx):
  dat += [0x40 + (chksum >> 8), chksum & 0xff, 0x12]
  return make_can_msg(0xa1, bytes(dat), bus)

+
 def create_adas_steering_status(bus, idx):
  dat = [idx << 6, 0xf0, 0x20, 0, 0, 0]
  chksum = 0x60 + sum(dat)
  dat += [chksum >> 8, chksum & 0xff]
  return make_can_msg(0x306, bytes(dat), bus)

+
 def create_adas_accelerometer_speed_status(bus, speed_ms, idx):
  spd = int(speed_ms * 16) & 0xfff
  accel = 0 & 0xfff
@ -108,6 +123,7 @@ def create_adas_accelerometer_speed_status(bus, speed_ms, idx):
  dat += [(idx << 5) + (far_range_mode << 4) + (near_range_mode << 3) + (chksum >> 8), chksum & 0xff]
  return make_can_msg(0x308, bytes(dat), bus)

+
 def create_adas_headlights_status(packer, bus):
  values = {
    "Always42": 0x42,
@ -115,6 +131,7 @@ def create_adas_headlights_status(packer, bus):
  }
  return packer.make_can_msg("ASCMHeadlight", bus, values)

+
 def create_lka_icon_command(bus, active, critical, steer):
  if active and steer == 1:
    if critical:
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@ -62,11 +62,14 @@ class CarInterface(CarInterfaceBase):
      ret.radarOffCan = True  # no radar
      ret.pcmCruise = True
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
+      ret.minEnableSpeed = 5 * CV.KPH_TO_MS
    else:  # ASCM, OBD-II harness
      ret.openpilotLongitudinalControl = True
      ret.networkLocation = NetworkLocation.gateway
      ret.radarOffCan = False
      ret.pcmCruise = False  # stock non-adaptive cruise control is kept off
+      # supports stop and go, but initial engage must (conservatively) be above 18mph
+      ret.minEnableSpeed = 18 * CV.MPH_TO_MS

    # 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
@ -90,9 +93,6 @@ class CarInterface(CarInterfaceBase):
    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
@ -153,7 +153,6 @@ class CarInterface(CarInterfaceBase):
      tire_stiffness_factor = 1.0

    elif candidate in (CAR.BOLT_EV, CAR.BOLT_EUV):
-      ret.minEnableSpeed = -1
      ret.mass = 1669. + STD_CARGO_KG
      ret.wheelbase = 2.63779
      ret.steerRatio = 16.8
@ -163,7 +162,6 @@ class CarInterface(CarInterfaceBase):
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    elif candidate == CAR.SILVERADO:
-      ret.minEnableSpeed = -1
      ret.mass = 2200. + STD_CARGO_KG
      ret.wheelbase = 3.75
      ret.steerRatio = 16.3
@ -172,7 +170,6 @@ class CarInterface(CarInterfaceBase):
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    elif candidate == CAR.EQUINOX:
-      ret.minEnableSpeed = -1
      ret.mass = 3500. * CV.LB_TO_KG + STD_CARGO_KG
      ret.wheelbase = 2.72
      ret.steerRatio = 14.4
@ -207,19 +204,16 @@ class CarInterface(CarInterfaceBase):
                                                         GearShifter.eco, GearShifter.manumatic],
                                       pcm_enable=self.CP.pcmCruise)

-    if ret.vEgo < self.CP.minEnableSpeed:
+    # Enabling at a standstill with brake is allowed
+    # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
+    if ret.vEgo < self.CP.minEnableSpeed and not (ret.standstill and ret.brake >= 20 and
+                                                  self.CP.networkLocation == NetworkLocation.fwdCamera):
      events.add(EventName.belowEngageSpeed)
    if ret.cruiseState.standstill:
      events.add(EventName.resumeRequired)
    if ret.vEgo < self.CP.minSteerSpeed:
      events.add(EventName.belowSteerSpeed)

-    if self.CP.networkLocation == NetworkLocation.fwdCamera and self.CP.pcmCruise:
-      # The ECM has a higher brake pressed threshold than the camera, causing an
-      # ACC fault when you engage at a stop with your foot partially on the brake
-      if ret.vEgoRaw < 0.1 and ret.brake < 20:
-        events.add(EventName.gmAccFaultedTemp)
-
    ret.events = events.to_msg()

    return ret
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@ -11,7 +11,8 @@ Ecu = car.CarParams.Ecu

 class CarControllerParams:
  STEER_MAX = 300  # GM limit is 3Nm. Used by carcontroller to generate LKA output
-  STEER_STEP = 2  # Control frames per command (50hz)
+  ACTIVE_STEER_STEP = 2  # Active control frames per command (50hz)
+  INACTIVE_STEER_STEP = 10  # Inactive control frames per command (10hz)
  STEER_DELTA_UP = 7  # Delta rates require review due to observed EPS weakness
  STEER_DELTA_DOWN = 17
  STEER_DRIVER_ALLOWANCE = 50
@ -30,6 +31,7 @@ class CarControllerParams:
  ZERO_GAS = 2048  # Coasting
  MAX_BRAKE = 400  # ~ -4.0 m/s^2 with regen
  MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
+  INACTIVE_REGEN = 1404

  # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
  # perform the closed loop control, and might need some
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@ -105,7 +105,6 @@ class Footnote(Enum):
@dataclass
 class HondaCarInfo(CarInfo):
  package: str = "Honda Sensing"
-  min_steer_speed: float = 12. * CV.MPH_TO_MS


 CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
@ -114,31 +113,31 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
    HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
  ],
  CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
-  CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", harness=Harness.nidec, video_link="https://youtu.be/-IkImTe1NYE"),
+  CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec, video_link="https://youtu.be/-IkImTe1NYE"),
  CAR.CIVIC_BOSCH: [
-    HondaCarInfo("Honda Civic 2019-21", "All", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a),
-    HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch_a),
+    HondaCarInfo("Honda Civic 2019-21", "All", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], 2. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+    HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.bosch_a),
  ],
  CAR.CIVIC_BOSCH_DIESEL: None,  # same platform
  CAR.CIVIC_2022: [
-    HondaCarInfo("Honda Civic 2022", "All", min_steer_speed=0., harness=Harness.bosch_b),
-    HondaCarInfo("Honda Civic Hatchback 2022", "All", min_steer_speed=0., harness=Harness.bosch_b),
+    HondaCarInfo("Honda Civic 2022", "All", harness=Harness.bosch_b),
+    HondaCarInfo("Honda Civic Hatchback 2022", "All", harness=Harness.bosch_b),
  ],
  CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS, harness=Harness.nidec),
-  CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", harness=Harness.nidec),
-  CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", harness=Harness.bosch_a),
+  CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
+  CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.bosch_a),
  CAR.CRV_EU: None,  # HondaCarInfo("Honda CR-V EU", "Touring"),  # Euro version of CRV Touring
-  CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", harness=Harness.bosch_a),
-  CAR.FIT: HondaCarInfo("Honda Fit 2018-20", harness=Harness.nidec),
-  CAR.FREED: HondaCarInfo("Honda Freed 2020", harness=Harness.nidec),
-  CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", harness=Harness.nidec),
-  CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", min_steer_speed=0., harness=Harness.nidec),
+  CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+  CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
+  CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
+  CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
+  CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", harness=Harness.nidec),
  CAR.ODYSSEY_CHN: None,  # Chinese version of Odyssey
-  CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", harness=Harness.nidec),
+  CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
  CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
-  CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", harness=Harness.nidec),
-  CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", harness=Harness.nidec),
-  CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", harness=Harness.nidec),
+  CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
+  CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
+  CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
  CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
  CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
 }
@ -447,7 +446,7 @@ FW_VERSIONS = {
      b'78109-TED-Q510\x00\x00',
      b'78109-TEG-A310\x00\x00',
    ],
-    (Ecu.fwdCamera, 0x18dab0f1, None): [
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'36161-TBA-A020\x00\x00',
      b'36161-TBA-A030\x00\x00',
      b'36161-TBA-A040\x00\x00',
@ -965,7 +964,7 @@ FW_VERSIONS = {
      b'77959-THR-A110\x00\x00',
      b'77959-THR-X010\x00\x00',
    ],
-    (Ecu.fwdCamera, 0x18dab0f1, None): [
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'36161-THR-A020\x00\x00',
      b'36161-THR-A030\x00\x00',
      b'36161-THR-A110\x00\x00',
@ -1069,7 +1068,7 @@ FW_VERSIONS = {
      b'39990-TG7-A070\x00\x00',
      b'39990-TGS-A230\x00\x00',
    ],
-    (Ecu.fwdCamera, 0x18dab0f1, None): [
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'36161-TG7-A310\x00\x00',
      b'36161-TG7-A520\x00\x00',
      b'36161-TG7-A630\x00\x00',
@ -1177,7 +1176,7 @@ FW_VERSIONS = {
      b'57114-TX5-A220\x00\x00',
      b'57114-TX4-A220\x00\x00',
    ],
-    (Ecu.fwdCamera, 0x18dab0f1, None): [
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'36161-TX5-A030\x00\x00',
      b'36161-TX4-A030\x00\x00',
    ],
@ -1274,7 +1273,7 @@ FW_VERSIONS = {
      b'39990-T6Z-A030\x00\x00',
      b'39990-T6Z-A050\x00\x00',
    ],
-    (Ecu.fwdCamera, 0x18dab0f1, None): [
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'36161-T6Z-A020\x00\x00',
      b'36161-T6Z-A310\x00\x00',
      b'36161-T6Z-A420\x00\x00',
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@ -90,13 +90,27 @@ class CarController:
        addr, bus = 0x730, 5
      can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus])

+    # >90 degree steering fault prevention
+    # Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault
+    if CC.latActive and abs(CS.out.steeringAngleDeg) >= MAX_ANGLE:
+      self.angle_limit_counter += 1
+    else:
+      self.angle_limit_counter = 0
+
+    # Cut steer actuation bit for two frames and hold torque with induced temporary fault
+    torque_fault = CC.latActive and self.angle_limit_counter > MAX_ANGLE_FRAMES
+    lat_active = CC.latActive and not torque_fault
+
+    if self.angle_limit_counter >= MAX_ANGLE_FRAMES + MAX_ANGLE_CONSECUTIVE_FRAMES:
+      self.angle_limit_counter = 0
+
    # CAN-FD platforms
    if self.CP.carFingerprint in CANFD_CAR:
      hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2
      hda2_long = hda2 and self.CP.openpilotLongitudinalControl

      # steering control
-      can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, CC.enabled, CC.latActive, apply_steer))
+      can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, CC.enabled, lat_active, apply_steer))

      # disable LFA on HDA2
      if self.frame % 5 == 0 and hda2:
@ -121,29 +135,19 @@ class CarController:
              self.last_button_frame = self.frame
            else:
              for _ in range(20):
-                can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL))
+                can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.CANCEL))
              self.last_button_frame = self.frame

          # cruise standstill resume
          elif CC.cruiseControl.resume:
-            if not (self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
+            if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
+              # TODO: resume for alt button cars
+              pass
+            else:
              for _ in range(20):
-                can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
+                can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.RES_ACCEL))
              self.last_button_frame = self.frame
    else:
-      # Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault
-      if CC.latActive and abs(CS.out.steeringAngleDeg) >= MAX_ANGLE:
-        self.angle_limit_counter += 1
-      else:
-        self.angle_limit_counter = 0
-
-      # Cut steer actuation bit for two frames and hold torque with induced temporary fault
-      torque_fault = CC.latActive and self.angle_limit_counter > MAX_ANGLE_FRAMES
-      lat_active = CC.latActive and not torque_fault
-
-      if self.angle_limit_counter >= MAX_ANGLE_FRAMES + MAX_ANGLE_CONSECUTIVE_FRAMES:
-        self.angle_limit_counter = 0
-
      can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active,
                                                torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
                                                hud_control.leftLaneVisible, hud_control.rightLaneVisible,
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@ -159,7 +159,7 @@ class CarState(CarStateBase):
    elif self.CP.carFingerprint in HYBRID_CAR:
      ret.gas = cp.vl["ACCELERATOR_ALT"]["ACCELERATOR_PEDAL"] / 1023.
    ret.gasPressed = ret.gas > 1e-5
-    ret.brakePressed = cp.vl["BRAKE"]["BRAKE_PRESSED"] == 1
+    ret.brakePressed = cp.vl["TCS"]["DriverBraking"] == 1

    ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR_OPEN"] == 1
    ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT_LATCHED"] == 0
@ -187,15 +187,18 @@ class CarState(CarStateBase):

    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"]["LEFT_LAMP"],
                                                                      cp.vl["BLINKERS"]["RIGHT_LAMP"])
+    if self.CP.enableBsm:
+      ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0
+      ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0

    ret.cruiseState.available = True
-    ret.cruiseState.enabled = cp.vl["SCC1"]["CRUISE_ACTIVE"] == 1
    self.is_metric = cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] != 1
    if not self.CP.openpilotLongitudinalControl:
      speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
      cp_cruise_info = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
      ret.cruiseState.speed = cp_cruise_info.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor
      ret.cruiseState.standstill = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1
+      ret.cruiseState.enabled = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STATUS"] != 0
      self.cruise_info = copy.copy(cp_cruise_info.vl["CRUISE_INFO"])

    cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
@ -415,7 +418,6 @@ class CarState(CarStateBase):
      ("WHEEL_SPEED_4", "WHEEL_SPEEDS"),

      ("GEAR", "GEAR_SHIFTER"),
-      ("BRAKE_PRESSED", "BRAKE"),

      ("STEERING_RATE", "STEERING_SENSORS"),
      ("STEERING_ANGLE", "STEERING_SENSORS"),
@ -423,7 +425,8 @@ class CarState(CarStateBase):
      ("STEERING_OUT_TORQUE", "MDPS"),
      ("LKA_FAULT", "MDPS"),

-      ("CRUISE_ACTIVE", "SCC1"),
+      ("DriverBraking", "TCS"),
+
      ("COUNTER", cruise_btn_msg),
      ("CRUISE_BUTTONS", cruise_btn_msg),
      ("ADAPTIVE_CRUISE_MAIN_BTN", cruise_btn_msg),
@ -443,15 +446,25 @@ class CarState(CarStateBase):
      ("BRAKE", 100),
      ("STEERING_SENSORS", 100),
      ("MDPS", 100),
-      ("SCC1", 50),
+      ("TCS", 50),
      (cruise_btn_msg, 50),
      ("CLUSTER_INFO", 4),
      ("BLINKERS", 4),
      ("DOORS_SEATBELTS", 4),
    ]

