diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index efddde720d..5873e7aee6 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -204,11 +204,12 @@ jobs:
                         $UNIT_TEST selfdrive/boardd && \
                         $UNIT_TEST selfdrive/controls && \
                         $UNIT_TEST selfdrive/monitoring && \
-                        $UNIT_TEST selfdrive/loggerd && \
+                        $UNIT_TEST system/loggerd && \
                         $UNIT_TEST selfdrive/car && \
                         $UNIT_TEST selfdrive/locationd && \
+                        $UNIT_TEST system/ubloxd && \
                         selfdrive/locationd/test/_test_locationd_lib.py && \
-                        ./selfdrive/locationd/test/test_glonass_runner && \
+                        ./system/ubloxd/tests/test_glonass_runner && \
                         $UNIT_TEST selfdrive/athena && \
                         $UNIT_TEST selfdrive/thermald && \
                         $UNIT_TEST system/hardware/tici && \
@@ -219,7 +220,7 @@ jobs:
                         ./common/tests/test_util && \
                         ./common/tests/test_swaglog && \
                         ./selfdrive/boardd/tests/test_boardd_usbprotocol && \
-                        ./selfdrive/loggerd/tests/test_logger &&\
+                        ./system/loggerd/tests/test_logger &&\
                         ./system/proclogd/tests/test_proclog && \
                         ./tools/replay/tests/test_replay && \
                         ./tools/cabana/tests/test_cabana && \
diff --git a/.gitignore b/.gitignore
index 2b283d3b11..be6629f212 100644
--- a/.gitignore
+++ b/.gitignore
@@ -46,9 +46,6 @@ selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
 selfdrive/ui/_ui
 selfdrive/test/longitudinal_maneuvers/out
-selfdrive/visiond/visiond
-selfdrive/sensord/_gpsd
-selfdrive/sensord/_sensord
 system/camerad/camerad
 system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
diff --git a/Jenkinsfile b/Jenkinsfile
index 30c045e419..4e80b5fa3c 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -157,10 +157,11 @@ pipeline {
             phone_steps("tici-common", [
               ["build", "cd selfdrive/manager && ./build.py"],
               ["test power draw", "python system/hardware/tici/test_power_draw.py"],
-              ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
-              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
-              ["test pigeond", "python selfdrive/sensord/tests/test_pigeond.py"],
+              ["test loggerd", "python system/loggerd/tests/test_loggerd.py"],
+              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"],
+              ["test pigeond", "python system/sensord/tests/test_pigeond.py"],
               ["test manager", "python selfdrive/manager/test/test_manager.py"],
+              ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
             ])
           }
         }
@@ -192,11 +193,11 @@ pipeline {
           steps {
             phone_steps("tici-lsmc", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"],
+              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
             ])
             phone_steps("tici-bmx-lsm", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"],
+              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
             ])
           }
         }
diff --git a/README.md b/README.md
index 4896d9ff72..a71a9e671e 100755
--- a/README.md
+++ b/README.md
@@ -108,7 +108,10 @@ Directory Structure
         ├── clocksd         # Broadcasts current time
         ├── hardware        # Hardware abstraction classes
         ├── logcatd         # systemd journal as a service
-        └── proclogd        # Logs information from /proc
+        ├── loggerd         # Logger and uploader of car data
+        ├── proclogd        # Logs information from /proc
+        ├── sensord         # IMU interface code
+        └── ubloxd          # u-blox GNSS module interface code
     └── selfdrive           # Code needed to drive the car
         ├── assets          # Fonts, images, and sounds for UI
         ├── athena          # Allows communication with the app
@@ -117,12 +120,10 @@ Directory Structure
         ├── controls        # Planning and controls
         ├── debug           # Tools to help you debug and do car ports
         ├── locationd       # Precise localization and vehicle parameter estimation
-        ├── loggerd         # Logger and uploader of car data
         ├── manager         # Daemon that starts/stops all other daemons as needed
         ├── modeld          # Driving and monitoring model runners
         ├── monitoring      # Daemon to determine driver attention
         ├── navd            # Turn-by-turn navigation
-        ├── sensord         # IMU interface code
         ├── test            # Unit tests, system tests, and a car simulator
         └── ui              # The UI
 
diff --git a/RELEASES.md b/RELEASES.md
index ed42b577fe..9bb2a2b073 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,6 +1,9 @@
 Version 0.9.2 (2023-03-XX)
 ========================
+* New driving model, trained on a new dataset
 * Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
+* Buick LaCrosse 2017-19 support thanks to koch-cf!
+* Škoda Fabia 2022-23 support thanks to jyoung8607!
 * Honda HR-V 2023 support thanks to Takeda!
 
 Version 0.9.1 (2023-02-28)
diff --git a/SConstruct b/SConstruct
index 007931b7f5..387d2e76f4 100644
--- a/SConstruct
+++ b/SConstruct
@@ -398,6 +398,7 @@ SConscript([
   'system/camerad/SConscript',
   'system/clocksd/SConscript',
   'system/proclogd/SConscript',
+  'system/ubloxd/SConscript',
 ])
 if arch != "Darwin":
   SConscript(['system/logcatd/SConscript'])
@@ -424,10 +425,10 @@ SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
 
 SConscript(['selfdrive/boardd/SConscript'])
 
-SConscript(['selfdrive/loggerd/SConscript'])
+SConscript(['system/loggerd/SConscript'])
 
 SConscript(['selfdrive/locationd/SConscript'])
-SConscript(['selfdrive/sensord/SConscript'])
+SConscript(['system/sensord/SConscript'])
 SConscript(['selfdrive/ui/SConscript'])
 SConscript(['selfdrive/navd/SConscript'])
 
diff --git a/cereal b/cereal
index 42f84fd85d..1f0d21df73 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 42f84fd85d06c0fc85371daa2b4820fca49d763e
+Subproject commit 1f0d21df7307228218a4b874a3fdcd819b1558af
diff --git a/common/params.cc b/common/params.cc
index e74c63bf6a..428830a112 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -98,6 +98,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"CompletedTrainingVersion", PERSISTENT},
     {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"CurrentBootlog", PERSISTENT},
     {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"DisablePowerDown", PERSISTENT},
@@ -110,7 +111,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},
     {"DoUninstall", CLEAR_ON_MANAGER_START},
-    {"FirmwareObdQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"ForcePowerDown", CLEAR_ON_MANAGER_START},
     {"GitBranch", PERSISTENT},
     {"GitCommit", PERSISTENT},
@@ -137,7 +138,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"IsReleaseBranch", CLEAR_ON_MANAGER_START},
     {"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
     {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
-    {"LaikadEphemerisV2", PERSISTENT | DONT_LOG},
+    {"LaikadEphemerisV3", PERSISTENT | DONT_LOG},
     {"LanguageSetting", PERSISTENT},
     {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
     {"LastGPSPosition", PERSISTENT},
@@ -154,7 +155,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"NavSettingTime24h", PERSISTENT},
     {"NavSettingLeftSide", PERSISTENT},
     {"NavdRender", PERSISTENT},
-    {"ObdMultiplexingDisabled", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"OpenpilotEnabledToggle", PERSISTENT},
     {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
     {"PandaSignatures", CLEAR_ON_MANAGER_START},
diff --git a/docs/CARS.md b/docs/CARS.md
index 7bc29cbc66..24fb3ee468 100644
--- 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.
 
