diff --git a/selfdrive/car/body/carstate.py b/selfdrive/car/body/carstate.py
index 6b6414ca9c..1d259df254 100644
--- a/selfdrive/car/body/carstate.py
+++ b/selfdrive/car/body/carstate.py
@@ -6,7 +6,7 @@ from openpilot.selfdrive.car.body.values import DBC
 STARTUP_TICKS = 100
 
 class CarState(CarStateBase):
-  def update(self, cp):
+  def update(self, cp) -> structs.CarState:
     ret = structs.CarState()
 
     ret.wheelSpeeds.fl = cp.vl['MOTORS_DATA']['SPEED_L']
diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py
index 1d34e156a2..265dbe2f31 100644
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@@ -1,16 +1,18 @@
 import math
 from cereal import car
-from openpilot.selfdrive.car import DT_CTRL, get_safety_config
-from openpilot.selfdrive.car.structs import CarParams
+from openpilot.selfdrive.car import DT_CTRL, get_safety_config, structs
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.car.body.carstate import CarState
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 
 class CarInterface(CarInterfaceBase):
+  CS: CarState
+
   @staticmethod
-  def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.notCar = True
     ret.carName = "body"
-    ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.body)]
+    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.body)]
 
     ret.minSteerSpeed = -math.inf
     ret.maxLateralAccel = math.inf  # TODO: set to a reasonable value
@@ -21,11 +23,11 @@ class CarInterface(CarInterfaceBase):
 
     ret.radarUnavailable = True
     ret.openpilotLongitudinalControl = True
-    ret.steerControlType = CarParams.SteerControlType.angle
+    ret.steerControlType = structs.CarParams.SteerControlType.angle
 
     return ret
 
-  def _update(self, c):
+  def _update(self, c) -> structs.CarState:
     ret = self.CS.update(self.cp)
 
     # wait for everything to init first
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index e17d777c24..0d7d31f825 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -24,7 +24,7 @@ class CarState(CarStateBase):
     self.prev_distance_button = 0
     self.distance_button = 0
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam) -> structs.CarState:
 
     ret = structs.CarState()
 
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 6644c117db..34b91ce3e8 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -2,6 +2,7 @@
 from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car import create_button_events, get_safety_config, structs
+from openpilot.selfdrive.car.chrysler.carstate import CarState
 from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
@@ -9,6 +10,8 @@ ButtonType = structs.CarState.ButtonEvent.Type
 
 
 class CarInterface(CarInterfaceBase):
+  CS: CarState
+
   @staticmethod
   def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "chrysler"
@@ -76,7 +79,7 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def _update(self, c):
+  def _update(self, c) -> structs.CarState:
     ret = self.CS.update(self.cp, self.cp_cam)
 
     ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index 14c3174163..fd7f7ad594 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -22,7 +22,7 @@ class CarState(CarStateBase):
     self.prev_distance_button = 0
     self.distance_button = 0
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam) -> structs.CarState:
     ret = structs.CarState()
 
     # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 60309e19b7..192a12b9ec 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -2,6 +2,7 @@ from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car import create_button_events, get_safety_config, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.ford.carstate import CarState
 from openpilot.selfdrive.car.ford.fordcan import CanBus
 from openpilot.selfdrive.car.ford.values import Ecu, FordFlags
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
@@ -12,6 +13,8 @@ GearShifter = structs.CarState.GearShifter
 
 
 class CarInterface(CarInterfaceBase):
+  CS: CarState
+
   @staticmethod
   def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "ford"
@@ -67,7 +70,7 @@ class CarInterface(CarInterfaceBase):
     ret.centerToFront = ret.wheelbase * 0.44
     return ret
 
-  def _update(self, c):
+  def _update(self, c) -> structs.CarState:
     ret = self.CS.update(self.cp, self.cp_cam)
 
     ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 03c681b5c4..a8b26a12cb 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -29,7 +29,7 @@ class CarState(CarStateBase):
     self.prev_distance_button = 0
     self.distance_button = 0
 