+    if CP.enableBsm:
+      signals += [
+        ("FL_INDICATOR", "BLINDSPOTS_REAR_CORNERS"),
+        ("FR_INDICATOR", "BLINDSPOTS_REAR_CORNERS"),
+      ]
+      checks += [
+        ("BLINDSPOTS_REAR_CORNERS", 20),
+      ]
+
    if CP.flags & HyundaiFlags.CANFD_HDA2 and not CP.openpilotLongitudinalControl:
      signals += [
+        ("CRUISE_STATUS", "CRUISE_INFO"),
        ("SET_SPEED", "CRUISE_INFO"),
        ("CRUISE_STANDSTILL", "CRUISE_INFO"),
      ]
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@ -3,7 +3,7 @@ from selfdrive.car.hyundai.values import HyundaiFlags

 def get_e_can_bus(CP):
  # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars
-  # have a a different harness than the HDA1 and non-HDA variants in order to split
+  # have a different harness than the HDA1 and non-HDA variants in order to split
  # a different bus, since the steering is done by different ECUs.
  return 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4

@ -39,13 +39,15 @@ def create_cam_0x2a4(packer, camera_values):
  })
  return packer.make_can_msg("CAM_0x2a4", 4, camera_values)

-def create_buttons(packer, cnt, btn):
+def create_buttons(packer, CP, cnt, btn):
  values = {
    "COUNTER": cnt,
    "SET_ME_1": 1,
    "CRUISE_BUTTONS": btn,
  }
-  return packer.make_can_msg("CRUISE_BUTTONS", 5, values)
+
+  bus = 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 6
+  return packer.make_can_msg("CRUISE_BUTTONS", bus, values)

 def create_acc_cancel(packer, CP, cruise_info_copy):
  values = cruise_info_copy
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@ -8,6 +8,7 @@ from selfdrive.car import STD_CARGO_KG, create_button_event, scale_rot_inertia,
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.disable_ecu import disable_ecu

+Ecu = car.CarParams.Ecu
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
 ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
@ -30,11 +31,11 @@ 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}
+    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }

    if candidate in CANFD_CAR:
-      # detect HDA2 with LKAS message
-      if 0x50 in fingerprint[6]:
+      # detect HDA2 with ADAS Driving ECU
+      if Ecu.adas in [fw.ecu for fw in car_fw]:
        ret.flags |= HyundaiFlags.CANFD_HDA2.value
      else:
        # non-HDA2
@ -44,141 +45,92 @@ class CarInterface(CarInterfaceBase):
    ret.steerActuatorDelay = 0.1  # Default delay
    ret.steerLimitTimer = 0.4
    tire_stiffness_factor = 1.
+    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    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
      ret.wheelbase = 2.766
      # Values from optimizer
      ret.steerRatio = 16.55  # 13.8 is spec end-to-end
      tire_stiffness_factor = 0.82
-      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.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
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
    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.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:
-      ret.lateralTuning.pid.kf = 0.00005
      ret.mass = 1999. + STD_CARGO_KG
      ret.wheelbase = 2.90
      ret.steerRatio = 15.6 * 1.15
      tire_stiffness_factor = 0.63
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-    elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
-      ret.lateralTuning.pid.kf = 0.00006
+    elif candidate == CAR.ELANTRA:
      ret.mass = 1275. + STD_CARGO_KG
      ret.wheelbase = 2.7
      ret.steerRatio = 15.4            # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
      tire_stiffness_factor = 0.385    # stiffnessFactor settled on 1.0081302973865127
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      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.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG
      ret.wheelbase = 2.72
      ret.steerRatio = 12.9
      tire_stiffness_factor = 0.65
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
    elif candidate == CAR.ELANTRA_HEV_2021:
      ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG
      ret.wheelbase = 2.72
      ret.steerRatio = 12.9
      tire_stiffness_factor = 0.65
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
    elif candidate == CAR.HYUNDAI_GENESIS:
-      ret.lateralTuning.pid.kf = 0.00005
      ret.mass = 2060. + STD_CARGO_KG
      ret.wheelbase = 3.01
      ret.steerRatio = 16.5
-      ret.lateralTuning.init('indi')
-      ret.lateralTuning.indi.innerLoopGainBP = [0.]
-      ret.lateralTuning.indi.innerLoopGainV = [3.5]
-      ret.lateralTuning.indi.outerLoopGainBP = [0.]
-      ret.lateralTuning.indi.outerLoopGainV = [2.0]
-      ret.lateralTuning.indi.timeConstantBP = [0.]
-      ret.lateralTuning.indi.timeConstantV = [1.4]
-      ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
-      ret.lateralTuning.indi.actuatorEffectivenessV = [2.3]
      ret.minSteerSpeed = 60 * CV.KPH_TO_MS
    elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
      ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.) + STD_CARGO_KG
      ret.wheelbase = 2.6
      ret.steerRatio = 13.42  # Spec
      tire_stiffness_factor = 0.385
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
    elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
-      ret.lateralTuning.pid.kf = 0.00006
      ret.mass = 1490. + STD_CARGO_KG  # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
      ret.wheelbase = 2.7
      ret.steerRatio = 13.73  # Spec
      tire_stiffness_factor = 0.385
-      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):
        ret.minSteerSpeed = 32 * CV.MPH_TO_MS
    elif candidate == CAR.IONIQ_PHEV_2019:
      ret.mass = 1550. + STD_CARGO_KG  # weight per hyundai site https://www.hyundaiusa.com/us/en/vehicles/2019-ioniq-plug-in-hybrid/compare-specs
      ret.wheelbase = 2.7
      ret.steerRatio = 13.73
-      ret.lateralTuning.init('indi')
-      ret.lateralTuning.indi.innerLoopGainBP = [0.]
-      ret.lateralTuning.indi.innerLoopGainV = [2.5]
-      ret.lateralTuning.indi.outerLoopGainBP = [0.]
-      ret.lateralTuning.indi.outerLoopGainV = [3.5]
-      ret.lateralTuning.indi.timeConstantBP = [0.]
-      ret.lateralTuning.indi.timeConstantV = [1.4]
-      ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
-      ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
      ret.minSteerSpeed = 32 * CV.MPH_TO_MS
    elif candidate == CAR.VELOSTER:
-      ret.lateralTuning.pid.kf = 0.00005
      ret.mass = 3558. * CV.LB_TO_KG
      ret.wheelbase = 2.80
      ret.steerRatio = 13.75 * 1.15
      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:
-      ret.lateralTuning.pid.kf = 0.00005
      ret.mass = 3520. * CV.LB_TO_KG
      ret.wheelbase = 2.67
      ret.steerRatio = 14.00 * 1.15
      tire_stiffness_factor = 0.385
-      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_HYBRID_4TH_GEN:
      ret.mass = 1680. + STD_CARGO_KG  # average of all 3 trims
      ret.wheelbase = 2.756
      ret.steerRatio = 16.
      tire_stiffness_factor = 0.385
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    # Kia
    elif candidate == CAR.KIA_SORENTO:
-      ret.lateralTuning.pid.kf = 0.00005
      ret.mass = 1985. + STD_CARGO_KG
      ret.wheelbase = 2.78
      ret.steerRatio = 14.4 * 1.1   # 10% higher at the center seems reasonable
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
    elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021):
-      ret.lateralTuning.pid.kf = 0.00006
      ret.mass = 1737. + STD_CARGO_KG
      ret.wheelbase = 2.7
      ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73  # Spec
      tire_stiffness_factor = 0.385
-      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_PHEV:
        ret.minSteerSpeed = 32 * CV.MPH_TO_MS
    elif candidate == CAR.KIA_SELTOS:
@ -186,15 +138,6 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.63
      ret.steerRatio = 14.56
      tire_stiffness_factor = 1
-      ret.lateralTuning.init('indi')
-      ret.lateralTuning.indi.innerLoopGainBP = [0.]
-      ret.lateralTuning.indi.innerLoopGainV = [4.]
-      ret.lateralTuning.indi.outerLoopGainBP = [0.]
-      ret.lateralTuning.indi.outerLoopGainV = [3.]
-      ret.lateralTuning.indi.timeConstantBP = [0.]
-      ret.lateralTuning.indi.timeConstantV = [1.4]
-      ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
-      ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
    elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H):
      ret.mass = 3558. * CV.LB_TO_KG
      ret.wheelbase = 2.80
@ -202,87 +145,58 @@ class CarInterface(CarInterfaceBase):
      tire_stiffness_factor = 0.5
      if candidate == CAR.KIA_OPTIMA_G4:
        ret.minSteerSpeed = 32 * CV.MPH_TO_MS
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
    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.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:
-      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.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
    elif candidate == CAR.KIA_CEED:
-      ret.lateralTuning.pid.kf = 0.00005
      ret.mass = 1450. + STD_CARGO_KG
      ret.wheelbase = 2.65
      ret.steerRatio = 13.75
      tire_stiffness_factor = 0.5
-      ret.lateralTuning.pid.kf = 0.00005
-      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_K5_2021:
-      ret.lateralTuning.pid.kf = 0.00005
      ret.mass = 3228. * CV.LB_TO_KG
      ret.wheelbase = 2.85
      ret.steerRatio = 13.27  # 2021 Kia K5 Steering Ratio (all trims)
      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.KIA_EV6:
      ret.mass = 2055 + STD_CARGO_KG
      ret.wheelbase = 2.9
      ret.steerRatio = 16.
      tire_stiffness_factor = 0.65
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
    elif candidate == CAR.IONIQ_5:
      ret.mass = 2012 + STD_CARGO_KG
      ret.wheelbase = 3.0
      ret.steerRatio = 16.
      tire_stiffness_factor = 0.65
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+    elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN:
+      ret.mass = 1767. + STD_CARGO_KG  # SX Prestige trim support only
+      ret.wheelbase = 2.756
+      ret.steerRatio = 13.6

    # Genesis
    elif candidate == CAR.GENESIS_G70:
-      ret.lateralTuning.init('indi')
-      ret.lateralTuning.indi.innerLoopGainBP = [0.]
-      ret.lateralTuning.indi.innerLoopGainV = [2.5]
-      ret.lateralTuning.indi.outerLoopGainBP = [0.]
-      ret.lateralTuning.indi.outerLoopGainV = [3.5]
-      ret.lateralTuning.indi.timeConstantBP = [0.]
-      ret.lateralTuning.indi.timeConstantV = [1.4]
-      ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
-      ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
      ret.steerActuatorDelay = 0.1
      ret.mass = 1640.0 + STD_CARGO_KG
      ret.wheelbase = 2.84
      ret.steerRatio = 13.56
    elif candidate == CAR.GENESIS_G70_2020:
-      ret.lateralTuning.pid.kf = 0.
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.112], [0.004]]
      ret.mass = 3673.0 * CV.LB_TO_KG + STD_CARGO_KG
      ret.wheelbase = 2.83
      ret.steerRatio = 12.9
    elif candidate == CAR.GENESIS_G80:
-      ret.lateralTuning.pid.kf = 0.00005
      ret.mass = 2060. + STD_CARGO_KG
      ret.wheelbase = 3.01
      ret.steerRatio = 16.5
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
    elif candidate == CAR.GENESIS_G90:
      ret.mass = 2200
      ret.wheelbase = 3.15
      ret.steerRatio = 12.069
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]

    # *** longitudinal control ***
    if candidate in CANFD_CAR:
@ -305,6 +219,13 @@ class CarInterface(CarInterfaceBase):
    ret.vEgoStarting = 0.1
    ret.startAccel = 2.0

+    # *** feature detection ***
+    if candidate in CANFD_CAR:
+      bus = 5 if ret.flags & HyundaiFlags.CANFD_HDA2 else 4
+      ret.enableBsm = 0x1e5 in fingerprint[bus]
+    else:
+      ret.enableBsm = 0x58b in fingerprint[0]
+
    # *** panda safety config ***
    if candidate in CANFD_CAR:
      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
@ -315,8 +236,6 @@ class CarInterface(CarInterfaceBase):
      if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
        ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
    else:
-      ret.enableBsm = 0x58b in fingerprint[0]
-
      if candidate in LEGACY_SAFETY_MODE_CAR:
        # these cars require a special panda safety mode due to missing counters and checksums in the messages
        ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
--- a/selfdrive/car/hyundai/tests/test_hyundai.py
+++ b/selfdrive/car/hyundai/tests/test_hyundai.py
@ -0,0 +1,29 @@
+#!/usr/bin/env python3
+import unittest
+
+from cereal import car
+from selfdrive.car.car_helpers import get_interface_attr
+from selfdrive.car.fw_versions import FW_QUERY_CONFIGS
+from selfdrive.car.hyundai.values import CANFD_CAR
+
+Ecu = car.CarParams.Ecu
+
+ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
+VERSIONS = get_interface_attr("FW_VERSIONS", ignore_none=True)
+
+
+class TestHyundaiFingerprint(unittest.TestCase):
+  def test_auxiliary_request_ecu_whitelist(self):
+    # Asserts only auxiliary Ecus can exist in database for CAN-FD cars
+    config = FW_QUERY_CONFIGS['hyundai']
+    whitelisted_ecus = {ecu for r in config.requests for ecu in r.whitelist_ecus if r.bus > 3}
+
+    for car_model in CANFD_CAR:
+      ecus = {fw[0] for fw in VERSIONS['hyundai'][car_model].keys()}
+      ecus_not_in_whitelist = ecus - whitelisted_ecus
+      ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_in_whitelist])
+      self.assertEqual(len(ecus_not_in_whitelist), 0, f'{car_model}: Car model has ECUs not in auxiliary request whitelists: {ecu_strings}')
+
+
+if __name__ == "__main__":
+  unittest.main()
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@ -34,9 +34,9 @@ class CarControllerParams:

    # To determine the limit for your car, find the maximum value that the stock LKAS will request.
    # If the max stock LKAS request is <384, add your car to this list.
-    elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ,
+    elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.IONIQ,
                               CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
-                               CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER):
+                               CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO):
      self.STEER_MAX = 255

    # Default for most HKG
@ -54,7 +54,6 @@ class CAR:
  ELANTRA = "HYUNDAI ELANTRA 2017"
  ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
  ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021"
-  ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT"
  HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016"
  IONIQ = "HYUNDAI IONIQ HYBRID 2017-2019"
  IONIQ_HEV_2022 = "HYUNDAI IONIQ HYBRID 2020-2022"
@ -90,6 +89,7 @@ class CAR:
  KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
  KIA_SELTOS = "KIA SELTOS 2021"
  KIA_SORENTO = "KIA SORENTO GT LINE 2018"
+  KIA_SPORTAGE_HYBRID_5TH_GEN = "KIA SPORTAGE HYBRID 5TH GEN"
  KIA_STINGER = "KIA STINGER GT2 2018"
  KIA_CEED = "KIA CEED INTRO ED 2019"
  KIA_EV6 = "KIA EV6 2022"
@ -107,13 +107,13 @@ class HyundaiCarInfo(CarInfo):


 CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
-  CAR.ELANTRA: HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b),
-  CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
-  CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
-  CAR.ELANTRA_GT_I30: [
+  CAR.ELANTRA: [
+    HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b),
    HyundaiCarInfo("Hyundai Elantra GT 2017-19", harness=Harness.hyundai_e),
    HyundaiCarInfo("Hyundai i30 2019", harness=Harness.hyundai_e),
  ],
+  CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
+  CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
  CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j),  # TODO: check 2015 packages
  CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c),
  CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", harness=Harness.hyundai_h),  # TODO: confirm 2020-21 harness
@ -172,6 +172,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
    HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", "https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c),
    HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e),
  ],
+  CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", harness=Harness.hyundai_n),
  CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
  CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e),
  CAR.KIA_EV6: [
@ -197,15 +198,6 @@ FINGERPRINTS = {
  CAR.ELANTRA: [{
    66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 832: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
  }],
-  CAR.ELANTRA_GT_I30: [{
-    66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1193: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1952: 8, 1960: 8, 1988: 8, 2000: 8, 2001: 8, 2005: 8, 2008: 8, 2009: 8, 2013: 8, 2017: 8, 2025: 8
-  },
-  {
-    66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8
-  },
-  {
-    66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1960: 8, 1990: 8, 1998: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
-  }],
  CAR.HYUNDAI_GENESIS: [{
    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
  },
@ -290,17 +282,35 @@ HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x4

 FW_QUERY_CONFIG = FwQueryConfig(
  requests=[
+    # TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD
+    # CAN queries (OBD-II port)
    Request(
      [HYUNDAI_VERSION_REQUEST_LONG],
      [HYUNDAI_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera],
    ),
    Request(
      [HYUNDAI_VERSION_REQUEST_MULTI],
      [HYUNDAI_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar],
+    ),
+    # CAN-FD queries (camera)
+    Request(
+      [HYUNDAI_VERSION_REQUEST_LONG],
+      [HYUNDAI_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar],
+      bus=4,
+    ),
+    Request(
+      [HYUNDAI_VERSION_REQUEST_LONG],
+      [HYUNDAI_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar],
+      bus=5,
    ),
  ],
  extra_ecus=[
    (Ecu.adas, 0x730, None),         # ADAS Driving ECU on HDA2 platforms
+    (Ecu.cornerRadar, 0x7b7, None),
  ],
 )

@ -741,6 +751,7 @@ FW_VERSIONS = {
      b'\xf1\x81640E0051\x00\x00\x00\x00\x00\x00\x00\x00',
      b'\xf1\x82CKJN3TMSDE0B\x00\x00\x00\x00',
      b'\xf1\x82CKKN3TMD_H0A\x00\x00\x00\x00',
+      b'\xe0\x19\xff\xe7\xe7g\x01\xa2\x00\x0f\x00\x9e\x00\x06\x00\xff\xff\xff\xff\xff\xff\x00\x00\xff\xff\xff\xff\xff\xff\x00\x00\x0f\x0e\x0f\x0f\x0e\r\x00\x00\x7f\x02.\xff\x00\x00~p\x00\x00\x00\x00u\xff\xf9\xff\x00\x00\x00\x00V\t\xd5\x01\xc0\x00\x00\x00\x007\xfb\xfc\x0b\x8d\x00',
    ],
    (Ecu.eps, 0x7d4, None): [
      b'\xf1\x00CK  MDPS R 1.00 1.04 57700-J5200 4C2CL104',
@ -763,10 +774,14 @@ FW_VERSIONS = {
      b'\xf1\x87VDKLJ18675252DK6\x89vhgwwwwveVU\x88w\x87w\x99vgf\x97vXfgw_\xff\xc2\xfb\xf1\x89E25\x00\x00\x00\x00\x00\x00\x00\xf1\x82TCK0T33NB2',
      b'\xf1\x87WAJTE17552812CH4vfFffvfVeT5DwvvVVdFeegeg\x88\x88o\xff\x1a]\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00TCK2T20NB1\x19\xd2\x00\x94',
      b'\xf1\x87VDHLG17274082DK2wfFf\x89x\x98wUT5T\x88v\x97xgeGefTGTVvO\xff\x1c\x14\xf1\x81E19\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E19\x00\x00\x00\x00\x00\x00\x00SCK0T33UB2\xee[\x97S',
+      b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5',
+      b'\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5',
+      b'\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
    ],
  },
  CAR.PALISADE: {
    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00LX2_ SCC F-CUP      1.00 1.04 99110-S8100         ',
      b'\xf1\x00LX2_ SCC F-CUP      1.00 1.05 99110-S8100         ',
      b'\xf1\x00LX2 SCC FHCUP      1.00 1.04 99110-S8100         ',
      b'\xf1\x00LX2_ SCC FHCU-      1.00 1.05 99110-S8100         ',
@ -780,6 +795,7 @@ FW_VERSIONS = {
      b'\xf1\x00LX ESC \x01 1031\t\x10 58910-S8360',
      b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330',
      b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330',
+      b'\xf1\x00LX ESC \x0b 103\x19\t\t 58910-S8350',
      b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330',
      b'\xf1\x00LX ESC \x0b 103\x19\t\x10 58910-S8360',
      b'\xf1\x00LX ESC \x0b 104 \x10\x16 58910-S8360',
@ -794,6 +810,7 @@ FW_VERSIONS = {
    ],
    (Ecu.eps, 0x7d4, None): [
      b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103',
+      b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8000 4LXDC103',
      b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8020 4LXDC103',
      b'\xf1\x00LX2 MDPS C 1.00 1.04 56310-S8020 4LXDC104',
      b'\xf1\x00ON  MDPS C 1.00 1.00 56340-S9000 8B13',
@ -810,6 +827,7 @@ FW_VERSIONS = {
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'\xf1\x00bcsh8p54  U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28',
+      b'\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
      b'\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
      b'\xf1\x87LBLUFN591307KF25vgvw\x97wwwy\x99\xa7\x99\x99\xaa\xa9\x9af\x88\x96h\x95o\xf7\xff\x99f/\xff\xe4c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB2\xd7\xc1/\xd1',
      b'\xf1\x87LBLUFN650868KF36\xa9\x98\x89\x88\xa8\x88\x88\x88h\x99\xa6\x89fw\x86gw\x88\x97x\xaa\x7f\xf6\xff\xbb\xbb\x8f\xff+\x82\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
@ -1186,6 +1204,23 @@ 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\x816T6B8051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B8051\x00\x00TJFSG24NH27\xa7\xc2\xb4',
    ],
  },
+  CAR.ELANTRA: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00PD  LKAS AT USA LHD 1.01 1.01 95740-G3100 A54',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DPD0H16NS0e\x0e\xcd\x8e',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00PD  MDPS C 1.00 1.04 56310/G3300 4PDDC104',
+    ],
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00PD ESC \x0b 104\x18\t\x03 58920-G3350',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00PD__ SCC F-CUP      1.00 1.00 96400-G3300         ',
+    ],
+  },
  CAR.ELANTRA_2021: {
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00CN7_ SCC F-CUP      1.00 1.01 99110-AA000         ',
@ -1321,15 +1356,6 @@ FW_VERSIONS = {
    ],
  },
  CAR.KIA_EV6: {
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00CV  IEB \x02 101!\x10\x18 58520-CV100',
-      b'\xf1\x00CV  IEB \x03 101!\x10\x18 58520-CV100',
-      b'\xf1\x8758520CV100\xf1\x00CV  IEB \x02 101!\x10\x18 58520-CV100',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00CV1 MDPS R 1.00 1.04 57700-CV000 1B30',
-      b'\xf1\x00CV1 MDPS R 1.00 1.05 57700-CV000 2425',
-    ],
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00CV1_ RDR -----      1.00 1.01 99110-CV000         ',
      b'\xf1\x8799110CV000\xf1\x00CV1_ RDR -----      1.00 1.01 99110-CV000         ',
@ -1341,16 +1367,6 @@ FW_VERSIONS = {
    ],
  },
  CAR.IONIQ_5: {
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010',
-      b'\xf1\x8758520GI010\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010',
-      b'\xf1\x00NE1 IEB \x08 104!\x04\x05 58520-GI000',
-      b'\xf1\x8758520GI000\xf1\x00NE1 IEB \x08 104!\x04\x05 58520-GI000',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00NE  MDPS R 1.00 1.06 57700GI000  4NEDR106',
-      b'\xf1\x8757700GI000 \xf1\x00NE  MDPS R 1.00 1.06 57700GI000  4NEDR106',
-    ],
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00NE1_ RDR -----      1.00 1.00 99110-GI000         ',
      b'\xf1\x8799110GI000\xf1\x00NE1_ RDR -----      1.00 1.00 99110-GI000         ',
@ -1363,16 +1379,18 @@ FW_VERSIONS = {
  CAR.TUCSON_HYBRID_4TH_GEN: {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K',
    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00NX4 MDPS C 1.00 1.01 56300-P0100 2228',
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NX4__               1.00 1.00 99110-N9100         ',
    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x87391312MND0',
+  },
+  CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665',
    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x00PSBG2441  G19_Rev\x00\x00\x00SNX4T16XXHS01NS2lS\xdfa',
-      b'\xf1\x8795441-3D220\x00\xf1\x81G19_Rev\x00\x00\x00\xf1\x00PSBG2441  G19_Rev\x00\x00\x00SNX4T16XXHS01NS2lS\xdfa',
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NQ5__               1.01 1.03 99110-CH000         ',
    ],
  },
 }
@ -1384,20 +1402,20 @@ CHECKSUM = {

 FEATURES = {
  # which message has the gear
-  "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
+  "use_cluster_gears": {CAR.ELANTRA, CAR.KONA},
  "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, 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, CAR.KONA_EV_2022},

  # 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, CAR.KONA_EV_2022},
+  "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022},
 }

-CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN}
+CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN}

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

-HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN}  # these cars use a different gas signal
+HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN}  # these cars use a different gas signal
 EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5}

 # these cars require a special panda safety mode due to missing counters and checksums in the messages
@ -1409,7 +1427,6 @@ DBC = {
  CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
  CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None),
  CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None),
-  CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None),
  CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None),
  CAR.GENESIS_G70_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
  CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None),
@ -1450,4 +1467,5 @@ DBC = {
  CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
  CAR.TUCSON_HYBRID_4TH_GEN: dbc_dict('hyundai_canfd', None),
  CAR.IONIQ_5: dbc_dict('hyundai_canfd', None),
+  CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: dbc_dict('hyundai_canfd', None),
 }
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@ -43,7 +43,7 @@ CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
  CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"),
  CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"),
  CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-22", video_link="https://youtu.be/dA3duO4a0O4"),
-  CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022"),
+  CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022-23"),
 }


@ -89,6 +89,7 @@ FW_VERSIONS = {
    ],
    (Ecu.fwdCamera, 0x706, None): [
      b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -98,13 +99,15 @@ FW_VERSIONS = {
  },
  CAR.CX5: {
    (Ecu.eps, 0x730, None): [
+      b'K319-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'KCB8-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'KJ01-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'KJ01-3210X-M-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'K319-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x7e0, None): [
      b'PA53-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PAR4-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PYFA-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PYFC-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PYFD-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -146,6 +149,7 @@ FW_VERSIONS = {
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'PA66-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PA66-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PX39-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PX39-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PX68-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@ -23,7 +23,6 @@ non_tested_cars = [
  GM.MALIBU,
  GM.EQUINOX,
  GM.BOLT_EV,
-  HYUNDAI.ELANTRA_GT_I30,
  HYUNDAI.GENESIS_G90,
  HYUNDAI.KIA_OPTIMA_H,
 ]
@ -91,13 +90,14 @@ routes = [
  CarTestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA_G4),
  CarTestRoute("018654717bc93d7d|2022-09-19--23-11-10", HYUNDAI.KIA_OPTIMA_G4_FL, segment=0),
  CarTestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
+  CarTestRoute("b3537035ffe6a7d6|2022-10-17--15-23-49", HYUNDAI.KIA_SPORTAGE_HYBRID_5TH_GEN),
  CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA),
  CarTestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF),
  CarTestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON),
  CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.TUCSON_HYBRID_4TH_GEN),
  CarTestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
  CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
-  CarTestRoute("22de8111a8c5463c|2022-07-29--13-34-49", HYUNDAI.IONIQ_5),
+  CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.IONIQ_5),  # HDA2
  CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019),
  CarTestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.IONIQ_PHEV),
  CarTestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020),
@ -110,7 +110,7 @@ routes = [
  CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV),
  CarTestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER),
  CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER),
-  CarTestRoute("d824e27e8c60172c|2022-05-19--16-15-28", HYUNDAI.KIA_EV6),  # HDA2
+  CarTestRoute("d545129f3ca90f28|2022-10-19--09-22-54", HYUNDAI.KIA_EV6),  # HDA2
  CarTestRoute("68d6a96e703c00c9|2022-09-10--16-09-39", HYUNDAI.KIA_EV6),  # HDA1
  CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
  CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
@ -118,6 +118,7 @@ routes = [
  CarTestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021),
  CarTestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE),
  CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA),
+  CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.ELANTRA),  # 2019 Elantra GT
  CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021),
  CarTestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.ELANTRA_HEV_2021),
  CarTestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.SONATA_HYBRID),
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import random
 import unittest
+from collections import defaultdict
 from parameterized import parameterized

 from cereal import car
@ -44,7 +45,18 @@ class TestFwFingerprint(unittest.TestCase):
            duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1}
            self.assertFalse(len(duplicates), f"{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}")

+  def test_all_addrs_map_to_one_ecu(self):
+    for brand, cars in VERSIONS.items():
+      addr_to_ecu = defaultdict(set)
+      for ecus in cars.values():
+        for ecu_type, addr, sub_addr in ecus.keys():
+          addr_to_ecu[(addr, sub_addr)].add(ecu_type)
+          ecus_for_addr = addr_to_ecu[(addr, sub_addr)]
+          ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_for_addr])
+          self.assertLessEqual(len(ecus_for_addr), 1, f"{brand} has multiple ECUs that map to one address: {ecu_strings} -> ({hex(addr)}, {sub_addr})")
+
  def test_data_collection_ecus(self):
+    # Asserts no extra ECUs are in the fingerprinting database
    for brand, config in FW_QUERY_CONFIGS.items():
      for car_model, ecus in VERSIONS[brand].items():
        bad_ecus = set(ecus).intersection(config.extra_ecus)
@ -80,10 +92,11 @@ class TestFwFingerprint(unittest.TestCase):
  def test_fw_request_ecu_whitelist(self):
    for brand, config in FW_QUERY_CONFIGS.items():
      with self.subTest(brand=brand):
-        whitelisted_ecus = set([ecu for r in config.requests for ecu in r.whitelist_ecus])
-        brand_ecus = set([fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw])
+        whitelisted_ecus = {ecu for r in config.requests for ecu in r.whitelist_ecus}
+        brand_ecus = {fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw}
+        brand_ecus |= {ecu[0] for ecu in config.extra_ecus}

-        # each ecu in brand's fw versions needs to be whitelisted at least once
+        # each ecu in brand's fw versions + extra ecus needs to be whitelisted at least once
        ecus_not_whitelisted = brand_ecus - whitelisted_ecus

        ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted])
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@ -234,7 +234,7 @@ class TestCarModelBase(unittest.TestCase):

      checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
      checks['cruiseState'] += CS.cruiseState.enabled and not CS.cruiseState.available
-      if self.CP.carName not in ("hyundai", "volkswagen", "gm", "body"):
+      if self.CP.carName not in ("hyundai", "volkswagen", "body"):
        # TODO: fix standstill mismatches for other makes
        checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()

--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@ -32,6 +32,7 @@ CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05]
 VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1]
 VOLKSWAGEN SHARAN 2ND GEN: [2.5, 2.5, 0.1]
 HYUNDAI TUCSON HYBRID 4TH GEN: [2.5, 2.5, 0.0]
+KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.0]

 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]
--- a/selfdrive/car/torque_data/params.yaml
+++ b/selfdrive/car/torque_data/params.yaml
@ -35,7 +35,7 @@ HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.12070193418239
 HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963]
 HYUNDAI SANTA FE PlUG-IN HYBRID 2022: [1.6953050513611045, 1.5837614296206861, 0.12672855941458458]
 HYUNDAI SONATA 2019: [2.2200457811703953, 1.2967330275895228, 0.14039920986586393]
-HYUNDAI SONATA 2020: [3.284505627881726, 2.1259108157250735, 0.08452048323586728]
+HYUNDAI SONATA 2020: [2.9638737459977467, 2.1259108157250735, 0.07813665616927593]
 HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488717382]
 JEEP GRAND CHEROKEE 2019: [1.7321233388827006, 1.289689569171081, 0.15046331002097185]
 JEEP GRAND CHEROKEE V6 2018: [1.8776598027756923, 1.4057367824262523, 0.11725947414922003]
@ -67,8 +67,8 @@ TOYOTA CAMRY 2021: [2.6922769557433055, 2.3476510120007434, 0.1450430192989234]
 TOYOTA CAMRY HYBRID 2018: [2.0974120828287774, 1.7996193116697359, 0.13823613467632756]
 TOYOTA CAMRY HYBRID 2021: [2.6426668350384457, 2.3901492458927986, 0.16103875108816076]
 TOYOTA COROLLA 2017: [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
-TOYOTA COROLLA HYBRID TSS2 2019: [2.3287672277252005, 1.8118712531729109, 0.2215868445753317]
-TOYOTA COROLLA TSS2 2019: [2.4204464833010175, 1.9258612322678952, 0.20670411068012526]
+TOYOTA COROLLA HYBRID TSS2 2019: [1.9079729107361805, 1.8118712531729109, 0.22251440891543514]
+TOYOTA COROLLA TSS2 2019: [2.0742917676766712, 1.9258612322678952, 0.16888685704519352]
 TOYOTA HIGHLANDER 2017: [1.8696367437248915, 1.626293990451463, 0.17485372210240796]
 TOYOTA HIGHLANDER 2020: [2.022340166827233, 1.6183134804881791, 0.14592306380054457]
 TOYOTA HIGHLANDER HYBRID 2018: [1.9421825202382728, 1.6433903296845025, 0.16928956792275918]
--- a/selfdrive/car/torque_data/substitute.yaml
+++ b/selfdrive/car/torque_data/substitute.yaml
@ -26,7 +26,6 @@ KIA SELTOS 2021: HYUNDAI SONATA 2020
 KIA NIRO HYBRID 2019: KIA NIRO EV 2020
 KIA NIRO HYBRID 2021: KIA NIRO EV 2020
 HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019
-HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019
 HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019
 HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019
 HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@ -2,7 +2,6 @@
 from cereal import car
 from common.conversions import Conversions as CV
 from panda import Panda
-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
 from selfdrive.car.interfaces import CarInterfaceBase
@ -74,7 +73,6 @@ 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
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)

    elif candidate in (CAR.CHR, CAR.CHRH):
      stop_and_go = True
@ -82,7 +80,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 13.6
      tire_stiffness_factor = 0.7933
      ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_F)

    elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
      stop_and_go = True
@ -90,8 +87,6 @@ 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 not in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
-        set_lat_tune(ret.lateralTuning, LatTunes.PID_C)

    elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
      stop_and_go = True
@ -99,7 +94,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 16.0
      tire_stiffness_factor = 0.8
      ret.mass = 4516. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      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):
      # starting from 2019, all Avalon variants have stop and go
@ -109,7 +103,6 @@ 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
-      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):
      stop_and_go = True
@ -117,14 +110,6 @@ 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
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
-
-      # 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:
-        if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
-          set_lat_tune(ret.lateralTuning, LatTunes.PID_I)
-          break

    elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2):
      stop_and_go = True
@ -139,7 +124,6 @@ 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
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_D)

    elif candidate == CAR.SIENNA:
      stop_and_go = True
@ -147,14 +131,12 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 15.5
      tire_stiffness_factor = 0.444
      ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_J)

    elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_RC):
      ret.wheelbase = 2.79908
      ret.steerRatio = 13.3
      tire_stiffness_factor = 0.444
      ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_L)

    elif candidate == CAR.LEXUS_CTH:
      stop_and_go = True
@ -162,7 +144,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 18.6
      tire_stiffness_factor = 0.517
      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_NX, CAR.LEXUS_NXH, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2):
      stop_and_go = True
@ -170,7 +151,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 14.7
      tire_stiffness_factor = 0.444  # not optimized yet
      ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)

    elif candidate == CAR.PRIUS_TSS2:
      stop_and_go = True
@ -178,7 +158,6 @@ 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
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_N)

    elif candidate == CAR.MIRAI:
      stop_and_go = True
@ -186,7 +165,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 14.8
      tire_stiffness_factor = 0.8
      ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)

    elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2):
      stop_and_go = True
@ -194,7 +172,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 14.2
      tire_stiffness_factor = 0.444
      ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_J)

    ret.centerToFront = ret.wheelbase * 0.44

@ -230,12 +207,23 @@ class CarInterface(CarInterfaceBase):
    # to a negative value, so it won't matter.
    ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED

+    tune = ret.longitudinalTuning
    if candidate in TSS2_CAR or ret.enableGasInterceptor:
-      set_long_tune(ret.longitudinalTuning, LongTunes.TSS2)
+      tune.deadzoneBP = [0., 8.05]
+      tune.deadzoneV = [.0, .14]
+      tune.kpBP = [0., 5., 20.]
+      tune.kpV = [1.3, 1.0, 0.7]
+      tune.kiBP = [0., 5., 12., 20., 27.]
+      tune.kiV = [.35, .23, .20, .17, .1]
      if candidate in TSS2_CAR:
        ret.stoppingDecelRate = 0.3 # reach stopping target smoothly
    else:
-      set_long_tune(ret.longitudinalTuning, LongTunes.TSS)
+      tune.deadzoneBP = [0., 9.]
+      tune.deadzoneV = [.0, .15]
+      tune.kpBP = [0., 5., 35.]
+      tune.kiBP = [0., 35.]
+      tune.kpV = [3.6, 2.4, 1.5]
+      tune.kiV = [0.54, 0.36]

    return ret

--- a/selfdrive/car/toyota/tunes.py
+++ b/selfdrive/car/toyota/tunes.py
@ -1,102 +0,0 @@
-#!/usr/bin/env python3
-from enum import Enum
-
-class LongTunes(Enum):
-  TSS2 = 0
-  TSS = 1
-
-class LatTunes(Enum):
-  INDI_PRIUS = 0
-  LQR_RAV4 = 1
-  PID_A = 2
-  PID_B = 3
-  PID_C = 4
-  PID_D = 5
-  PID_E = 6
-  PID_F = 7
-  PID_G = 8
-  PID_I = 9
-  PID_H = 10
-  PID_J = 11
-  PID_K = 12
-  PID_L = 13
-  PID_M = 14
-  PID_N = 15
-
-
-###### LONG ######
-def set_long_tune(tune, name):
-  # Improved longitudinal tune
-  if name == LongTunes.TSS2:
-    tune.deadzoneBP = [0., 8.05]
-    tune.deadzoneV = [.0, .14]
-    tune.kpBP = [0., 5., 20.]
-    tune.kpV = [1.3, 1.0, 0.7]
-    tune.kiBP = [0., 5., 12., 20., 27.]
-    tune.kiV = [.35, .23, .20, .17, .1]
-  # Default longitudinal tune
-  elif name == LongTunes.TSS:
-    tune.deadzoneBP = [0., 9.]
-    tune.deadzoneV = [.0, .15]
-    tune.kpBP = [0., 5., 35.]
-    tune.kiBP = [0., 35.]
-    tune.kpV = [3.6, 2.4, 1.5]
-    tune.kiV = [0.54, 0.36]
-  else:
-    raise NotImplementedError('This longitudinal tune does not exist')
-
-
-###### LAT ######
-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 'PID' in str(name):
-    tune.init('pid')
-    tune.pid.kiBP = [0.0]
-    tune.pid.kpBP = [0.0]
-    if name == LatTunes.PID_A:
-      tune.pid.kpV = [0.2]
-      tune.pid.kiV = [0.05]
-      tune.pid.kf = 0.00003
-    elif name == LatTunes.PID_C:
-      tune.pid.kpV = [0.6]
-      tune.pid.kiV = [0.1]
-      tune.pid.kf = 0.00006
-    elif name == LatTunes.PID_D:
-      tune.pid.kpV = [0.6]
-      tune.pid.kiV = [0.1]
-      tune.pid.kf = 0.00007818594
-    elif name == LatTunes.PID_F:
-      tune.pid.kpV = [0.723]
-      tune.pid.kiV = [0.0428]
-      tune.pid.kf = 0.00006
-    elif name == LatTunes.PID_G:
-      tune.pid.kpV = [0.18]
-      tune.pid.kiV = [0.015]
-      tune.pid.kf = 0.00012
-    elif name == LatTunes.PID_H:
-      tune.pid.kpV = [0.17]
-      tune.pid.kiV = [0.03]
-      tune.pid.kf = 0.00006
-    elif name == LatTunes.PID_I:
-      tune.pid.kpV = [0.15]
-      tune.pid.kiV = [0.05]
-      tune.pid.kf = 0.00004
-    elif name == LatTunes.PID_J:
-      tune.pid.kpV = [0.19]
-      tune.pid.kiV = [0.02]
-      tune.pid.kf = 0.00007818594
-    elif name == LatTunes.PID_L:
-      tune.pid.kpV = [0.3]
-      tune.pid.kiV = [0.05]
-      tune.pid.kf = 0.00006
-    elif name == LatTunes.PID_M:
-      tune.pid.kpV = [0.3]
-      tune.pid.kiV = [0.05]
-      tune.pid.kf = 0.00007
-    elif name == LatTunes.PID_N:
-      tune.pid.kpV = [0.35]
-      tune.pid.kiV = [0.15]
-      tune.pid.kf = 0.00007818594
-    else:
-      raise NotImplementedError('This PID tune does not exist')
-  else:
-    raise NotImplementedError('This lateral tune does not exist')
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@ -555,6 +555,7 @@ FW_VERSIONS = {
      b'\xf1\x8703N906026E \xf1\x892114',
      b'\xf1\x8704E906023AH\xf1\x893379',
      b'\xf1\x8704L906026ET\xf1\x891990',
+      b'\xf1\x8704L906026FP\xf1\x892012',
      b'\xf1\x8704L906026GA\xf1\x892013',
      b'\xf1\x8704L906026KD\xf1\x894798',
      b'\xf1\x873G0906264  \xf1\x890004',
@ -562,6 +563,7 @@ FW_VERSIONS = {
    (Ecu.transmission, 0x7e1, None): [
      b'\xf1\x870CW300043H \xf1\x891601',
      b'\xf1\x870CW300048R \xf1\x890610',
+      b'\xf1\x870D9300013A \xf1\x894905',
      b'\xf1\x870D9300014L \xf1\x895002',
      b'\xf1\x870D9300041A \xf1\x894801',
      b'\xf1\x870DD300045T \xf1\x891601',
@ -579,6 +581,7 @@ FW_VERSIONS = {
    ],
    (Ecu.eps, 0x712, None): [
      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00611A1',
+      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00711A1',
      b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803',
      b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803',
      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1',
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -82,45 +82,45 @@ class Controls:

    self.log_sock = messaging.sub_sock('androidLog')

+    self.params = Params()
+    self.sm = sm
+    if self.sm is None:
+      ignore = ['testJoystick']
+      if SIMULATION:
+        ignore += ['driverCameraState', 'managerState']
+      if self.params.get_bool('WideCameraOnly'):
+        ignore += ['roadCameraState']
+      self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
+                                     'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
+                                     'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick'] + self.camera_packets,
+                                    ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan', 'testJoystick'])
+
    if CI is None:
      # wait for one pandaState and one CAN packet
      print("Waiting for CAN messages...")
      get_one_can(self.can_sock)

-      self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'])
+      num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
+      self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], num_pandas)
    else:
      self.CI, self.CP = CI, CI.CP

-    params = Params()
-    self.joystick_mode = params.get_bool("JoystickDebugMode") or (self.CP.notCar and sm is None)
-    joystick_packet = ['testJoystick'] if self.joystick_mode else []
-
-    self.sm = sm
-    if self.sm is None:
-      ignore = []
-      if SIMULATION:
-        ignore += ['driverCameraState', 'managerState']
-      if params.get_bool('WideCameraOnly'):
-        ignore += ['roadCameraState']
-      self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
-                                     'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
-                                     'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters'] + self.camera_packets + joystick_packet,
-                                    ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan'])
+    self.joystick_mode = self.params.get_bool("JoystickDebugMode") or (self.CP.notCar and sm is None)

    # set alternative experiences from parameters
-    self.disengage_on_accelerator = params.get_bool("DisengageOnAccelerator")
+    self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
    self.CP.alternativeExperience = 0
    if not self.disengage_on_accelerator:
      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS

-    if self.CP.dashcamOnly and params.get_bool("DashcamOverride"):
+    if self.CP.dashcamOnly and self.params.get_bool("DashcamOverride"):
      self.CP.dashcamOnly = False

    # read params
-    self.is_metric = params.get_bool("IsMetric")
-    self.is_ldw_enabled = params.get_bool("IsLdwEnabled")
-    openpilot_enabled_toggle = params.get_bool("OpenpilotEnabledToggle")
-    passive = params.get_bool("Passive") or not openpilot_enabled_toggle
+    self.is_metric = self.params.get_bool("IsMetric")
+    self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
+    openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
+    passive = self.params.get_bool("Passive") or not openpilot_enabled_toggle

    # detect sound card presence and ensure successful init
    sounds_available = HARDWARE.get_sound_card_online()
@ -139,15 +139,15 @@ class Controls:

    # Write CarParams for radard
    cp_bytes = self.CP.to_bytes()
-    params.put("CarParams", cp_bytes)
+    self.params.put("CarParams", cp_bytes)
    put_nonblocking("CarParamsCache", cp_bytes)
    put_nonblocking("CarParamsPersistent", cp_bytes)