-# 238 Supported Cars
+# 239 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -17,6 +17,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">J533</a>||
 |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">J533</a>||
 |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">J533</a>||
+|Buick|LaCrosse 2017-19[<sup>3</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Buick&model=LaCrosse 2017-19">OBD-II</a>||
 |Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">OBD-II</a>||
 |Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">OBD-II</a>||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EUV 2022-23">GM</a>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -43,9 +44,9 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Honda Bosch A</a>||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Honda Nidec</a>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Honda Bosch A</a>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Honda Bosch B</a>||
+|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Honda Bosch B</a>||
 |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Honda Bosch A</a>||
-|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Honda Bosch B</a>||
+|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Honda Bosch B</a>||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Honda Nidec</a>||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Honda Bosch A</a>||
 |Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">Honda Bosch A</a>||
@@ -117,7 +118,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Seltos 2021">Hyundai A</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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2018">Hyundai C</a>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2019">Hyundai E</a>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Sorento 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2022-23">Hyundai K</a>||
+|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2021-23">Hyundai K</a>||
 |Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Hyundai A</a>||
 |Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Hyundai N</a>||
 |Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Hyundai N</a>||
@@ -126,14 +127,14 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">Hyundai H</a>||
 |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=CT Hybrid 2017-18">Toyota</a>||
 |Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2019-22">Toyota</a>||
-|Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2017-18">Toyota</a>||
+|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2017-18">Toyota</a>||
 |Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2019-23">Toyota</a>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=IS 2017-19">Toyota</a>||
 |Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2018-19">Toyota</a>||
 |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2020-21">Toyota</a>||
 |Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2018-19">Toyota</a>||
 |Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2020-21">Toyota</a>||
-|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RC 2017-20">Toyota</a>||
+|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RC 2018-20">Toyota</a>||
 |Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2016">Toyota</a>||
 |Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2017-19">Toyota</a>||
 |Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2020-22">Toyota</a>||
@@ -149,7 +150,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Leaf 2018-22">Nissan A</a>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Rogue 2018-20">Nissan A</a>||
 |Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=X-Trail 2017">Nissan A</a>||
-|Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-22">Ram</a>||
+|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-23">Ram</a>||
 |SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">J533</a>||
 |SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">J533</a>||
 |Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Subaru A</a>||
@@ -162,9 +163,10 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Subaru B</a>||
 |Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Subaru A</a>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Subaru A</a>||
+|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">J533</a>[<sup>10</sup>](#footnotes)||
 |Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">J533</a>[<sup>10</sup>](#footnotes)||
 |Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">J533</a>||
-|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2018-19">J533</a>||
+|Škoda|Kodiaq 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">J533</a>||
 |Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">J533</a>||
 |Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">J533</a>||
 |Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">J533</a>[<sup>10</sup>](#footnotes)||
diff --git a/docs/c_docs.rst b/docs/c_docs.rst
index 77be7e51d8..5619cc8a51 100644
--- a/docs/c_docs.rst
+++ b/docs/c_docs.rst
@@ -83,7 +83,7 @@ common
 sensorsd
 ^^^^^^^^
 .. autodoxygenindex::
-   :project: selfdrive_sensord_sensors
+   :project: system_sensord_sensors
 
 boardd
 ^^^^^^
diff --git a/docs/overview.rst b/docs/overview.rst
index cc4c582155..b9a5700528 100644
--- a/docs/overview.rst
+++ b/docs/overview.rst
@@ -5,7 +5,7 @@ openpilot
    :maxdepth: 4
 
    Debugging <selfdrive/debug/README.md>
-   selfdrive/loggerd/README.md
+   system/loggerd/README.md
    Driver Monitoring <selfdrive/monitoring/README.md>
    Process Replay <selfdrive/test/process_replay/README.md>
 
diff --git a/laika_repo b/laika_repo
index b740b71c82..6fadabd860 160000
--- a/laika_repo
+++ b/laika_repo
@@ -1 +1 @@
-Subproject commit b740b71c82a748e3520b1599487d9a7aaf728670
+Subproject commit 6fadabd86043ee19e06c6ed59aa4e688c14fa8e4
diff --git a/opendbc b/opendbc
index 510bfc0695..b7d4a6e271 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 510bfc06954e31257f8d8de17adf92f9a68a1b71
+Subproject commit b7d4a6e2718d9ec3cf436441696528bedb1d44cf
diff --git a/panda b/panda
index e0e754de2c..db6c50cd09 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit e0e754de2c7fdbf943dd02db203b7bb40bf3e9b5
+Subproject commit db6c50cd09f773c231f962fc0e31b4612c572b08
diff --git a/poetry.lock b/poetry.lock
index ec4022c81f..b7554ac03a 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -113,9 +113,12 @@ category = "dev"
 optional = false
 python-versions = "*"
 
+[package.dependencies]
+packaging = ">20.6"
+
 [package.source]
 type = "url"
-url = "https://github.com/commaai/apex/releases/download/pytorch1.10.0%2Bcu11.1/apex-0.1-cp38-cp38-linux_x86_64.whl"
+url = "https://github.com/commaai/apex/releases/download/pytorch2.0.0%2Bcu11.8/apex-0.1-cp38-cp38-linux_x86_64.whl"
 
 [[package]]
 name = "appdirs"
@@ -457,6 +460,14 @@ python-versions = "*"
 docutils = ">=0.12"
 Sphinx = ">=4.0,<5.0.0 || >5.0.0,<6"
 
+[[package]]
+name = "brotli"
+version = "1.0.9"
+description = "Python bindings for the Brotli compression library"
+category = "dev"
+optional = false
+python-versions = "*"
+
 [[package]]
 name = "cachecontrol"
 version = "0.12.11"
@@ -600,6 +611,17 @@ category = "dev"
 optional = false
 python-versions = ">=3.6"
 
+[[package]]
+name = "cmake"
+version = "3.26.0"
+description = "CMake is an open-source, cross-platform family of tools designed to build, test and package software"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[package.extras]
+test = ["codecov (>=2.0.5)", "coverage (>=4.2)", "flake8 (>=3.0.4)", "path.py (>=11.5.0)", "pytest (>=3.0.3)", "pytest-cov (>=2.4.0)", "pytest-runner (>=2.9)", "pytest-virtualenv (>=1.7.0)", "scikit-build (>=0.10.0)", "setuptools (>=28.0.0)", "virtualenv (>=15.0.3)", "wheel"]
+
 [[package]]
 name = "colorama"
 version = "0.4.5"
@@ -716,8 +738,8 @@ ssh = ["bcrypt (>=3.1.5)"]
 test = ["hypothesis (>=1.11.4,!=3.79.2)", "iso8601", "pretend", "pytest (>=6.2.0)", "pytest-benchmark", "pytest-cov", "pytest-subtests", "pytest-xdist", "pytz"]
 
 [[package]]
-name = "cupy-cuda113"
-version = "10.6.0"
+name = "cupy-cuda11x"
+version = "11.6.0"
 description = "CuPy: NumPy & SciPy for GPU"
 category = "dev"
 optional = false
@@ -725,12 +747,12 @@ python-versions = ">=3.7"
 