-  def update(self, pt_cp, cam_cp, loopback_cp):
+  def update(self, pt_cp, cam_cp, loopback_cp) -> structs.CarState:
     ret = structs.CarState()
 
     self.prev_cruise_buttons = self.cruise_buttons
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 815f7992a1..68650dd874 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -8,6 +8,7 @@ from panda import Panda
 from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.car import create_button_events, get_safety_config, get_friction, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.gm.carstate import CarState
 from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
 from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
@@ -31,6 +32,8 @@ NEURAL_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/neural_ff_
 
 
 class CarInterface(CarInterfaceBase):
+  CS: CarState
+
   @staticmethod
   def get_pid_accel_limits(CP, current_speed, cruise_speed):
     return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
@@ -202,7 +205,7 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   # returns a car.CarState
-  def _update(self, c):
+  def _update(self, c) -> structs.CarState:
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
 
     # Don't add event if transitioning from INIT, unless it's to an actual button
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 294742a841..67f380b8ce 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -104,7 +104,7 @@ class CarState(CarStateBase):
     # However, on cars without a digital speedometer this is not always present (HRV, FIT, CRV 2016, ILX and RDX)
     self.dash_speed_seen = False
 
-  def update(self, cp, cp_cam, cp_body):
+  def update(self, cp, cp_cam, cp_body) -> structs.CarState:
     ret = structs.CarState()
 
     # car params
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index e43fc921c1..78e71be133 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -4,6 +4,7 @@ from panda import Panda
 from openpilot.selfdrive.car import create_button_events, get_safety_config, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.helpers import interp
+from openpilot.selfdrive.car.honda.carstate import CarState
 from openpilot.selfdrive.car.honda.hondacan import CanBus
 from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CruiseSettings, HondaFlags, CAR, HONDA_BOSCH, \
                                                  HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS
@@ -20,6 +21,8 @@ SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, Cr
 
 
 class CarInterface(CarInterfaceBase):
+  CS: CarState
+
   @staticmethod
   def get_pid_accel_limits(CP, current_speed, cruise_speed):
     if CP.carFingerprint in HONDA_BOSCH:
@@ -222,7 +225,7 @@ class CarInterface(CarInterfaceBase):
       disable_ecu(can_recv, can_send, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')
 
   # returns a car.CarState
-  def _update(self, c):
+  def _update(self, c) -> structs.CarState:
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
 
     ret.buttonEvents = [
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 66d23386d6..a5dc33f99b 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -52,7 +52,7 @@ class CarState(CarStateBase):
 
     self.params = CarControllerParams(CP)
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam) -> structs.CarState:
     if self.CP.carFingerprint in CANFD_CAR:
       return self.update_canfd(cp, cp_cam)
 
@@ -168,7 +168,7 @@ class CarState(CarStateBase):
 
     return ret
 
-  def update_canfd(self, cp, cp_cam):
+  def update_canfd(self, cp, cp_cam) -> structs.CarState:
     ret = structs.CarState()
 
     self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 170dc6c100..65a82b1aac 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -1,6 +1,7 @@
 from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car import create_button_events, get_safety_config, structs
+from openpilot.selfdrive.car.hyundai.carstate import CarState
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
                                          CANFD_UNSUPPORTED_LONGITUDINAL_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \
@@ -18,6 +19,8 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu
 
 
 class CarInterface(CarInterfaceBase):
+  CS: CarState
+
   @staticmethod
   def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "hyundai"
@@ -150,7 +153,7 @@ class CarInterface(CarInterfaceBase):
     if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
       disable_ecu(can_recv, can_send, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
 
-  def _update(self, c):
+  def _update(self, c) -> structs.CarState:
     ret = self.CS.update(self.cp, self.cp_cam)
 
     if self.CS.CP.openpilotLongitudinalControl:
diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index 0103fa9fb7..de8a870ba9 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -21,7 +21,7 @@ class CarState(CarStateBase):
     self.prev_distance_button = 0
     self.distance_button = 0
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam) -> structs.CarState:
 
     ret = structs.CarState()
 
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index 3a1b48d04c..8dcad2a2db 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -2,6 +2,7 @@
 from cereal import car
 from openpilot.selfdrive.car import create_button_events, get_safety_config, structs
 from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.mazda.carstate import CarState
 from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
@@ -9,6 +10,7 @@ ButtonType = structs.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
 
 class CarInterface(CarInterfaceBase):
+  CS: CarState
 
   @staticmethod
   def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
@@ -31,7 +33,7 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   # returns a car.CarState
-  def _update(self, c):
+  def _update(self, c) -> structs.CarState:
     ret = self.CS.update(self.cp, self.cp_cam)
 