    # cleanup old params
    if not self.CP.experimentalLongitudinalAvailable:
-      params.remove("ExperimentalLongitudinalEnabled")
+      self.params.remove("ExperimentalLongitudinalEnabled")
    if not self.CP.openpilotLongitudinalControl:
-      params.remove("EndToEndLong")
+      self.params.remove("EndToEndLong")

    self.CC = car.CarControl.new_message()
    self.CS_prev = car.CarState.new_message()
@ -583,9 +583,9 @@ class Controls:
    """Given the state, this function returns a CarControl packet"""

    # Update VehicleModel
-    params = self.sm['liveParameters']
-    x = max(params.stiffnessFactor, 0.1)
-    sr = max(params.steerRatio, 0.1)
+    lp = self.sm['liveParameters']
+    x = max(lp.stiffnessFactor, 0.1)
+    sr = max(lp.steerRatio, 0.1)
    self.VM.update_params(x, sr)

    # Update Torque Params
@ -628,7 +628,7 @@ class Controls:
                                                                                       lat_plan.psis,
                                                                                       lat_plan.curvatures,
                                                                                       lat_plan.curvatureRates)
-      actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, params,
+      actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
                                                                             self.last_actuators, self.steer_limited, self.desired_curvature,
                                                                             self.desired_curvature_rate, self.sm['liveLocationKalman'])
    else:
@ -768,10 +768,10 @@ class Controls:
                  (self.state == State.softDisabling)

    # Curvature & Steering angle
-    params = self.sm['liveParameters']
+    lp = self.sm['liveParameters']

-    steer_angle_without_offset = math.radians(CS.steeringAngleDeg - params.angleOffsetDeg)
-    curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, params.roll)
+    steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg)
+    curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll)

    # controlsState
    dat = messaging.new_message('controlsState')
@ -856,6 +856,8 @@ class Controls:
    start_time = sec_since_boot()
    self.prof.checkpoint("Ratekeeper", ignore=True)

+    self.is_metric = self.params.get_bool("IsMetric")
+
    # Sample data from sockets and get a carState
    CS = self.data_sample()
    cloudlog.timestamp("Data sampled")
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@ -13,6 +13,7 @@ V_CRUISE_MIN = 8  # kph
 V_CRUISE_ENABLE_MIN = 40  # kph
 V_CRUISE_INITIAL = 255  # kph

+MIN_SPEED = 1.0
 LAT_MPC_N = 16
 LON_MPC_N = 32
 CONTROL_N = 17
@ -102,7 +103,7 @@ 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)
+  v_ego = max(MIN_SPEED, v_ego)

  # TODO this needs more thought, use .2s extra for now to estimate other delays
  delay = CP.steerActuatorDelay + .2
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@ -811,7 +811,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
    ET.NO_ENTRY: NoEntryAlert("Cruise Faulted"),
  },

-  EventName.gmAccFaultedTemp: {
+  EventName.accFaultedTemp: {
    ET.NO_ENTRY: NoEntryAlert("Cruise Temporarily Faulted"),
  },

--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@ -17,7 +17,7 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 # friction in the steering wheel that needs to be overcome to
 # move it at all, this is compensated for too.

-LOW_SPEED_FACTOR = 100
+LOW_SPEED_FACTOR = 200


 class LatControlTorque(LatControl):
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@ -4,7 +4,7 @@ from common.numpy_fast import interp
 from system.swaglog import cloudlog
 from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
 from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N
-from selfdrive.controls.lib.drive_helpers import CONTROL_N
+from selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED
 from selfdrive.controls.lib.desire_helper import DesireHelper
 import cereal.messaging as messaging
 from cereal import log
@ -23,8 +23,6 @@ LATERAL_JERK_COST = 0.05
 # speed lateral control is stable on all cars
 STEERING_RATE_COST = 800.0

-MIN_SPEED = .3
-

 class LateralPlanner:
  def __init__(self, CP):
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@ -253,7 +253,8 @@ class LongitudinalMpc:
      cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, a_change_cost, J_EGO_COST]
      constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]
    elif self.mode == 'blended':
-      cost_weights = [0., 0.1, 0.2, 5.0, 0.0, 1.0]
+      a_change_cost = 40.0 if prev_accel_constraint else 0
+      cost_weights = [0., 0.1, 0.2, 5.0, a_change_cost, 1.0]
      constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, 50.0]
    else:
      raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner cost set')
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@ -133,7 +133,7 @@ class LongitudinalPlanner:

    # TODO counter is only needed because radar is glitchy, remove once radar is gone
    # TODO write fcw in e2e_long mode
-    self.fcw = self.mpc.mode == 'acc' and self.mpc.crash_cnt > 5
+    self.fcw = self.mpc.mode == 'acc' and self.mpc.crash_cnt > 5 and not sm['carState'].standstill
    if self.fcw:
      cloudlog.info("FCW triggered")

--- a/selfdrive/controls/tests/test_startup.py
+++ b/selfdrive/controls/tests/test_startup.py
@ -94,6 +94,9 @@ class TestStartup(unittest.TestCase):

    time.sleep(2) # wait for controlsd to be ready

+    pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]]))
+    time.sleep(0.1)
+
    msg = messaging.new_message('pandaStates', 1)
    msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno
    pm.send('pandaStates', msg)
--- a/selfdrive/debug/can_print_changes.py
+++ b/selfdrive/debug/can_print_changes.py
@ -54,6 +54,7 @@ def can_printer(bus=0, init_msgs=None, new_msgs=None, table=False):
    update(new_msgs, bus, dat, low_to_high, high_to_low)
  else:
    # Live mode
+    print(f"Waiting for messages on bus {bus}")
    try:
      while 1:
        can_recv = messaging.drain_sock(logcan)
@ -89,13 +90,16 @@ if __name__ == "__main__":
                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
  parser.add_argument("--bus", type=int, help="CAN bus to print out", default=0)
  parser.add_argument("--table", action="store_true", help="Print a cabana-like table")
-  parser.add_argument("init", type=str, nargs='?', help="Route or segment to initialize with")
+  parser.add_argument("init", type=str, nargs='?', help="Route or segment to initialize with. Use empty quotes to compare against all zeros.")
  parser.add_argument("comp", type=str, nargs='?', help="Route or segment to compare against init")

  args = parser.parse_args()

  init_lr, new_lr = None, None
  if args.init:
+    if args.init == '':
+      init_lr = []
+    else:
      init_lr = logreader_from_route_or_segment(args.init)
  if args.comp:
    new_lr = logreader_from_route_or_segment(args.comp)
--- a/selfdrive/debug/check_timings.py
+++ b/selfdrive/debug/check_timings.py
@ -19,7 +19,7 @@ if __name__ == "__main__":
      for m in msgs:
        ts[s].append(m.logMonoTime / 1e6)

-      if len(ts[s]):
+      if len(ts[s]) > 2:
        d = np.diff(ts[s])
        print(f"{s:25} {np.mean(d):.2f} {np.std(d):.2f} {np.max(d):.2f} {np.min(d):.2f}")
    time.sleep(1)
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@ -31,6 +31,7 @@ INPUTS_NEEDED = 5   # Minimum blocks needed for valid calibration
 INPUTS_WANTED = 50   # We want a little bit more than we need for stability
 MAX_ALLOWED_SPREAD = np.radians(2)
 RPY_INIT = np.array([0.0,0.0,0.0])
+WIDE_FROM_DEVICE_EULER_INIT = np.array([0.0, 0.0, 0.0])

 # These values are needed to accommodate biggest modelframe
 PITCH_LIMITS = np.array([-0.09074112085129739, 0.14907572052989657])
@ -67,6 +68,7 @@ class Calibrator:
    calibration_params = params.get("CalibrationParams")
    self.wide_camera = params.get_bool('WideCameraOnly')
    rpy_init = RPY_INIT
+    wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT
    valid_blocks = 0

    if param_put and calibration_params:
@ -74,24 +76,34 @@ class Calibrator:
        msg = log.Event.from_bytes(calibration_params)
        rpy_init = np.array(msg.liveCalibration.rpyCalib)
        valid_blocks = msg.liveCalibration.validBlocks
+        wide_from_device_euler = np.array(msg.liveCalibration.wideFromDeviceEuler)
      except Exception:
        cloudlog.exception("Error reading cached CalibrationParams")

-    self.reset(rpy_init, valid_blocks)
+    self.reset(rpy_init, valid_blocks, wide_from_device_euler)
    self.update_status()

-  def reset(self, rpy_init: np.ndarray = RPY_INIT, valid_blocks: int = 0, smooth_from: Optional[np.ndarray] = None) -> None:
+  def reset(self, rpy_init: np.ndarray = RPY_INIT,
+                  valid_blocks: int = 0,
+                  wide_from_device_euler_init: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT,
+                  smooth_from: Optional[np.ndarray] = None) -> None:
    if not np.isfinite(rpy_init).all():
      self.rpy = RPY_INIT.copy()
    else:
      self.rpy = rpy_init.copy()

+    if not np.isfinite(wide_from_device_euler_init).all() or len(wide_from_device_euler_init) != 3:
+      self.wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT.copy()
+    else:
+      self.wide_from_device_euler = wide_from_device_euler_init.copy()
+
    if not np.isfinite(valid_blocks) or valid_blocks < 0:
      self.valid_blocks = 0
    else:
      self.valid_blocks = valid_blocks

    self.rpys = np.tile(self.rpy, (INPUTS_WANTED, 1))
+    self.wide_from_device_eulers = np.tile(self.wide_from_device_euler, (INPUTS_WANTED, 1))

    self.idx = 0
    self.block_idx = 0
@ -113,6 +125,7 @@ class Calibrator:
  def update_status(self) -> None:
    valid_idxs = self.get_valid_idxs()
    if valid_idxs:
+      self.wide_from_device_euler = np.mean(self.wide_from_device_eulers[valid_idxs], axis=0)
      rpys = self.rpys[valid_idxs]
      self.rpy = np.mean(rpys, axis=0)
      max_rpy_calib = np.array(np.max(rpys, axis=0))
@ -146,7 +159,10 @@ class Calibrator:
    else:
      return self.rpy

-  def handle_cam_odom(self, trans: List[float], rot: List[float], trans_std: List[float]) -> Optional[np.ndarray]:
+  def handle_cam_odom(self, trans: List[float],
+                            rot: List[float],
+                            wide_from_device_euler: List[float],
+                            trans_std: List[float]) -> Optional[np.ndarray]:
    self.old_rpy_weight = min(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES)

    straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER))
@ -165,7 +181,15 @@ class Calibrator:
    new_rpy = euler_from_rot(rot_from_euler(self.get_smooth_rpy()).dot(rot_from_euler(observed_rpy)))
    new_rpy = sanity_clip(new_rpy)

-    self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] + (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE)
+    if len(wide_from_device_euler) == 3:
+      new_wide_from_device_euler = np.array(wide_from_device_euler)
+    else:
+      new_wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT
+
+    self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] +
+                                 (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE)
+    self.wide_from_device_eulers[self.block_idx] = (self.idx*self.wide_from_device_eulers[self.block_idx] +
+                                                    (BLOCK_SIZE - self.idx) * new_wide_from_device_euler) / float(BLOCK_SIZE)
    self.idx = (self.idx + 1) % BLOCK_SIZE
    if self.idx == 0:
      self.block_idx += 1
@ -187,6 +211,7 @@ class Calibrator:
    liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100)
    liveCalibration.rpyCalib = smooth_rpy.tolist()
    liveCalibration.rpyCalibSpread = self.calib_spread.tolist()
+    liveCalibration.wideFromDeviceEuler = self.wide_from_device_euler.tolist()

    if self.not_car:
      liveCalibration.validBlocks = INPUTS_NEEDED
@ -223,6 +248,7 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m
      calibrator.handle_v_ego(sm['carState'].vEgo)
      new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans,
                                           sm['cameraOdometry'].rot,
+                                           sm['cameraOdometry'].wideFromDeviceEuler,
                                           sm['cameraOdometry'].transStd)

      if DEBUG and new_rpy is not None:
--- a/selfdrive/loggerd/loggerd.cc
+++ b/selfdrive/loggerd/loggerd.cc
@ -55,7 +55,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
  int bytes_count = 0;

  // extract the message
-  capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr<capnp::word>((capnp::word *)msg->getData(), msg->getSize()));
+  capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr<capnp::word>((capnp::word *)msg->getData(), msg->getSize() / sizeof(capnp::word)));
  auto event = cmsg.getRoot<cereal::Event>();
  auto edata = (name == "driverEncodeData") ? event.getDriverEncodeData() :
    ((name == "wideRoadEncodeData") ? event.getWideRoadEncodeData() :
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@ -83,6 +83,7 @@ if use_thneed and arch == "larch64" or GetOption('pc_thneed'):
    "#tinygrad_repo/accel/opencl/ops_opencl.py",
    "#tinygrad_repo/accel/opencl/preprocessing.py",
    "#tinygrad_repo/extra/onnx.py",
+    "#tinygrad_repo/extra/thneed.py",
    "#tinygrad_repo/extra/utils.py",
    "#tinygrad_repo/tinygrad/llops/ops_gpu.py",
    "#tinygrad_repo/tinygrad/llops/ops_opencl.py",
--- a/selfdrive/modeld/models/dmonitoring_model.current
+++ b/selfdrive/modeld/models/dmonitoring_model.current
@ -1,2 +1,2 @@
-ee8f830b-d6a1-42ef-9b1b-50fd0b2faae4
-cac8f7b69d420506707ff7a19d573d5011ef2533
+d1124586-761e-4e18-a771-6b5ef35124fe
+6fec774f513a19e44d4316e46ad38277197d45ea
--- a/selfdrive/modeld/models/dmonitoring_model.onnx
+++ b/selfdrive/modeld/models/dmonitoring_model.onnx
@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:932e589e5cce66e5d9f48492426a33c74cd7f352a870d3ddafcede3e9156f30d
-size 9157561
+oid sha256:517262fa9f1ad3cc8049ad3722903f40356d87ea423ee5cf011226fb6cfc3d5b
+size 16072278
--- a/selfdrive/modeld/models/dmonitoring_model_q.dlc
+++ b/selfdrive/modeld/models/dmonitoring_model_q.dlc
@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3587976a8b7e3be274fa86c2e2233e3e464cad713f5077c4394cd1ddd3c7c6c5
-size 2636965
+oid sha256:64b94659226a1e3c6594a13c2e5d029465d5803a5c3005121ec7217acdbbef20
+size 4443461
--- a/selfdrive/modeld/models/driving.cc
+++ b/selfdrive/modeld/models/driving.cc
@ -62,9 +62,9 @@ ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf,
      // Model decides when action is completed
      // so desire input is just a pulse triggered on rising edge
      if (desire_in[i] - s->prev_desire[i] > .99) {
-        s->pulse_desire[DESIRE_LEN*(HISTORY_BUFFER_LEN-1)+i] = desire_in[i];
+        s->pulse_desire[DESIRE_LEN*HISTORY_BUFFER_LEN+i] = desire_in[i];
      } else {
-        s->pulse_desire[DESIRE_LEN*(HISTORY_BUFFER_LEN-1)+i] = 0.0;
+        s->pulse_desire[DESIRE_LEN*HISTORY_BUFFER_LEN+i] = 0.0;
      }
      s->prev_desire[i] = desire_in[i];
    }
@ -363,14 +363,19 @@ void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_droppe
  MessageBuilder msg;
  const auto &v_mean = net_outputs.pose.velocity_mean;
  const auto &r_mean = net_outputs.pose.rotation_mean;
+  const auto &t_mean = net_outputs.wide_from_device_euler.mean;
  const auto &v_std = net_outputs.pose.velocity_std;
  const auto &r_std = net_outputs.pose.rotation_std;
+  const auto &t_std = net_outputs.wide_from_device_euler.std;