 [package.dependencies]
 fastrlock = ">=0.5"
-numpy = ">=1.18,<1.25"
+numpy = ">=1.20,<1.27"
 
 [package.extras]
-all = ["Cython (>=0.29.22,<3)", "optuna (>=2.0)", "scipy (>=1.4,<1.11)"]
+all = ["Cython (>=0.29.22,<3)", "optuna (>=2.0)", "scipy (>=1.6,<1.12)"]
 stylecheck = ["autopep8 (==1.5.5)", "flake8 (==3.8.4)", "mypy (==0.950)", "pbr (==5.5.1)", "pycodestyle (==2.6.0)", "types-setuptools (==57.4.14)"]
-test = ["hypothesis (>=6.37.2)", "pytest (>=6.2)"]
+test = ["hypothesis (>=6.37.2,<6.55.0)", "pytest (>=7.2)"]
 
 [[package]]
 name = "cycler"
@@ -1180,6 +1202,20 @@ monitor = ["psutil (>=5.7.0)"]
 recommended = ["backports.socketpair", "cffi (>=1.12.2)", "dnspython (>=1.16.0,<2.0)", "idna", "psutil (>=5.7.0)", "selectors2"]
 test = ["backports.socketpair", "cffi (>=1.12.2)", "contextvars (==2.4)", "coverage (>=5.0)", "coveralls (>=1.7.0)", "dnspython (>=1.16.0,<2.0)", "futures", "idna", "mock", "objgraph", "psutil (>=5.7.0)", "requests", "selectors2"]
 
+[[package]]
+name = "geventhttpclient"
+version = "2.0.2"
+description = "http client library for gevent"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+brotli = "*"
+certifi = "*"
+gevent = ">=0.13"
+six = "*"
+
 [[package]]
 name = "greenlet"
 version = "1.1.3.post0"
@@ -1898,6 +1934,14 @@ category = "main"
 optional = false
 python-versions = "*"
 
+[[package]]
+name = "lit"
+version = "15.0.7"
+description = "A Software Testing Tool"
+category = "dev"
+optional = false
+python-versions = "*"
+
 [[package]]
 name = "lockfile"
 version = "0.12.2"
@@ -2586,7 +2630,7 @@ numpy = [
 
 [package.source]
 type = "url"
-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"
+url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu118/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl"
 
 [[package]]
 name = "osmium"
@@ -3339,6 +3383,14 @@ category = "dev"
 optional = false
 python-versions = "*"
 
+[[package]]
+name = "python-rapidjson"
+version = "1.10"
+description = "Python wrapper around rapidjson"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
 [[package]]
 name = "python-socketio"
 version = "5.7.2"
@@ -4220,18 +4272,26 @@ python-versions = ">=3.6,<4.0"
 
 [[package]]
 name = "torch"
-version = "1.11.0+cu113"
+version = "2.0.0+cu118"
 description = "Tensors and Dynamic neural networks in Python with strong GPU acceleration"
 category = "dev"
 optional = false
-python-versions = ">=3.7.0"
+python-versions = ">=3.8.0"
 
 [package.dependencies]
+filelock = "*"
+jinja2 = "*"
+networkx = "*"
+sympy = "*"
+triton = {version = "2.0.0", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
 typing-extensions = "*"
 
+[package.extras]
+opt-einsum = ["opt-einsum (>=3.3)"]
+
 [package.source]
 type = "url"
-url = "https://download.pytorch.org/whl/cu113/torch-1.11.0%2Bcu113-cp38-cp38-linux_x86_64.whl"
+url = "https://download.pytorch.org/whl/cu118/torch-2.0.0%2Bcu118-cp38-cp38-linux_x86_64.whl"
 
 [[package]]
 name = "torchsummary"
@@ -4243,25 +4303,24 @@ python-versions = "*"
 
 [[package]]
 name = "torchvision"
-version = "0.12.0+cu113"
+version = "0.15.1+cu118"
 description = "image and video datasets and models for torch deep learning"
 category = "dev"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 
 [package.dependencies]
 numpy = "*"
 pillow = ">=5.3.0,<8.3.0 || >=8.4.0"
 requests = "*"
-torch = "1.11.0"
-typing-extensions = "*"
+torch = "2.0.0"
 
 [package.extras]
 scipy = ["scipy"]
 
 [package.source]
 type = "url"
-url = "https://download.pytorch.org/whl/cu113/torchvision-0.12.0%2Bcu113-cp38-cp38-linux_x86_64.whl"
+url = "https://download.pytorch.org/whl/cu118/torchvision-0.15.1%2Bcu118-cp38-cp38-linux_x86_64.whl"
 
 [[package]]
 name = "tornado"
@@ -4302,16 +4361,41 @@ test = ["pre-commit", "pytest"]
 
 [[package]]
 name = "triton"
-version = "1.1.1"
+version = "2.0.0"
 description = "A language and compiler for custom Deep Learning operations"
 category = "dev"
 optional = false
 python-versions = "*"
 
 [package.dependencies]
+cmake = "*"
 filelock = "*"
+lit = "*"
 torch = "*"
 
+[package.extras]
+tests = ["autopep8", "flake8", "isort", "numpy", "pytest", "scipy (>=1.7.1)"]
+tutorials = ["matplotlib", "pandas", "tabulate"]
+
+[[package]]
+name = "tritonclient"
+version = "2.28.0"
+description = "Python client library and utilities for communicating with Triton Inference Server"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+aiohttp = {version = ">=3.8.1", optional = true, markers = "extra == \"http\""}
+geventhttpclient = {version = ">=1.4.4,<=2.0.2", optional = true, markers = "extra == \"http\""}
+numpy = ">=1.19.1"
+python-rapidjson = ">=0.9.1"
+
+[package.extras]
+all = ["aiohttp (>=3.8.1)", "geventhttpclient (>=1.4.4,<=2.0.2)", "grpcio (==1.41.0)", "numpy (>=1.19.1)", "protobuf (>=3.5.0,<3.20)", "python-rapidjson (>=0.9.1)"]
+grpc = ["grpcio (==1.41.0)", "numpy (>=1.19.1)", "protobuf (>=3.5.0,<3.20)", "python-rapidjson (>=0.9.1)"]
+http = ["aiohttp (>=3.8.1)", "geventhttpclient (>=1.4.4,<=2.0.2)", "numpy (>=1.19.1)", "python-rapidjson (>=0.9.1)"]
+
 [[package]]
 name = "types-atomicwrites"
 version = "1.4.5.1"
@@ -4357,9 +4441,9 @@ types-urllib3 = "<1.27"
 
 [[package]]
 name = "types-tabulate"
-version = "0.9.0.1"
+version = "0.8.11"
 description = "Typing stubs for tabulate"
-category = "main"
+category = "dev"
 optional = false
 python-versions = "*"
 
@@ -4575,7 +4659,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
 [metadata]
 lock-version = "1.1"
 python-versions = "~3.8"
-content-hash = "669485055bf8d77336509cb7a3878e06aa32431c520825948914d76b57347fde"
+content-hash = "b7cd75dfa0dcddff224696ccc7f41d87aac64652f744ab386321c1eee920fbe9"
 