      # TODO: add button types for inc and dec
diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py
index 6d9a35991e..c9a8df9919 100755
--- a/selfdrive/car/mock/interface.py
+++ b/selfdrive/car/mock/interface.py
@@ -21,7 +21,7 @@ class CarInterface(CarInterfaceBase):
     ret.dashcamOnly = True
     return ret
 
-  def _update(self, c):
+  def _update(self, c) -> structs.CarState:
     self.sm.update(0)
     gps_sock = 'gpsLocationExternal' if self.sm.recv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
 
diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py
index 4440559159..5d20f963e4 100644
--- a/selfdrive/car/nissan/carstate.py
+++ b/selfdrive/car/nissan/carstate.py
@@ -23,7 +23,7 @@ class CarState(CarStateBase):
     self.prev_distance_button = 0
     self.distance_button = 0
 
-  def update(self, cp, cp_adas, cp_cam):
+  def update(self, cp, cp_adas, cp_cam) -> structs.CarState:
     ret = structs.CarState()
 
     self.prev_distance_button = self.distance_button
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index 6c31110d14..3ba76fdd4f 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -2,12 +2,14 @@ from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car import create_button_events, get_safety_config, structs
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.car.nissan.carstate import CarState
 from openpilot.selfdrive.car.nissan.values import CAR
 
 ButtonType = structs.CarState.ButtonEvent.Type
 
 
 class CarInterface(CarInterfaceBase):
+  CS: CarState
 
   @staticmethod
   def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
@@ -29,7 +31,7 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   # returns a car.CarState
-  def _update(self, c):
+  def _update(self, c) -> structs.CarState:
     ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
 
     ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
index 4297f62fa8..f98d1c3999 100644
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@@ -16,7 +16,7 @@ class CarState(CarStateBase):
 
     self.angle_rate_calulator = CanSignalRateCalculator(50)
 
-  def update(self, cp, cp_cam, cp_body):
+  def update(self, cp, cp_cam, cp_body) -> structs.CarState:
     ret = structs.CarState()
 
     throttle_msg = cp.vl["Throttle"] if not (self.CP.flags & SubaruFlags.HYBRID) else cp_body.vl["Throttle_Hybrid"]
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 717986438b..72410d2c80 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -1,15 +1,16 @@
 from panda import Panda
-from openpilot.selfdrive.car import get_safety_config
-from openpilot.selfdrive.car.structs import CarParams
+from openpilot.selfdrive.car import get_safety_config, structs
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.car.subaru.carstate import CarState
 from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, SubaruFlags
 
 
 class CarInterface(CarInterfaceBase):
+  CS: CarState
 
   @staticmethod
-  def _get_params(ret: CarParams, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "subaru"
     ret.radarUnavailable = True
     # for HYBRID CARS to be upstreamed, we need:
@@ -25,10 +26,10 @@ class CarInterface(CarInterfaceBase):
 
     if ret.flags & SubaruFlags.PREGLOBAL:
       ret.enableBsm = 0x25c in fingerprint[0]
-      ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.subaruPreglobal)]
+      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.subaruPreglobal)]
     else:
       ret.enableBsm = 0x228 in fingerprint[0]
-      ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.subaru)]
+      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.subaru)]
       if ret.flags & SubaruFlags.GLOBAL_GEN2:
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_GEN2
 
@@ -36,7 +37,7 @@ class CarInterface(CarInterfaceBase):
     ret.steerActuatorDelay = 0.1
 
     if ret.flags & SubaruFlags.LKAS_ANGLE:
-      ret.steerControlType = CarParams.SteerControlType.angle
+      ret.steerControlType = structs.CarParams.SteerControlType.angle
     else:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
@@ -97,7 +98,7 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   # returns a car.CarState
-  def _update(self, c):
+  def _update(self, c) -> structs.CarState:
 