  auto posenetd = msg.initEvent(valid && (vipc_dropped_frames < 1)).initCameraOdometry();
  posenetd.setTrans({v_mean.x, v_mean.y, v_mean.z});
  posenetd.setRot({r_mean.x, r_mean.y, r_mean.z});
+  posenetd.setWideFromDeviceEuler({t_mean.x, t_mean.y, t_mean.z});
  posenetd.setTransStd({exp(v_std.x), exp(v_std.y), exp(v_std.z)});
  posenetd.setRotStd({exp(r_std.x), exp(r_std.y), exp(r_std.z)});
+  posenetd.setWideFromDeviceEulerStd({exp(t_std.x), exp(t_std.y), exp(t_std.z)});
+

  posenetd.setTimestampEof(timestamp_eof);
  posenetd.setFrameId(vipc_frame_id);
--- a/selfdrive/modeld/models/driving.h
+++ b/selfdrive/modeld/models/driving.h
@ -28,12 +28,13 @@ constexpr int BLINKER_LEN = 6;
 constexpr int META_STRIDE = 7;

 constexpr int PLAN_MHP_N = 5;
-constexpr int STOP_LINE_MHP_N = 3;

 constexpr int LEAD_MHP_N = 2;
 constexpr int LEAD_TRAJ_LEN = 6;
 constexpr int LEAD_PRED_DIM = 4;
 constexpr int LEAD_MHP_SELECTION = 3;
+// Padding to get output shape as multiple of 4
+constexpr int PAD_SIZE = 2;

 struct ModelOutputXYZ {
  float x;
@ -151,36 +152,6 @@ struct ModelOutputLeads {
 };
 static_assert(sizeof(ModelOutputLeads) == (sizeof(ModelOutputLeadPrediction)*LEAD_MHP_N) + (sizeof(float)*LEAD_MHP_SELECTION));

-struct ModelOutputStopLineElement {
-  ModelOutputXYZ position;
-  ModelOutputXYZ rotation;
-  float speed;
-  float time;
-};
-static_assert(sizeof(ModelOutputStopLineElement) == (sizeof(ModelOutputXYZ)*2 + sizeof(float)*2));
-
-struct ModelOutputStopLinePrediction {
-  ModelOutputStopLineElement mean;
-  ModelOutputStopLineElement std;
-  float prob;
-};
-static_assert(sizeof(ModelOutputStopLinePrediction) == (sizeof(ModelOutputStopLineElement)*2 + sizeof(float)));
-
-struct ModelOutputStopLines {
-  std::array<ModelOutputStopLinePrediction, STOP_LINE_MHP_N> prediction;
-  float prob;
-
-  constexpr const ModelOutputStopLinePrediction &get_best_prediction(int t_idx) const {
-    int max_idx = 0;
-    for (int i = 1; i < prediction.size(); i++) {
-      if (prediction[i].prob > prediction[max_idx].prob) {
-        max_idx = i;
-      }
-    }
-    return prediction[max_idx];
-  }
-};
-static_assert(sizeof(ModelOutputStopLines) == (sizeof(ModelOutputStopLinePrediction)*STOP_LINE_MHP_N) + sizeof(float));

 struct ModelOutputPose {
  ModelOutputXYZ velocity_mean;
@ -190,6 +161,12 @@ struct ModelOutputPose {
 };
 static_assert(sizeof(ModelOutputPose) == sizeof(ModelOutputXYZ)*4);

+struct ModelOutputWideFromDeviceEuler {
+  ModelOutputXYZ mean;
+  ModelOutputXYZ std;
+};
+static_assert(sizeof(ModelOutputWideFromDeviceEuler) == sizeof(ModelOutputXYZ)*2);
+
 struct ModelOutputDisengageProb {
  float gas_disengage;
  float brake_disengage;
@ -245,9 +222,9 @@ struct ModelOutput {
  const ModelOutputLaneLines lane_lines;
  const ModelOutputRoadEdges road_edges;
  const ModelOutputLeads leads;
-  const ModelOutputStopLines stop_lines;
  const ModelOutputMeta meta;
  const ModelOutputPose pose;
+  const ModelOutputWideFromDeviceEuler wide_from_device_euler;
 };

 constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float);
@ -257,7 +234,7 @@ constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float);
 #else
  constexpr int TEMPORAL_SIZE = 0;
 #endif
-constexpr int NET_OUTPUT_SIZE = OUTPUT_SIZE + FEATURE_LEN;
+constexpr int NET_OUTPUT_SIZE = OUTPUT_SIZE + FEATURE_LEN + PAD_SIZE;

 // TODO: convert remaining arrays to std::array and update model runners
 struct ModelState {
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:022a830c39267f378f45204682060c93e3aa304bbd8cfa6b2dfe4fa8f419102d
-size 56972617
+oid sha256:a41d42f92913e6cc3909e505b1220b16d31f7cfca5f8a4e82109577b4151b645
+size 45922983
--- a/selfdrive/monitoring/driver_monitor.py
+++ b/selfdrive/monitoring/driver_monitor.py
@ -29,10 +29,11 @@ class DRIVER_MONITOR_SETTINGS():
    self._FACE_THRESHOLD = 0.7
    self._EYE_THRESHOLD = 0.65
    self._SG_THRESHOLD = 0.9
-    self._BLINK_THRESHOLD = 0.87
+    self._BLINK_THRESHOLD = 0.895

-    self._EE_THRESH11 = 0.75
-    self._EE_THRESH12 = 3.25
+    self._EE_THRESH11 = 0.275
+    self._EE_THRESH12 = 5.5
+    self._EE_MAX_OFFSET1 = 0.06
    self._EE_THRESH21 = 0.01
    self._EE_THRESH22 = 0.35

@ -204,14 +205,14 @@ class DriverStatus():
      distracted_types.append(DistractedType.DISTRACTED_BLINK)

    if self.ee1_calibrated:
-      ee1_dist = self.eev1 > self.ee1_offseter.filtered_stat.M * self.settings._EE_THRESH12
+      ee1_dist = self.eev1 > min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1) * self.settings._EE_THRESH12
    else:
      ee1_dist = self.eev1 > self.settings._EE_THRESH11
-    if self.ee2_calibrated:
-      ee2_dist = self.eev2 < self.ee2_offseter.filtered_stat.M * self.settings._EE_THRESH22
-    else:
-      ee2_dist = self.eev2 < self.settings._EE_THRESH21
-    if ee1_dist or ee2_dist:
+    # if self.ee2_calibrated:
+    #   ee2_dist = self.eev2 < self.ee2_offseter.filtered_stat.M * self.settings._EE_THRESH22
+    # else:
+    #   ee2_dist = self.eev2 < self.settings._EE_THRESH21
+    if ee1_dist:
      distracted_types.append(DistractedType.DISTRACTED_E2E)

    return distracted_types
@ -257,12 +258,11 @@ class DriverStatus():
    self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
    self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
    self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
-    self.eev1 = driver_data.notReadyProb[1]
+    self.eev1 = driver_data.notReadyProb[0]
    self.eev2 = driver_data.readyProb[0]

    self.distracted_types = self._get_distracted_types()
-    self.driver_distracted = (DistractedType.DISTRACTED_POSE in self.distracted_types or
-                                            DistractedType.DISTRACTED_BLINK in self.distracted_types) and \
+    self.driver_distracted = (DistractedType.DISTRACTED_E2E in self.distracted_types or DistractedType.DISTRACTED_POSE in self.distracted_types or DistractedType.DISTRACTED_BLINK in self.distracted_types) and \
                                          driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
    self.driver_distraction_filter.update(self.driver_distracted)

--- a/selfdrive/sensord/rawgps/rawgpsd.py
+++ b/selfdrive/sensord/rawgps/rawgpsd.py
@ -87,16 +87,24 @@ def try_setup_logs(diag, log_types):
  else:
    raise Exception(f"setup logs failed, {log_types=}")

-def mmcli(cmd: str) -> None:
+def at_cmd(cmd: str) -> None:
  for _ in range(5):
    try:
-      subprocess.check_call(f"mmcli -m any --timeout 30 {cmd}", shell=True)
+      subprocess.check_call(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True)
      break
    except subprocess.CalledProcessError:
      cloudlog.exception("rawgps.mmcli_command_failed")
  else:
    raise Exception(f"failed to execute mmcli command {cmd=}")

+
+def gps_enabled() -> bool:
+  try:
+    p = subprocess.check_output("mmcli -m any --command=\"AT+QGPS?\"", shell=True)
+    return b"QGPS: 1" in p
+  except subprocess.CalledProcessError as exc:
+    raise Exception("failed to execute QGPS mmcli command") from exc
+
 def setup_quectel(diag: ModemDiag):
  # enable OEMDRE in the NV
  # TODO: it has to reboot for this to take effect
@ -108,11 +116,16 @@ def setup_quectel(diag: ModemDiag):

  setup_logs(diag, LOG_TYPES)

+  if gps_enabled():
+    at_cmd("AT+QGPSEND")
+
  # disable DPO power savings for more accuracy
-  mmcli("--command='AT+QGPSCFG=\"dpoenable\",0'")
+  at_cmd("AT+QGPSCFG=\"dpoenable\",0")
  # don't automatically turn on GNSS on powerup
-  mmcli("--command='AT+QGPSCFG=\"autogps\",0'")
-  mmcli("--location-enable-gps-raw --location-enable-gps-nmea")
+  at_cmd("AT+QGPSCFG=\"autogps\",0")
+
+  at_cmd("AT+QGPSCFG=\"outport\",\"usbnmea\"")
+  at_cmd("AT+QGPS=1")

  # enable OEMDRE mode
  DIAG_SUBSYS_CMD_F = 75
@ -134,7 +147,9 @@ def setup_quectel(diag: ModemDiag):
  ))

 def teardown_quectel(diag):
-  mmcli("--location-disable-gps-raw --location-disable-gps-nmea")
+  at_cmd("AT+QGPSCFG=\"outport\",\"none\"")
+  if gps_enabled():
+    at_cmd("AT+QGPSEND")
  try_setup_logs(diag, [])


@ -156,7 +171,7 @@ def main() -> NoReturn:
  # wait for ModemManager to come up
  cloudlog.warning("waiting for modem to come up")
  while True:
-    ret = subprocess.call("mmcli -m any --timeout 10 --location-status", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True)
+    ret = subprocess.call("mmcli -m any --timeout 10 --command=\"AT+QGPS?\"", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True)
    if ret == 0:
      break
    time.sleep(0.1)
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@ -22,7 +22,7 @@ from tools.lib.logreader import LogReader

 TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"
 SEGMENT = 0
-MAX_FRAMES = 100 if PC else 1300
+MAX_FRAMES = 100 if PC else 600

 SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0"))

@ -149,9 +149,9 @@ if __name__ == "__main__":
  # load logs
  lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT)))
  frs = {
-    'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="fcamera")),
-    'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="dcamera")),
-    'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera"))
+    'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="fcamera"), readahead=True),
+    'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="dcamera"), readahead=True),
+    'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera"), readahead=True)
  }

  # run replay
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@ -1 +1 @@
-bfb0a2a52212d2aa1619d999aaae97fa7f7ff788
+d2f1711fd58d4f2c25b81bd332270da60ff9636d
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-e5a86c14e2318f2dd218b3985cdbea6f875f7d83
+8f2919ba4d8509432e93ff0a44f951254c1ff3fe
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@ -18,7 +18,7 @@ from tools.lib.logreader import LogReader
 source_segments = [
  ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.BODY
  ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"),     # HYUNDAI.SONATA
-  ("HYUNDAI2", "d824e27e8c60172c|2022-09-13--11-26-50--2"),    # HYUNDAI.KIA_EV6
+  ("HYUNDAI2", "d545129f3ca90f28|2022-10-19--09-22-54--9"),    # HYUNDAI.KIA_EV6
  ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.PRIUS (INDI)
  ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"),     # TOYOTA.RAV4  (LQR)
  ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"),     # TOYOTA.COROLLA_TSS2
@ -40,7 +40,7 @@ source_segments = [
 segments = [
  ("BODY", "regenFA002A80700|2022-09-27--15-37-02--0"),
  ("HYUNDAI", "regenBE53A59065B|2022-09-27--16-52-03--0"),
-  ("HYUNDAI2", "regenFA8B5CA9840|2022-10-12--21-47-06--0"),
+  ("HYUNDAI2", "d545129f3ca90f28|2022-10-19--09-22-54--9"),
  ("TOYOTA", "regen929C5790007|2022-09-27--16-27-47--0"),
  ("TOYOTA2", "regenEA3950D7F22|2022-09-27--15-43-24--0"),
  ("TOYOTA3", "regen89026F6BD8D|2022-09-27--15-45-37--0"),
--- a/selfdrive/test/setup_device_ci.sh
+++ b/selfdrive/test/setup_device_ci.sh
@ -60,6 +60,7 @@ find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -
 git reset --hard $GIT_COMMIT
 git checkout $GIT_COMMIT
 git clean -xdff
+git submodule sync
 git submodule update --init --recursive
 git submodule foreach --recursive "git reset --hard && git clean -xdff"

--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@ -120,8 +120,8 @@ class TestOnroad(unittest.TestCase):
    if "DEBUG" in os.environ:
      segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(ROOT).iterdir())
      segs = sorted(segs, key=lambda x: x.stat().st_mtime)
-      print(segs[-1])
-      cls.lr = list(LogReader(os.path.join(segs[-1], "rlog")))
+      print(segs[-2])
+      cls.lr = list(LogReader(os.path.join(segs[-2], "rlog")))
      return

    # setup env
@ -187,6 +187,25 @@ class TestOnroad(unittest.TestCase):
    big_logs = [f for f, n in cnt.most_common(3) if n / sum(cnt.values()) > 30.]
    self.assertEqual(len(big_logs), 0, f"Log spam: {big_logs}")