 [metadata.files]
 adal = [
@@ -4885,6 +4969,90 @@ breathe = [
     {file = "breathe-4.34.0-py3-none-any.whl", hash = "sha256:48804dcf0e607a89fb6ad88c729ef12743a42db03ae9489be4ef8f7c4011774a"},
     {file = "breathe-4.34.0.tar.gz", hash = "sha256:ac0768a5e84addad3e632028fe67749c567aba2b29088493b64c2c1634bcdba1"},
 ]
+brotli = [
+    {file = "Brotli-1.0.9-cp27-cp27m-macosx_10_9_x86_64.whl", hash = "sha256:268fe94547ba25b58ebc724680609c8ee3e5a843202e9a381f6f9c5e8bdb5c70"},
+    {file = "Brotli-1.0.9-cp27-cp27m-manylinux1_i686.whl", hash = "sha256:c2415d9d082152460f2bd4e382a1e85aed233abc92db5a3880da2257dc7daf7b"},
+    {file = "Brotli-1.0.9-cp27-cp27m-manylinux1_x86_64.whl", hash = "sha256:5913a1177fc36e30fcf6dc868ce23b0453952c78c04c266d3149b3d39e1410d6"},
+    {file = "Brotli-1.0.9-cp27-cp27m-win32.whl", hash = "sha256:afde17ae04d90fbe53afb628f7f2d4ca022797aa093e809de5c3cf276f61bbfa"},
+    {file = "Brotli-1.0.9-cp27-cp27mu-manylinux1_i686.whl", hash = "sha256:7cb81373984cc0e4682f31bc3d6be9026006d96eecd07ea49aafb06897746452"},
+    {file = "Brotli-1.0.9-cp27-cp27mu-manylinux1_x86_64.whl", hash = "sha256:db844eb158a87ccab83e868a762ea8024ae27337fc7ddcbfcddd157f841fdfe7"},
+    {file = "Brotli-1.0.9-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:9744a863b489c79a73aba014df554b0e7a0fc44ef3f8a0ef2a52919c7d155031"},
+    {file = "Brotli-1.0.9-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:a72661af47119a80d82fa583b554095308d6a4c356b2a554fdc2799bc19f2a43"},
+    {file = "Brotli-1.0.9-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:7ee83d3e3a024a9618e5be64648d6d11c37047ac48adff25f12fa4226cf23d1c"},
+    {file = "Brotli-1.0.9-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:19598ecddd8a212aedb1ffa15763dd52a388518c4550e615aed88dc3753c0f0c"},
+    {file = "Brotli-1.0.9-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:44bb8ff420c1d19d91d79d8c3574b8954288bdff0273bf788954064d260d7ab0"},
+    {file = "Brotli-1.0.9-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:e23281b9a08ec338469268f98f194658abfb13658ee98e2b7f85ee9dd06caa91"},
+    {file = "Brotli-1.0.9-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:3496fc835370da351d37cada4cf744039616a6db7d13c430035e901443a34daa"},
+    {file = "Brotli-1.0.9-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:b83bb06a0192cccf1eb8d0a28672a1b79c74c3a8a5f2619625aeb6f28b3a82bb"},
+    {file = "Brotli-1.0.9-cp310-cp310-win32.whl", hash = "sha256:26d168aac4aaec9a4394221240e8a5436b5634adc3cd1cdf637f6645cecbf181"},
+    {file = "Brotli-1.0.9-cp310-cp310-win_amd64.whl", hash = "sha256:622a231b08899c864eb87e85f81c75e7b9ce05b001e59bbfbf43d4a71f5f32b2"},
+    {file = "Brotli-1.0.9-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:cc0283a406774f465fb45ec7efb66857c09ffefbe49ec20b7882eff6d3c86d3a"},
+    {file = "Brotli-1.0.9-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:11d3283d89af7033236fa4e73ec2cbe743d4f6a81d41bd234f24bf63dde979df"},
+    {file = "Brotli-1.0.9-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3c1306004d49b84bd0c4f90457c6f57ad109f5cc6067a9664e12b7b79a9948ad"},
+    {file = "Brotli-1.0.9-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b1375b5d17d6145c798661b67e4ae9d5496920d9265e2f00f1c2c0b5ae91fbde"},
+    {file = "Brotli-1.0.9-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:cab1b5964b39607a66adbba01f1c12df2e55ac36c81ec6ed44f2fca44178bf1a"},
+    {file = "Brotli-1.0.9-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:8ed6a5b3d23ecc00ea02e1ed8e0ff9a08f4fc87a1f58a2530e71c0f48adf882f"},
+    {file = "Brotli-1.0.9-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:cb02ed34557afde2d2da68194d12f5719ee96cfb2eacc886352cb73e3808fc5d"},
+    {file = "Brotli-1.0.9-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:b3523f51818e8f16599613edddb1ff924eeb4b53ab7e7197f85cbc321cdca32f"},
+    {file = "Brotli-1.0.9-cp311-cp311-win32.whl", hash = "sha256:ba72d37e2a924717990f4d7482e8ac88e2ef43fb95491eb6e0d124d77d2a150d"},
+    {file = "Brotli-1.0.9-cp311-cp311-win_amd64.whl", hash = "sha256:3ffaadcaeafe9d30a7e4e1e97ad727e4f5610b9fa2f7551998471e3736738679"},
+    {file = "Brotli-1.0.9-cp35-cp35m-macosx_10_6_intel.whl", hash = "sha256:c83aa123d56f2e060644427a882a36b3c12db93727ad7a7b9efd7d7f3e9cc2c4"},
+    {file = "Brotli-1.0.9-cp35-cp35m-manylinux1_i686.whl", hash = "sha256:6b2ae9f5f67f89aade1fab0f7fd8f2832501311c363a21579d02defa844d9296"},
+    {file = "Brotli-1.0.9-cp35-cp35m-manylinux1_x86_64.whl", hash = "sha256:68715970f16b6e92c574c30747c95cf8cf62804569647386ff032195dc89a430"},
+    {file = "Brotli-1.0.9-cp35-cp35m-win32.whl", hash = "sha256:defed7ea5f218a9f2336301e6fd379f55c655bea65ba2476346340a0ce6f74a1"},
+    {file = "Brotli-1.0.9-cp35-cp35m-win_amd64.whl", hash = "sha256:88c63a1b55f352b02c6ffd24b15ead9fc0e8bf781dbe070213039324922a2eea"},
+    {file = "Brotli-1.0.9-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:503fa6af7da9f4b5780bb7e4cbe0c639b010f12be85d02c99452825dd0feef3f"},
+    {file = "Brotli-1.0.9-cp36-cp36m-manylinux1_i686.whl", hash = "sha256:40d15c79f42e0a2c72892bf407979febd9cf91f36f495ffb333d1d04cebb34e4"},
+    {file = "Brotli-1.0.9-cp36-cp36m-manylinux1_x86_64.whl", hash = "sha256:93130612b837103e15ac3f9cbacb4613f9e348b58b3aad53721d92e57f96d46a"},
+    {file = "Brotli-1.0.9-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:87fdccbb6bb589095f413b1e05734ba492c962b4a45a13ff3408fa44ffe6479b"},
+    {file = "Brotli-1.0.9-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:6d847b14f7ea89f6ad3c9e3901d1bc4835f6b390a9c71df999b0162d9bb1e20f"},