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
 
diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py
index a2d0a867aa..d1e88583ef 100644
--- a/selfdrive/car/tesla/carstate.py
+++ b/selfdrive/car/tesla/carstate.py
@@ -21,7 +21,7 @@ class CarState(CarStateBase):
     self.acc_state = 0
     self.das_control_counters = deque(maxlen=32)
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam) -> structs.CarState:
     ret = structs.CarState()
 
     # Vehicle speed
diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
index 812836be02..b8a2b4960b 100755
--- a/selfdrive/car/tesla/interface.py
+++ b/selfdrive/car/tesla/interface.py
@@ -1,14 +1,16 @@
 #!/usr/bin/env python3
 from panda import Panda
-from openpilot.selfdrive.car import get_safety_config
-from openpilot.selfdrive.car.structs import CarParams
+from openpilot.selfdrive.car import get_safety_config, structs
+from openpilot.selfdrive.car.tesla.carstate import CarState
 from openpilot.selfdrive.car.tesla.values import CANBUS, CAR
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 
 class CarInterface(CarInterfaceBase):
+  CS: CarState
+
   @staticmethod
-  def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "tesla"
 
     # There is no safe way to do steer blending with user torque,
@@ -16,7 +18,7 @@ class CarInterface(CarInterfaceBase):
     # how openpilot should be, hence dashcamOnly
     ret.dashcamOnly = True
 
-    ret.steerControlType = CarParams.SteerControlType.angle
+    ret.steerControlType = structs.CarParams.SteerControlType.angle
 
     ret.longitudinalActuatorDelay = 0.5 # s
     ret.radarTimeStep = (1.0 / 8) # 8Hz
@@ -28,18 +30,18 @@ class CarInterface(CarInterfaceBase):
       ret.openpilotLongitudinalControl = True
       flags |= Panda.FLAG_TESLA_LONG_CONTROL
       ret.safetyConfigs = [
-        get_safety_config(CarParams.SafetyModel.tesla, flags),
-        get_safety_config(CarParams.SafetyModel.tesla, flags | Panda.FLAG_TESLA_POWERTRAIN),
+        get_safety_config(structs.CarParams.SafetyModel.tesla, flags),
+        get_safety_config(structs.CarParams.SafetyModel.tesla, flags | Panda.FLAG_TESLA_POWERTRAIN),
       ]
     else:
       ret.openpilotLongitudinalControl = False
-      ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.tesla, flags)]
+      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.tesla, flags)]
 
     ret.steerLimitTimer = 1.0
     ret.steerActuatorDelay = 0.25
     return ret
 
-  def _update(self, c):
+  def _update(self, c) -> structs.CarState:
     ret = self.CS.update(self.cp, self.cp_cam)
 
     ret.events = self.create_common_events(ret).to_msg()
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index 42c6a57659..a37d2b5767 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -33,7 +33,7 @@ class CarState(CarStateBase):
 
     return button_events
 
-  def update(self, pt_cp, cam_cp, ext_cp, trans_type):
+  def update(self, pt_cp, cam_cp, ext_cp, trans_type) -> structs.CarState:
     if self.CP.flags & VolkswagenFlags.PQ:
       return self.update_pq(pt_cp, cam_cp, ext_cp, trans_type)
 
@@ -156,7 +156,7 @@ class CarState(CarStateBase):
     self.frame += 1
     return ret
 
-  def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type):
+  def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type) -> structs.CarState:
     ret = structs.CarState()
     # Update vehicle speed and acceleration from ABS wheel speeds.
     ret.wheelSpeeds = self.get_wheel_speeds(
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 4dd3421cbd..ff1ed641a9 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -2,6 +2,8 @@ from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car import get_safety_config, structs
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.car.volkswagen.carcontroller import CarController
+from openpilot.selfdrive.car.volkswagen.carstate import CarState
 from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, CarControllerParams, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags
 
 ButtonType = structs.CarState.ButtonEvent.Type
@@ -9,6 +11,9 @@ EventName = car.CarEvent.EventName
 
 
 class CarInterface(CarInterfaceBase):
+  CS: CarState
+  CC: CarController
+
   def __init__(self, CP, CarController, CarState):
     super().__init__(CP, CarController, CarState)
 
@@ -101,7 +106,7 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   # returns a car.CarState
-  def _update(self, c):
+  def _update(self, c) -> structs.CarState:
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
 
     events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],