+  def test_ui_timings(self):
+    result = "\n"
+    result += "------------------------------------------------\n"
+    result += "-------------- UI Draw Timing ------------------\n"
+    result += "------------------------------------------------\n"
+
+    ts = [m.uiDebug.drawTimeMillis for m in self.lr if m.which() == 'uiDebug']
+    result += f"min  {min(ts):.2f}ms\n"
+    result += f"max  {max(ts):.2f}ms\n"
+    result += f"std  {np.std(ts):.2f}ms\n"
+    result += f"mean {np.mean(ts):.2f}ms\n"
+    result += "------------------------------------------------\n"
+    print(result)
+
+    self.assertGreater(len(ts), 20*50, "insufficient samples")
+    self.assertLess(max(ts), 30.)
+    self.assertLess(np.mean(ts), 10.)
+    self.assertLess(np.std(ts), 5.)
+
  def test_cpu_usage(self):
    proclogs = [m for m in self.lr if m.which() == 'procLog']
    self.assertGreater(len(proclogs), service_list['procLog'].frequency * 45, "insufficient samples")
--- a/selfdrive/test/update_ci_routes.py
+++ b/selfdrive/test/update_ci_routes.py
@ -1,6 +1,8 @@
 #!/usr/bin/env python3
+from functools import lru_cache
 import sys
 import subprocess
+from tqdm import tqdm
 from azure.storage.blob import BlockBlobService  # pylint: disable=import-error

 from selfdrive.car.tests.routes import routes as test_car_models_routes
@ -10,11 +12,11 @@ from xx.chffr.lib.storage import _DATA_ACCOUNT_PRODUCTION, _DATA_ACCOUNT_CI, _DA

 SOURCES = [
  (_DATA_ACCOUNT_PRODUCTION, _DATA_BUCKET_PRODUCTION),
-  (_DATA_ACCOUNT_PRODUCTION, "preserve"),
  (_DATA_ACCOUNT_CI, "commadataci"),
 ]


+@lru_cache
 def get_azure_keys():
  dest_key = azureutil.get_user_token(_DATA_ACCOUNT_CI, "openpilotci")
  source_keys = [azureutil.get_user_token(account, bucket) for account, bucket in SOURCES]
@ -82,7 +84,7 @@ if __name__ == "__main__":
    to_sync.extend([rt.route for rt in test_car_models_routes])
    to_sync.extend([s[1].rsplit('--', 1)[0] for s in replay_segments])

-  for r in to_sync:
+  for r in tqdm(to_sync):
    if not sync_to_ci_public(r):
      failed_routes.append(r)

--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@ -1,11 +1,9 @@
 #include "selfdrive/ui/qt/home.h"

-#include <QDateTime>
 #include <QHBoxLayout>
 #include <QMouseEvent>
 #include <QVBoxLayout>

-#include "common/params.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/widgets/drive_stats.h"
 #include "selfdrive/ui/qt/widgets/prime.h"
@ -109,22 +107,20 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
  header_layout->setContentsMargins(15, 15, 15, 0);
  header_layout->setSpacing(16);

-  date = new QLabel();
-  header_layout->addWidget(date, 1, Qt::AlignHCenter | Qt::AlignLeft);
-
  update_notif = new QPushButton(tr("UPDATE"));
  update_notif->setVisible(false);
  update_notif->setStyleSheet("background-color: #364DEF;");
  QObject::connect(update_notif, &QPushButton::clicked, [=]() { center_layout->setCurrentIndex(1); });
-  header_layout->addWidget(update_notif, 0, Qt::AlignHCenter | Qt::AlignRight);
+  header_layout->addWidget(update_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);

  alert_notif = new QPushButton();
  alert_notif->setVisible(false);
  alert_notif->setStyleSheet("background-color: #E22C2C;");
  QObject::connect(alert_notif, &QPushButton::clicked, [=] { center_layout->setCurrentIndex(2); });
-  header_layout->addWidget(alert_notif, 0, Qt::AlignHCenter | Qt::AlignRight);
+  header_layout->addWidget(alert_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);

-  header_layout->addWidget(new QLabel(getBrandVersion()), 0, Qt::AlignHCenter | Qt::AlignRight);
+  version = new ElidedLabel();
+  header_layout->addWidget(version, 0, Qt::AlignHCenter | Qt::AlignRight);

  main_layout->addLayout(header_layout);

@ -184,9 +180,7 @@ void OffroadHome::hideEvent(QHideEvent *event) {
 }

 void OffroadHome::refresh() {
-  QString locale_name = QString(uiState()->language).replace("main_", "");
-  QString dateString = QLocale(locale_name).toString(QDateTime::currentDateTime(), "dddd, MMMM d");
-  date->setText(dateString);
+  version->setText(getBrand() + " " +  QString::fromStdString(params.get("UpdaterCurrentDescription")));

  bool updateAvailable = update_widget->refresh();
  int alerts = alerts_widget->refresh();
--- a/selfdrive/ui/qt/home.h
+++ b/selfdrive/ui/qt/home.h
@ -7,10 +7,12 @@
 #include <QTimer>
 #include <QWidget>

+#include "common/params.h"
 #include "selfdrive/ui/qt/offroad/driverview.h"
 #include "selfdrive/ui/qt/body.h"
 #include "selfdrive/ui/qt/onroad.h"
 #include "selfdrive/ui/qt/sidebar.h"
+#include "selfdrive/ui/qt/widgets/controls.h"
 #include "selfdrive/ui/qt/widgets/offroad_alerts.h"
 #include "selfdrive/ui/ui.h"

@ -25,8 +27,10 @@ private:
  void hideEvent(QHideEvent *event) override;
  void refresh();

+  Params params;
+
  QTimer* timer;
-  QLabel* date;
+  ElidedLabel* version;
  QStackedLayout* center_layout;
  UpdateAlert *update_widget;
  OffroadAlert* alerts_widget;
--- a/selfdrive/ui/qt/offroad/driverview.cc
+++ b/selfdrive/ui/qt/offroad/driverview.cc
@ -12,11 +12,11 @@ DriverViewWindow::DriverViewWindow(QWidget* parent) : QWidget(parent) {
  layout = new QStackedLayout(this);
  layout->setStackingMode(QStackedLayout::StackAll);

-  cameraView = new CameraViewWidget("camerad", VISION_STREAM_DRIVER, true, this);
+  cameraView = new CameraWidget("camerad", VISION_STREAM_DRIVER, true, this);
  layout->addWidget(cameraView);

  scene = new DriverViewScene(this);
-  connect(cameraView, &CameraViewWidget::vipcThreadFrameReceived, scene, &DriverViewScene::frameUpdated);
+  connect(cameraView, &CameraWidget::vipcThreadFrameReceived, scene, &DriverViewScene::frameUpdated);
  layout->addWidget(scene);
  layout->setCurrentWidget(scene);
 }
--- a/selfdrive/ui/qt/offroad/driverview.h
+++ b/selfdrive/ui/qt/offroad/driverview.h
@ -42,7 +42,7 @@ protected:
  void mouseReleaseEvent(QMouseEvent* e) override;

 private:
-  CameraViewWidget *cameraView;
+  CameraWidget *cameraView;
  DriverViewScene *scene;
  QStackedLayout *layout;
 };
--- a/selfdrive/ui/qt/offroad/software_settings.cc
+++ b/selfdrive/ui/qt/offroad/software_settings.cc
@ -145,11 +145,11 @@ void SoftwarePanel::updateLabels() {
  targetBranchBtn->setValue(QString::fromStdString(params.get("UpdaterTargetBranch")));

  // current + new versions
-  versionLbl->setText(QString::fromStdString(params.get("UpdaterCurrentDescription")).left(40));
+  versionLbl->setText(QString::fromStdString(params.get("UpdaterCurrentDescription")));
  versionLbl->setDescription(QString::fromStdString(params.get("UpdaterCurrentReleaseNotes")));

  installBtn->setVisible(!is_onroad && params.getBool("UpdateAvailable"));
-  installBtn->setValue(QString::fromStdString(params.get("UpdaterNewDescription")).left(35));
+  installBtn->setValue(QString::fromStdString(params.get("UpdaterNewDescription")));
  installBtn->setDescription(QString::fromStdString(params.get("UpdaterNewReleaseNotes")));

  update();
--- a/selfdrive/ui/qt/offroad/wifiManager.cc
+++ b/selfdrive/ui/qt/offroad/wifiManager.cc
@ -368,7 +368,7 @@ void WifiManager::updateGsmSettings(bool roaming, QString apn, bool metered) {
      changes = true;
    }

-    int meteredInt = metered ? NM_METERED_NO : NM_METERED_UNKNOWN;
+    int meteredInt = metered ? NM_METERED_UNKNOWN : NM_METERED_NO;
    if (settings.value("connection").value("metered").toInt() != meteredInt) {
      qWarning() << "Changing connection.metered to" << meteredInt;
      settings["connection"]["metered"] = meteredInt;
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@ -18,7 +18,7 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
  stacked_layout->setStackingMode(QStackedLayout::StackAll);
  main_layout->addLayout(stacked_layout);

-  nvg = new NvgWindow(VISION_STREAM_ROAD, this);
+  nvg = new AnnotatedCameraWidget(VISION_STREAM_ROAD, this);

  QWidget * split_wrapper = new QWidget;
  split = new QHBoxLayout(split_wrapper);
@ -27,7 +27,7 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
  split->addWidget(nvg);

  if (getenv("DUAL_CAMERA_VIEW")) {
-    CameraViewWidget *arCam = new CameraViewWidget("camerad", VISION_STREAM_ROAD, true, this);
+    CameraWidget *arCam = new CameraWidget("camerad", VISION_STREAM_ROAD, true, this);
    split->insertWidget(0, arCam);
  }

@ -173,14 +173,15 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
  }
 }

-// NvgWindow

-NvgWindow::NvgWindow(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraViewWidget("camerad", type, true, parent) {
+AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
+  pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"uiDebug"});
+
  engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
  dm_img = loadPixmap("../assets/img_driver_face.png", {img_size, img_size});
 }

-void NvgWindow::updateState(const UIState &s) {
+void AnnotatedCameraWidget::updateState(const UIState &s) {
  const int SET_SPEED_NA = 255;
  const SubMaster &sm = *(s.sm);

@ -232,13 +233,13 @@ void NvgWindow::updateState(const UIState &s) {
  }

  if (s.scene.calibration_valid) {
-    CameraViewWidget::updateCalibration(s.scene.view_from_calib);
+    CameraWidget::updateCalibration(s.scene.view_from_calib);
  } else {
-    CameraViewWidget::updateCalibration(DEFAULT_CALIBRATION);
+    CameraWidget::updateCalibration(DEFAULT_CALIBRATION);
  }
 }

-void NvgWindow::drawHud(QPainter &p) {
+void AnnotatedCameraWidget::drawHud(QPainter &p) {
  p.save();

  // Header gradient
@ -400,7 +401,11 @@ void NvgWindow::drawHud(QPainter &p) {
  p.restore();
 }

-void NvgWindow::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
+
+// Window that shows camera view and variety of
+// info drawn on top
+
+void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
  QRect real_rect = getTextRect(p, 0, text);
  real_rect.moveCenter({x, y - real_rect.height() / 2});

@ -408,7 +413,7 @@ void NvgWindow::drawText(QPainter &p, int x, int y, const QString &text, int alp
  p.drawText(real_rect.x(), real_rect.bottom(), text);
 }

-void NvgWindow::drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, float opacity) {
+void AnnotatedCameraWidget::drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, float opacity) {
  p.setPen(Qt::NoPen);
  p.setBrush(bg);
  p.drawEllipse(x - radius / 2, y - radius / 2, radius, radius);
@ -417,8 +422,8 @@ void NvgWindow::drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, flo
 }


-void NvgWindow::initializeGL() {
-  CameraViewWidget::initializeGL();
+void AnnotatedCameraWidget::initializeGL() {
+  CameraWidget::initializeGL();
  qInfo() << "OpenGL version:" << QString((const char*)glGetString(GL_VERSION));
  qInfo() << "OpenGL vendor:" << QString((const char*)glGetString(GL_VENDOR));
  qInfo() << "OpenGL renderer:" << QString((const char*)glGetString(GL_RENDERER));
@ -428,8 +433,8 @@ void NvgWindow::initializeGL() {
  setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
 }

-void NvgWindow::updateFrameMat() {
-  CameraViewWidget::updateFrameMat();
+void AnnotatedCameraWidget::updateFrameMat() {
+  CameraWidget::updateFrameMat();
  UIState *s = uiState();
  int w = width(), h = height();

@ -446,7 +451,7 @@ void NvgWindow::updateFrameMat() {
      .translate(-intrinsic_matrix.v[2], -intrinsic_matrix.v[5]);
 }

-void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) {
+void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
  painter.save();

  const UIScene &scene = s->scene;
@ -505,7 +510,7 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) {
  painter.restore();
 }

-void NvgWindow::drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd) {
+void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd) {
  painter.save();

  const float speedBuff = 10.;
@ -541,11 +546,13 @@ void NvgWindow::drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV
  painter.restore();
 }

-void NvgWindow::paintGL() {
+void AnnotatedCameraWidget::paintGL() {
+  const double start_draw_t = millis_since_boot();
+
  UIState *s = uiState();
  const cereal::ModelDataV2::Reader &model = (*s->sm)["modelV2"].getModelV2();
-  CameraViewWidget::setFrameId(model.getFrameId());
-  CameraViewWidget::paintGL();
+  CameraWidget::setFrameId(model.getFrameId());
+  CameraWidget::paintGL();

  QPainter painter(this);
  painter.setRenderHint(QPainter::Antialiasing);
@ -575,10 +582,16 @@ void NvgWindow::paintGL() {
    LOGW("slow frame rate: %.2f fps", fps);
  }
  prev_draw_t = cur_draw_t;
+
+  // publish debug msg
+  MessageBuilder msg;
+  auto m = msg.initEvent().initUiDebug();
+  m.setDrawTimeMillis(cur_draw_t - start_draw_t);
+  pm->send("uiDebug", msg);
 }

-void NvgWindow::showEvent(QShowEvent *event) {
-  CameraViewWidget::showEvent(event);
+void AnnotatedCameraWidget::showEvent(QShowEvent *event) {
+  CameraWidget::showEvent(event);

  ui_update_params(uiState());
  prev_draw_t = millis_since_boot();
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@ -25,7 +25,7 @@ private:
 };

 // container window for the NVG UI
-class NvgWindow : public CameraViewWidget {
+class AnnotatedCameraWidget : public CameraWidget {
  Q_OBJECT
  Q_PROPERTY(float speed MEMBER speed);
  Q_PROPERTY(QString speedUnit MEMBER speedUnit);
@ -43,7 +43,7 @@ class NvgWindow : public CameraViewWidget {
  Q_PROPERTY(int status MEMBER status);

 public:
-  explicit NvgWindow(VisionStreamType type, QWidget* parent = 0);
+  explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
  void updateState(const UIState &s);

 private:
@ -68,6 +68,7 @@ private:
  bool has_eu_speed_limit = false;
  bool v_ego_cluster_seen = false;
  int status = STATUS_DISENGAGED;
+  std::unique_ptr<PubMaster> pm;

 protected:
  void paintGL() override;
@ -97,7 +98,7 @@ private:
  void paintEvent(QPaintEvent *event);
  void mousePressEvent(QMouseEvent* e) override;
  OnroadAlerts *alerts;
-  NvgWindow *nvg;
+  AnnotatedCameraWidget *nvg;
  QColor bg = bg_colors[STATUS_DISENGAGED];
  QWidget *map = nullptr;
  QHBoxLayout* split;
--- a/selfdrive/ui/qt/util.cc
+++ b/selfdrive/ui/qt/util.cc
@ -21,10 +21,6 @@ QString getBrand() {
  return Params().getBool("Passive") ? QObject::tr("dashcam") : QObject::tr("openpilot");
 }