+    {file = "Brotli-1.0.9-cp36-cp36m-musllinux_1_1_i686.whl", hash = "sha256:495ba7e49c2db22b046a53b469bbecea802efce200dffb69b93dd47397edc9b6"},
+    {file = "Brotli-1.0.9-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:4688c1e42968ba52e57d8670ad2306fe92e0169c6f3af0089be75bbac0c64a3b"},
+    {file = "Brotli-1.0.9-cp36-cp36m-win32.whl", hash = "sha256:61a7ee1f13ab913897dac7da44a73c6d44d48a4adff42a5701e3239791c96e14"},
+    {file = "Brotli-1.0.9-cp36-cp36m-win_amd64.whl", hash = "sha256:1c48472a6ba3b113452355b9af0a60da5c2ae60477f8feda8346f8fd48e3e87c"},
+    {file = "Brotli-1.0.9-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:3b78a24b5fd13c03ee2b7b86290ed20efdc95da75a3557cc06811764d5ad1126"},
+    {file = "Brotli-1.0.9-cp37-cp37m-manylinux1_i686.whl", hash = "sha256:9d12cf2851759b8de8ca5fde36a59c08210a97ffca0eb94c532ce7b17c6a3d1d"},
+    {file = "Brotli-1.0.9-cp37-cp37m-manylinux1_x86_64.whl", hash = "sha256:6c772d6c0a79ac0f414a9f8947cc407e119b8598de7621f39cacadae3cf57d12"},
+    {file = "Brotli-1.0.9-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:29d1d350178e5225397e28ea1b7aca3648fcbab546d20e7475805437bfb0a130"},
+    {file = "Brotli-1.0.9-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:7bbff90b63328013e1e8cb50650ae0b9bac54ffb4be6104378490193cd60f85a"},
+    {file = "Brotli-1.0.9-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:ec1947eabbaf8e0531e8e899fc1d9876c179fc518989461f5d24e2223395a9e3"},
+    {file = "Brotli-1.0.9-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:12effe280b8ebfd389022aa65114e30407540ccb89b177d3fbc9a4f177c4bd5d"},
+    {file = "Brotli-1.0.9-cp37-cp37m-win32.whl", hash = "sha256:f909bbbc433048b499cb9db9e713b5d8d949e8c109a2a548502fb9aa8630f0b1"},
+    {file = "Brotli-1.0.9-cp37-cp37m-win_amd64.whl", hash = "sha256:97f715cf371b16ac88b8c19da00029804e20e25f30d80203417255d239f228b5"},
+    {file = "Brotli-1.0.9-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:e16eb9541f3dd1a3e92b89005e37b1257b157b7256df0e36bd7b33b50be73bcb"},
+    {file = "Brotli-1.0.9-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:160c78292e98d21e73a4cc7f76a234390e516afcd982fa17e1422f7c6a9ce9c8"},
+    {file = "Brotli-1.0.9-cp38-cp38-manylinux1_i686.whl", hash = "sha256:b663f1e02de5d0573610756398e44c130add0eb9a3fc912a09665332942a2efb"},
+    {file = "Brotli-1.0.9-cp38-cp38-manylinux1_x86_64.whl", hash = "sha256:5b6ef7d9f9c38292df3690fe3e302b5b530999fa90014853dcd0d6902fb59f26"},
+    {file = "Brotli-1.0.9-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8a674ac10e0a87b683f4fa2b6fa41090edfd686a6524bd8dedbd6138b309175c"},
+    {file = "Brotli-1.0.9-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:e2d9e1cbc1b25e22000328702b014227737756f4b5bf5c485ac1d8091ada078b"},
+    {file = "Brotli-1.0.9-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:b336c5e9cf03c7be40c47b5fd694c43c9f1358a80ba384a21969e0b4e66a9b17"},
+    {file = "Brotli-1.0.9-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:85f7912459c67eaab2fb854ed2bc1cc25772b300545fe7ed2dc03954da638649"},
+    {file = "Brotli-1.0.9-cp38-cp38-win32.whl", hash = "sha256:35a3edbe18e876e596553c4007a087f8bcfd538f19bc116917b3c7522fca0429"},
+    {file = "Brotli-1.0.9-cp38-cp38-win_amd64.whl", hash = "sha256:269a5743a393c65db46a7bb982644c67ecba4b8d91b392403ad8a861ba6f495f"},
+    {file = "Brotli-1.0.9-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:2aad0e0baa04517741c9bb5b07586c642302e5fb3e75319cb62087bd0995ab19"},
+    {file = "Brotli-1.0.9-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:5cb1e18167792d7d21e21365d7650b72d5081ed476123ff7b8cac7f45189c0c7"},
+    {file = "Brotli-1.0.9-cp39-cp39-manylinux1_i686.whl", hash = "sha256:16d528a45c2e1909c2798f27f7bf0a3feec1dc9e50948e738b961618e38b6a7b"},
+    {file = "Brotli-1.0.9-cp39-cp39-manylinux1_x86_64.whl", hash = "sha256:56d027eace784738457437df7331965473f2c0da2c70e1a1f6fdbae5402e0389"},
+    {file = "Brotli-1.0.9-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9bf919756d25e4114ace16a8ce91eb340eb57a08e2c6950c3cebcbe3dff2a5e7"},
+    {file = "Brotli-1.0.9-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:e4c4e92c14a57c9bd4cb4be678c25369bf7a092d55fd0866f759e425b9660806"},
+    {file = "Brotli-1.0.9-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:e48f4234f2469ed012a98f4b7874e7f7e173c167bed4934912a29e03167cf6b1"},
+    {file = "Brotli-1.0.9-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:9ed4c92a0665002ff8ea852353aeb60d9141eb04109e88928026d3c8a9e5433c"},
+    {file = "Brotli-1.0.9-cp39-cp39-win32.whl", hash = "sha256:cfc391f4429ee0a9370aa93d812a52e1fee0f37a81861f4fdd1f4fb28e8547c3"},
+    {file = "Brotli-1.0.9-cp39-cp39-win_amd64.whl", hash = "sha256:854c33dad5ba0fbd6ab69185fec8dab89e13cda6b7d191ba111987df74f38761"},
+    {file = "Brotli-1.0.9-pp37-pypy37_pp73-macosx_10_9_x86_64.whl", hash = "sha256:9749a124280a0ada4187a6cfd1ffd35c350fb3af79c706589d98e088c5044267"},
+    {file = "Brotli-1.0.9-pp37-pypy37_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:73fd30d4ce0ea48010564ccee1a26bfe39323fde05cb34b5863455629db61dc7"},
+    {file = "Brotli-1.0.9-pp37-pypy37_pp73-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:02177603aaca36e1fd21b091cb742bb3b305a569e2402f1ca38af471777fb019"},
+    {file = "Brotli-1.0.9-pp37-pypy37_pp73-win_amd64.whl", hash = "sha256:76ffebb907bec09ff511bb3acc077695e2c32bc2142819491579a695f77ffd4d"},
+    {file = "Brotli-1.0.9-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:b43775532a5904bc938f9c15b77c613cb6ad6fb30990f3b0afaea82797a402d8"},
+    {file = "Brotli-1.0.9-pp38-pypy38_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:5bf37a08493232fbb0f8229f1824b366c2fc1d02d64e7e918af40acd15f3e337"},
+    {file = "Brotli-1.0.9-pp38-pypy38_pp73-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:330e3f10cd01da535c70d09c4283ba2df5fb78e915bea0a28becad6e2ac010be"},
+    {file = "Brotli-1.0.9-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:e1abbeef02962596548382e393f56e4c94acd286bd0c5afba756cffc33670e8a"},
+    {file = "Brotli-1.0.9-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:3148362937217b7072cf80a2dcc007f09bb5ecb96dae4617316638194113d5be"},
+    {file = "Brotli-1.0.9-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:336b40348269f9b91268378de5ff44dc6fbaa2268194f85177b53463d313842a"},
+    {file = "Brotli-1.0.9-pp39-pypy39_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:3b8b09a16a1950b9ef495a0f8b9d0a87599a9d1f179e2d4ac014b2ec831f87e7"},
+    {file = "Brotli-1.0.9-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:c8e521a0ce7cf690ca84b8cc2272ddaf9d8a50294fd086da67e517439614c755"},
+    {file = "Brotli-1.0.9.zip", hash = "sha256:4d1b810aa0ed773f81dceda2cc7b403d01057458730e309856356d4ef4188438"},
+]
 cachecontrol = [
     {file = "CacheControl-0.12.11-py2.py3-none-any.whl", hash = "sha256:2c75d6a8938cb1933c75c50184549ad42728a27e9f6b92fd677c3151aa72555b"},
     {file = "CacheControl-0.12.11.tar.gz", hash = "sha256:a5b9fcc986b184db101aa280b42ecdcdfc524892596f606858e0b7a8b4d9e144"},
@@ -5040,6 +5208,25 @@ cloudpickle = [
     {file = "cloudpickle-2.2.0-py3-none-any.whl", hash = "sha256:7428798d5926d8fcbfd092d18d01a2a03daf8237d8fcdc8095d256b8490796f0"},
     {file = "cloudpickle-2.2.0.tar.gz", hash = "sha256:3f4219469c55453cfe4737e564b67c2a149109dabf7f242478948b895f61106f"},
 ]
+cmake = [
+    {file = "cmake-3.26.0-py2.py3-none-macosx_10_10_universal2.macosx_10_10_x86_64.macosx_11_0_arm64.macosx_11_0_universal2.whl", hash = "sha256:4881727389325af84e39f1ec646b7249d8910b4ed637205bee6d589cb2b2ebd2"},
+    {file = "cmake-3.26.0-py2.py3-none-manylinux2010_i686.manylinux_2_12_i686.whl", hash = "sha256:babd1e38c85d38a4bf4164c3126ec8cf4cd8d374072e2a4a181e52e953007f8c"},
+    {file = "cmake-3.26.0-py2.py3-none-manylinux2010_x86_64.manylinux_2_12_x86_64.whl", hash = "sha256:1851be29d79bb39505954165e934d31994268d49f566ead6fff840a5092e444d"},
+    {file = "cmake-3.26.0-py2.py3-none-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:483aaaeb9535deaa2657c928af5d9f0da9329f89bc249f494923495745a03677"},
+    {file = "cmake-3.26.0-py2.py3-none-manylinux2014_i686.manylinux_2_17_i686.whl", hash = "sha256:2f78c6194f224d462333e08d3acd571c553b58d04935971b87efbe76f241353c"},
+    {file = "cmake-3.26.0-py2.py3-none-manylinux2014_ppc64le.manylinux_2_17_ppc64le.whl", hash = "sha256:cf129c8b71f1344975f179f30287baa8804c4c61ff1b13003244b4157b676e13"},
+    {file = "cmake-3.26.0-py2.py3-none-manylinux2014_s390x.manylinux_2_17_s390x.whl", hash = "sha256:fabb82c69223eda27e673c5c6bb02985d60cf0baa631a2e4932eed87e8229928"},
+    {file = "cmake-3.26.0-py2.py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:502cbed2335557920b88687c6f3ff4ce433bd416204c928ad489e399e76149f5"},
+    {file = "cmake-3.26.0-py2.py3-none-musllinux_1_1_aarch64.whl", hash = "sha256:b81c7775b125786c1696232078e9ceb0c9c66d26fb0a2259f40e33983170f924"},
+    {file = "cmake-3.26.0-py2.py3-none-musllinux_1_1_i686.whl", hash = "sha256:f4cc1dde7613cc813d15fd840a33e18cd07a443aa67205d74b9b05f55f08a459"},
+    {file = "cmake-3.26.0-py2.py3-none-musllinux_1_1_ppc64le.whl", hash = "sha256:ac6ca9d9ff58900138bbbebc55857647fb99f1c40b84d8a232f23b0d27d7f48a"},
+    {file = "cmake-3.26.0-py2.py3-none-musllinux_1_1_s390x.whl", hash = "sha256:85e0bad5aeb3a82919ed7d78b76a0462eafe2f918076a1823a09c6f37910f3e0"},
+    {file = "cmake-3.26.0-py2.py3-none-musllinux_1_1_x86_64.whl", hash = "sha256:5523b9701be367572155e77294bf8aa3ac9aa0d73c50dcd6c57903d12bcb308e"},
+    {file = "cmake-3.26.0-py2.py3-none-win32.whl", hash = "sha256:96f0e887260255eeb83bcf3465d51bc6c94078251c9312fa142dce6d3e80acac"},
+    {file = "cmake-3.26.0-py2.py3-none-win_amd64.whl", hash = "sha256:a0719a6f79cdc4d7b16caf757b8ae13eae1c6ce5a08d594cc09774afe129515d"},
+    {file = "cmake-3.26.0-py2.py3-none-win_arm64.whl", hash = "sha256:11159c9b64c6473d84361ab44ef2c85e1bd2db7a2b1b798ce8bf5988f32adf43"},
+    {file = "cmake-3.26.0.tar.gz", hash = "sha256:c18185c9cc147d0fa1e9228962aa37901b37866bd5d617e9efa23dfe706f7321"},
+]
 colorama = [
     {file = "colorama-0.4.5-py2.py3-none-any.whl", hash = "sha256:854bf444933e37f5824ae7bfc1e98d5bce2ebe4160d46b5edf346a89358e99da"},
     {file = "colorama-0.4.5.tar.gz", hash = "sha256:e6c6b4334fc50988a639d9b98aa429a0b57da6e17b9a44f0451f930b6967b7a4"},
@@ -5209,15 +5396,17 @@ cryptography = [
     {file = "cryptography-37.0.4-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:4c590ec31550a724ef893c50f9a97a0c14e9c851c85621c5650d699a7b88f7ab"},
     {file = "cryptography-37.0.4.tar.gz", hash = "sha256:63f9c17c0e2474ccbebc9302ce2f07b55b3b3fcb211ded18a42d5764f5c10a82"},
 ]
-cupy-cuda113 = [
-    {file = "cupy_cuda113-10.6.0-cp310-cp310-manylinux1_x86_64.whl", hash = "sha256:27e5efe2c3afa80ff48654cb27f9e0eddb36f8b26ef0d32d3ba0a233e1359b51"},
-    {file = "cupy_cuda113-10.6.0-cp310-cp310-win_amd64.whl", hash = "sha256:8b96076d1ddd33fdb2c908ed0f8109caf69d37d36f839a8a8cdae1312508336f"},