-QString getBrandVersion() {
-  return getBrand() + " v" + getVersion().left(14).trimmed();
-}
-
 QString getUserAgent() {
  return "openpilot-" + getVersion();
 }
--- a/selfdrive/ui/qt/util.h
+++ b/selfdrive/ui/qt/util.h
@ -11,7 +11,6 @@

 QString getVersion();
 QString getBrand();
-QString getBrandVersion();
 QString getUserAgent();
 std::optional<QString> getDongleId();
 QMap<QString, QString> getSupportedLanguages();
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@ -93,14 +93,14 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio)

 } // namespace

-CameraViewWidget::CameraViewWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) :
+CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) :
                                   stream_name(stream_name), stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) {
  setAttribute(Qt::WA_OpaquePaintEvent);
-  connect(this, &CameraViewWidget::vipcThreadConnected, this, &CameraViewWidget::vipcConnected, Qt::BlockingQueuedConnection);
-  connect(this, &CameraViewWidget::vipcThreadFrameReceived, this, &CameraViewWidget::vipcFrameReceived);
+  connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection);
+  connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived);
 }

-CameraViewWidget::~CameraViewWidget() {
+CameraWidget::~CameraWidget() {
  makeCurrent();
  if (isValid()) {
    glDeleteVertexArrays(1, &frame_vao);
@ -111,7 +111,7 @@ CameraViewWidget::~CameraViewWidget() {
  doneCurrent();
 }

-void CameraViewWidget::initializeGL() {
+void CameraWidget::initializeGL() {
  initializeOpenGLFunctions();

  program = std::make_unique<QOpenGLShaderProgram>(context());
@ -161,7 +161,7 @@ void CameraViewWidget::initializeGL() {
 #endif
 }

-void CameraViewWidget::showEvent(QShowEvent *event) {
+void CameraWidget::showEvent(QShowEvent *event) {
  frames.clear();
  if (!vipc_thread) {
    vipc_thread = new QThread();
@ -171,7 +171,7 @@ void CameraViewWidget::showEvent(QShowEvent *event) {
  }
 }

-void CameraViewWidget::hideEvent(QHideEvent *event) {
+void CameraWidget::hideEvent(QHideEvent *event) {
  if (vipc_thread) {
    vipc_thread->requestInterruption();
    vipc_thread->quit();
@ -180,7 +180,7 @@ void CameraViewWidget::hideEvent(QHideEvent *event) {
  }
 }

-void CameraViewWidget::updateFrameMat() {
+void CameraWidget::updateFrameMat() {
  int w = width(), h = height();

  if (zoomed_view) {
@ -224,12 +224,12 @@ void CameraViewWidget::updateFrameMat() {
  }
 }

-void CameraViewWidget::updateCalibration(const mat3 &calib) {
+void CameraWidget::updateCalibration(const mat3 &calib) {
  calibration = calib;
  updateFrameMat();
 }

-void CameraViewWidget::paintGL() {
+void CameraWidget::paintGL() {
  glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF());
  glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);

@ -286,7 +286,7 @@ void CameraViewWidget::paintGL() {
  glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
 }

-void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) {
+void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) {
  makeCurrent();
  frames.clear();
  stream_width = vipc_client->buffers[0].width;
@ -339,7 +339,7 @@ void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) {
  updateFrameMat();
 }

-void CameraViewWidget::vipcFrameReceived(VisionBuf *buf, uint32_t frame_id) {
+void CameraWidget::vipcFrameReceived(VisionBuf *buf, uint32_t frame_id) {
  frames.push_back(std::make_pair(frame_id, buf));
  while (frames.size() > FRAME_BUFFER_SIZE) {
    frames.pop_front();
@ -347,7 +347,7 @@ void CameraViewWidget::vipcFrameReceived(VisionBuf *buf, uint32_t frame_id) {
  update();
 }

-void CameraViewWidget::vipcThread() {
+void CameraWidget::vipcThread() {
  VisionStreamType cur_stream_type = stream_type;
  std::unique_ptr<VisionIpcClient> vipc_client;
  VisionIpcBufExtra meta_main = {0};
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@ -23,13 +23,13 @@
 const int FRAME_BUFFER_SIZE = 5;
 static_assert(FRAME_BUFFER_SIZE <= YUV_BUFFER_COUNT);

-class CameraViewWidget : public QOpenGLWidget, protected QOpenGLFunctions {
+class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions {
  Q_OBJECT

 public:
  using QOpenGLWidget::QOpenGLWidget;
-  explicit CameraViewWidget(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr);
-  ~CameraViewWidget();
+  explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr);
+  ~CameraWidget();
  void setStreamType(VisionStreamType type) { stream_type = type; }
  void setBackgroundColor(const QColor &color) { bg = color; }
  void setFrameId(int frame_id) { draw_frame_id = frame_id; }
--- a/selfdrive/ui/qt/widgets/controls.cc
+++ b/selfdrive/ui/qt/widgets/controls.cc
@ -41,7 +41,7 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons
  hlayout->addWidget(title_label);

  // value next to control button
-  value = new QLabel();
+  value = new ElidedLabel();
  value->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
  value->setStyleSheet("color: #aaaaaa");
  hlayout->addWidget(value);
--- a/selfdrive/ui/qt/widgets/controls.h
+++ b/selfdrive/ui/qt/widgets/controls.h
@ -65,7 +65,7 @@ protected:
  QPushButton *title_label;

 private:
-  QLabel *value;
+  ElidedLabel *value;
  QLabel *description = nullptr;
 };

--- a/selfdrive/ui/qt/widgets/scrollview.cc
+++ b/selfdrive/ui/qt/widgets/scrollview.cc
@ -3,6 +3,8 @@
 #include <QScrollBar>
 #include <QScroller>

+// TODO: disable horizontal scrolling and resize
+
 ScrollView::ScrollView(QWidget *w, QWidget *parent) : QScrollArea(parent) {
  setWidget(w);
  setWidgetResizable(true);
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@ -67,6 +67,29 @@
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>AnnotatedCameraWidget</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>最高速度</translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation>速度</translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation>制限速度</translation>
+    </message>
+</context>
 <context>
    <name>ConfirmationDialog</name>
    <message>
@ -406,29 +429,6 @@ location set</source>
        <translation>ﾊﾟｽﾜｰﾄﾞが間違っています</translation>
    </message>
 </context>
-<context>
-    <name>NvgWindow</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>最高速度</translation>
-    </message>
-    <message>
-        <source>SPEED</source>
-        <translation>速度</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>制限速度</translation>
-    </message>
-</context>
 <context>
    <name>OffroadHome</name>
    <message>
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@ -60,11 +60,34 @@
    </message>
    <message>
        <source>Cellular Metered</source>
-        <translation type="unfinished"></translation>
+        <translation>데이터 요금제</translation>
    </message>
    <message>
        <source>Prevent large data uploads when on a metered connection</source>
-        <translation type="unfinished"></translation>
+        <translation>데이터 요금제 연결 시 대용량 데이터 업로드 방지</translation>
+    </message>
+</context>
+<context>
+    <name>AnnotatedCameraWidget</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>MAX</translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation>SPEED</translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation>LIMIT</translation>
    </message>
 </context>
 <context>
@ -406,29 +429,6 @@ location set</source>
        <translation>비밀번호가 틀렸습니다</translation>
    </message>
 </context>
-<context>
-    <name>NvgWindow</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>MAX</translation>
-    </message>
-    <message>
-        <source>SPEED</source>
-        <translation>SPEED</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>LIMIT</translation>
-    </message>
-</context>
 <context>
    <name>OffroadHome</name>
    <message>
--- a/selfdrive/ui/translations/main_nl.ts
+++ b/selfdrive/ui/translations/main_nl.ts
--- a/selfdrive/ui/translations/main_pl.ts
+++ b/selfdrive/ui/translations/main_pl.ts
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@ -67,6 +67,29 @@
        <translation>Evite grandes uploads de dados quando estiver em uma conexão limitada</translation>
    </message>
 </context>
+<context>
+    <name>AnnotatedCameraWidget</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>LIMITE</translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation>MAX</translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation>VELO</translation>
+    </message>
+</context>
 <context>
    <name>ConfirmationDialog</name>
    <message>
@ -407,29 +430,6 @@ trabalho definido</translation>
        <translation>Senha incorreta</translation>
    </message>
 </context>
-<context>
-    <name>NvgWindow</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>LIMITE</translation>
-    </message>
-    <message>
-        <source>SPEED</source>
-        <translation>MAX</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>VELO</translation>
-    </message>
-</context>
 <context>
    <name>OffroadHome</name>
    <message>
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@ -67,6 +67,29 @@
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>AnnotatedCameraWidget</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>最高定速</translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation>SPEED</translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation>LIMIT</translation>
+    </message>
+</context>
 <context>
    <name>ConfirmationDialog</name>
    <message>
@ -404,29 +427,6 @@ location set</source>
        <translation>密码错误</translation>
    </message>
 </context>
-<context>
-    <name>NvgWindow</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>最高定速</translation>
-    </message>
-    <message>
-        <source>SPEED</source>
-        <translation>SPEED</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>LIMIT</translation>
-    </message>
-</context>
 <context>
    <name>OffroadHome</name>
    <message>
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@ -67,6 +67,29 @@
        <translation type="unfinished"></translation>
    </message>
 </context>
+<context>
+    <name>AnnotatedCameraWidget</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>最高</translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation>速度</translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation>速限</translation>
+    </message>
+</context>
 <context>
    <name>ConfirmationDialog</name>
    <message>
@ -406,29 +429,6 @@ location set</source>
        <translation>密碼錯誤</translation>
    </message>
 </context>
-<context>
-    <name>NvgWindow</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>最高</translation>
-    </message>
-    <message>
-        <source>SPEED</source>
-        <translation>速度</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>速限</translation>
-    </message>
-</context>
 <context>
    <name>OffroadHome</name>
    <message>
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@ -163,7 +163,8 @@ static void update_state(UIState *s) {
    scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
  }
  if (sm.updated("wideRoadCameraState")) {
-    scene.light_sensor = 100.0f - sm["wideRoadCameraState"].getWideRoadCameraState().getExposureValPercent();
+    float scale = (sm["wideRoadCameraState"].getWideRoadCameraState().getSensor() == cereal::FrameData::ImageSensor::AR0321) ? 6.0f : 1.0f;
+    scene.light_sensor = std::max(100.0f - scale * sm["wideRoadCameraState"].getWideRoadCameraState().getExposureValPercent(), 0.0f);
  }
  scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition;
 }
--- a/selfdrive/ui/watch3.cc
+++ b/selfdrive/ui/watch3.cc
@ -19,15 +19,15 @@ int main(int argc, char *argv[]) {
  {
    QHBoxLayout *hlayout = new QHBoxLayout();
    layout->addLayout(hlayout);
-    hlayout->addWidget(new CameraViewWidget("navd", VISION_STREAM_MAP, false));
-    hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_ROAD, false));
+    hlayout->addWidget(new CameraWidget("navd", VISION_STREAM_MAP, false));
+    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD, false));
  }

  {
    QHBoxLayout *hlayout = new QHBoxLayout();
    layout->addLayout(hlayout);
-    hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_DRIVER, false));
-    hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_WIDE_ROAD, false));
+    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER, false));
+    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD, false));
  }

  return a.exec();
--- a/selfdrive/updated.py
+++ b/selfdrive/updated.py
@ -280,17 +280,25 @@ class Updater:

    # Write out current and new version info
    def get_description(basedir: str) -> str:
+      if not os.path.exists(basedir):
+        return ""
+
      version = ""
      branch = ""
      commit = ""
+      commit_date = ""
      try:
        branch = self.get_branch(basedir)
-        commit = self.get_commit_hash(basedir)
+        commit = self.get_commit_hash(basedir)[:7]
        with open(os.path.join(basedir, "common", "version.h")) as f:
          version = f.read().split('"')[1]
+
+        commit_unix_ts = run(["git", "show", "-s", "--format=%ct", "HEAD"], basedir).rstrip()
+        dt = datetime.datetime.fromtimestamp(int(commit_unix_ts))
+        commit_date = dt.strftime("%b %d")
      except Exception:
-        pass
-      return f"{version} / {branch} / {commit[:7]}"
+        cloudlog.exception("updater.get_description")
+      return f"{version} / {branch} / {commit} / {commit_date}"
    self.params.put("UpdaterCurrentDescription", get_description(BASEDIR))
    self.params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR))
    self.params.put("UpdaterNewDescription", get_description(FINALIZED))
@ -365,6 +373,7 @@ class Updater:
      ["git", "checkout", "--force", "--no-recurse-submodules", "-B", branch, "FETCH_HEAD"],
      ["git", "reset", "--hard"],
      ["git", "clean", "-xdff"],
+      ["git", "submodule", "sync"],
      ["git", "submodule", "init"],
      ["git", "submodule", "update"],
    ]
--- a/system/hardware/tici/test_power_draw.py
+++ b/system/hardware/tici/test_power_draw.py
@ -21,7 +21,7 @@ class Proc:
 PROCS = [
  Proc('camerad', 2.15),
  Proc('modeld', 1.15, atol=0.2),
-  Proc('dmonitoringmodeld', 0.35),
+  Proc('dmonitoringmodeld', 0.4),
  Proc('encoderd', 0.23),
 ]

--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 870ea766eec7a38d7d590c81436f15271ba2667e
+Subproject commit 8e22d5ee675277181e1eff644dde9e844fc40fce
--- a/tools/README.md
+++ b/tools/README.md
@ -6,7 +6,6 @@ openpilot is developed and tested on **Ubuntu 20.04**, which is the primary deve

 ## Setup your PC

-
 First, clone openpilot:
 ``` bash
 cd ~
@ -26,10 +25,10 @@ tools/ubuntu_setup.sh
 tools/mac_setup.sh
 ```

-Activate a shell with the install Python dependencies:
+Activate a shell with the Python dependencies installed:

 ``` bash
-cd openpilot && pipenv shell
+cd openpilot && poetry shell
 ```

 Build openpilot with this command:
--- a/tools/cabana/.gitignore
+++ b/tools/cabana/.gitignore
@ -3,3 +3,5 @@ moc_*

 _cabana
 settings
+car_fingerprint_to_dbc.json
+
--- a/Show More
+++ b/Show More