-    {file = "cupy_cuda113-10.6.0-cp37-cp37m-manylinux1_x86_64.whl", hash = "sha256:22363c2863727cae5154aa4bab9e8a648d7fe66c9e2195d81dd4e8693c2e61ce"},
-    {file = "cupy_cuda113-10.6.0-cp37-cp37m-win_amd64.whl", hash = "sha256:8cc69b9d5735372477a7af3822c8f8e996ffe6de05cfc917500af9dc0117ca3e"},
-    {file = "cupy_cuda113-10.6.0-cp38-cp38-manylinux1_x86_64.whl", hash = "sha256:10dc6899577e445426d81f0960ba9059d9aaa750426997c61fad882d6345264c"},
-    {file = "cupy_cuda113-10.6.0-cp38-cp38-win_amd64.whl", hash = "sha256:c6893ac9040a11610e63973063dfd715dbda8bd07ef99951bab7a09c7f335e1e"},
-    {file = "cupy_cuda113-10.6.0-cp39-cp39-manylinux1_x86_64.whl", hash = "sha256:4bf4bc06d991c06b95f6fe558d117cafd93bd4eeaf80606f18dd31d20d2eff25"},
-    {file = "cupy_cuda113-10.6.0-cp39-cp39-win_amd64.whl", hash = "sha256:3745fc42dca86ba8a1109ddc7964aed8e1efc0ce8085cb2f140dcd6429f26354"},
+cupy-cuda11x = [
+    {file = "cupy_cuda11x-11.6.0-cp310-cp310-manylinux1_x86_64.whl", hash = "sha256:1b9914f57868a1559e9bfabfbae8c724585914e8e1f277acb9cdb6aa0756eaa4"},
+    {file = "cupy_cuda11x-11.6.0-cp310-cp310-win_amd64.whl", hash = "sha256:ac8dd082ddb00996bc4d37cc5765907048f467aadb61bcbff25f3c2a88c50583"},
+    {file = "cupy_cuda11x-11.6.0-cp311-cp311-manylinux1_x86_64.whl", hash = "sha256:bf7496340dfbc2eaa3e0ebfd03c4ab8b1fc36d7d14f68718c33eeb395aaa6eed"},
+    {file = "cupy_cuda11x-11.6.0-cp311-cp311-win_amd64.whl", hash = "sha256:e3bbd55c26d60069d7e5af2200fb47e7c42ca6437acac297637a2d3c00f6fe46"},
+    {file = "cupy_cuda11x-11.6.0-cp37-cp37m-manylinux1_x86_64.whl", hash = "sha256:0d7ebcfd7234946719ad28890593d9fc78fad5753ef4b073e0d7bdb7da2f5640"},
+    {file = "cupy_cuda11x-11.6.0-cp37-cp37m-win_amd64.whl", hash = "sha256:3bc3f81fbc5a86c7155c6036809f2ada4023fc0870dce158d3d9f6d0b575727f"},
+    {file = "cupy_cuda11x-11.6.0-cp38-cp38-manylinux1_x86_64.whl", hash = "sha256:1d6810568e683cb153972b3019ddb5efc369036511122117d9eda09cf84d1042"},
+    {file = "cupy_cuda11x-11.6.0-cp38-cp38-win_amd64.whl", hash = "sha256:31c1ec72ffe9ad6fda9fb0a2aff1fcca38da66a8e521e333bae0d67ebc80ead0"},
+    {file = "cupy_cuda11x-11.6.0-cp39-cp39-manylinux1_x86_64.whl", hash = "sha256:6a4822daadfce0464cb619099eb82c7ba30ae7755d6869ba5eba1c675a9eed67"},
+    {file = "cupy_cuda11x-11.6.0-cp39-cp39-win_amd64.whl", hash = "sha256:3d0f44d747b38ce2b213d64270265f953b68cf29860ec5fa65848b9faaea3fc1"},
 ]
 cycler = [
     {file = "cycler-0.11.0-py3-none-any.whl", hash = "sha256:3a27e95f763a428a739d2add979fa7494c912a32c17c4c38c4d5f082cad165a3"},
@@ -5648,6 +5837,86 @@ gevent = [
     {file = "gevent-22.10.1-pp37-pypy37_pp73-win_amd64.whl", hash = "sha256:0569e133bb620de1001ac807ad9a8abaadedd25349c6d695f80c9048a3f59d42"},
     {file = "gevent-22.10.1.tar.gz", hash = "sha256:df3042349c9a4460eeaec8d0e56d737cb183eed055e75a6af9dbda94aaddaf4d"},
 ]
+geventhttpclient = [
+    {file = "geventhttpclient-2.0.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:cd76acdc7e7ee5c54c7b279f806b28957a6b092f79c40db34adcfd972749343c"},
+    {file = "geventhttpclient-2.0.2-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:320a2c756d8a4f296de370476a1515485c186d9e22c3fc29e04f8f743a7d47bb"},
+    {file = "geventhttpclient-2.0.2-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:36d3345c6585b09738195a7c45d279a87ccbab0350f1cce3679d3f0dce8577a1"},
+    {file = "geventhttpclient-2.0.2-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:407d54499556c2741b93691b86da93232590b013f4a0b773327d766fe3e5c0a9"},
+    {file = "geventhttpclient-2.0.2-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:bcf325131b0e4600b793643108cd85dddd66bbf532fd2eb498be5727ef532a1e"},
+    {file = "geventhttpclient-2.0.2-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3a5841dd02e6f792a4ef15dbd04fefe620c831ba0b78105808160bb779a31af4"},
+    {file = "geventhttpclient-2.0.2-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:2ba69422d4e8670dd99803b1313ba574a4d41f52e92b512af51068c9c577bdc1"},
+    {file = "geventhttpclient-2.0.2-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:6e3af579c6b46b9caa515a8baf6a2cadeafcd1d41ad22ca5712851f074a40b47"},
+    {file = "geventhttpclient-2.0.2-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:6ff7fc19f9a4fdd54a2b1c106a705ea2c679fa049685ed763051d417725bdab1"},
+    {file = "geventhttpclient-2.0.2-cp310-cp310-win32.whl", hash = "sha256:eec7c52e8eb817674a193e0124486b507215d9e86d34f2638bf9a9292d16f815"},
+    {file = "geventhttpclient-2.0.2-cp310-cp310-win_amd64.whl", hash = "sha256:0e9f7283c01d970e643d89da81127869a8d94bb7a0081020dcad5b590bc007c4"},
+    {file = "geventhttpclient-2.0.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:5ceb492d43a659b895794999dc40d0e7c23b1d41dd34040bbacd0dc264b57d5b"},
+    {file = "geventhttpclient-2.0.2-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:95959c201d3151fa8f57e0f1ce184476d1173996bdde41dc7d600006023dc5be"},
+    {file = "geventhttpclient-2.0.2-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:31c7febba298ecf44838561074a3fb7a01523adca286469b5a82dcc90e8d6a07"},
+    {file = "geventhttpclient-2.0.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:996c5f453d810b3c592160193d6832a065cca0112e92adc74e62df0e4c564df6"},
+    {file = "geventhttpclient-2.0.2-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:2f817e226c02b5a71d86de3772d6accdf250288d1e6825e426c713759830162d"},
+    {file = "geventhttpclient-2.0.2-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c55b7ac0ba0e1e1afbf297b7608f0b3a0bbc34fb4b0c19b7869f32a77ddc6209"},
+    {file = "geventhttpclient-2.0.2-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:6775bc81e25c48fa58b034444aecfa508b0c3d1bc1e4ae546cc17661be1f51aa"},
+    {file = "geventhttpclient-2.0.2-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:a0156882c73537bbbbc7c693ae44c9808119963174078692613ffa4feea21fcf"},
+    {file = "geventhttpclient-2.0.2-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:3ebb582a291c4c5daaac2ea115b413f4be86874baa60def44d333301cee17bd7"},
+    {file = "geventhttpclient-2.0.2-cp311-cp311-win32.whl", hash = "sha256:716f1f72f50b841daf9c9511a01fc31a030866510a11863f27741e26e4f556a7"},
+    {file = "geventhttpclient-2.0.2-cp311-cp311-win_amd64.whl", hash = "sha256:777fcdb72077dfbf70516ecb9e9022246dd337b83a4c1e96f17f3ab9e15f4547"},
+    {file = "geventhttpclient-2.0.2-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:379d90d8b1fcdda94e74d693806e0b0116c0610504e7f62d5576bac738dc66a5"},
+    {file = "geventhttpclient-2.0.2-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:00b7b2b836294c091c53789a469c5671202d79420b5191931df4e3a767d607fa"},
+    {file = "geventhttpclient-2.0.2-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:9d075355862d7726eb3436f0136fce7650c884f2d04eaae7a39fed3aad9798bc"},
+    {file = "geventhttpclient-2.0.2-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:aa7b1a27f950d209fe223a97906fe41312dc12c92372424639b8a9b96f1adf91"},
+    {file = "geventhttpclient-2.0.2-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:fe4e06313aad353b103950780b050d3958000464cc732d621ff8ea3cacbd2bc4"},
+    {file = "geventhttpclient-2.0.2-cp36-cp36m-musllinux_1_1_i686.whl", hash = "sha256:84d7be660b6bc53dd53e3f46b3bc5d275972a8116bd183a77139bb4d9d6d9fb1"},
+    {file = "geventhttpclient-2.0.2-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:81f839d6becd664d0972b488422f5dc821f8ad2f2196d53aa5e4d799a3a35a66"},
+    {file = "geventhttpclient-2.0.2-cp36-cp36m-win32.whl", hash = "sha256:e707f62271a093e6e3af6f1bbd8cc398b414b8c508fe6b15505dd8e76c4409ac"},
+    {file = "geventhttpclient-2.0.2-cp36-cp36m-win_amd64.whl", hash = "sha256:28d7655d1d50bc75ece683a0ae8faf978821d4aeae358d77b59371548db07f1e"},
+    {file = "geventhttpclient-2.0.2-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:c58877b4440a580063571a23fbc616aed7c735c6bf9ef525c5129783df8b6966"},
+    {file = "geventhttpclient-2.0.2-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:57c993c4b2bea551c4a71b75ae1e172e9f3e4352f704ff1b619a0f16aa762f76"},
+    {file = "geventhttpclient-2.0.2-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a3f67e789e31c7b1ce440cd1465dcdefeca29ba6108735eac0b1a593d3a55b7f"},
+    {file = "geventhttpclient-2.0.2-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5f3326e115ec7e7ce95a5d0d47698e8f3584944c4c434a7404937d56b17136b8"},
+    {file = "geventhttpclient-2.0.2-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:ef328ee3e7dca5055b833fdf3c181647a335abf0249947b27f5df2d95390198c"},
+    {file = "geventhttpclient-2.0.2-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:27049ea40e3b559eee380310272aaa9b7c19e73c1d9e51e2ec137362be2caa70"},
+    {file = "geventhttpclient-2.0.2-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:b88a10538341e33fed1682c0dd4579c655d49db5863e7456583085a1cd6bd9d4"},
+    {file = "geventhttpclient-2.0.2-cp37-cp37m-win32.whl", hash = "sha256:d52aba2c38420b3fc518188449f1c2a46b1a99adf1c0266c68e72ee0422cd0fa"},
+    {file = "geventhttpclient-2.0.2-cp37-cp37m-win_amd64.whl", hash = "sha256:3648626ca58ea4b340e695d78e5d533e6b8be78d375edbd42ff188bc3447e095"},
+    {file = "geventhttpclient-2.0.2-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:fcf96e212b55b93490f3a5fcdfe7a2ef4995a0d13b7d9df398b11e319b7a86b1"},
+    {file = "geventhttpclient-2.0.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:3e9f2ff09706e3a64a99886d5f2595f3bf364821bc609f2865dbc3e499e21a36"},
+    {file = "geventhttpclient-2.0.2-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:721c3075897bfc81e918066f16ae3d1a88c7bb14eeeb831a4f89ea636474643e"},
+    {file = "geventhttpclient-2.0.2-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:91615fed7931acd49cfe5fc30984acd5411dc1f2643b1544c879d1a537233c6d"},
+    {file = "geventhttpclient-2.0.2-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7adaa29e5699dea54e0224d1d2d9d8869668d8ad79f5b89433ff9c46f9424a6c"},
+    {file = "geventhttpclient-2.0.2-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9be5000ba57336a90b438782117c1e43205f51f49aa9b1499a82e210e8431b11"},
+    {file = "geventhttpclient-2.0.2-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:12d271cc53486efb3716e99855dc5cb84f2cd3fc9f3243721747bb39ec0fff8a"},
+    {file = "geventhttpclient-2.0.2-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:b9c0c6b75b3905000d2490dc64b4c98a8bac155efbc0ff8917ac082ae0bad261"},
+    {file = "geventhttpclient-2.0.2-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:e956a457d8831dc81d6f046ab09ebeec680f9a1e9c07e25a1906e77b287918ee"},
+    {file = "geventhttpclient-2.0.2-cp38-cp38-win32.whl", hash = "sha256:bc46d5479673dfb293ea428c057d2e23e48ebef5c5d44587cdbaada7f87553e4"},
+    {file = "geventhttpclient-2.0.2-cp38-cp38-win_amd64.whl", hash = "sha256:f44153e4b3ef9b901edcd14be54145a0058bf5fa371b3e583153865fac866245"},
+    {file = "geventhttpclient-2.0.2-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:ebf98db9435824cf0b80b5247be6c88b20bfafd6249f7ebaabb85297da37e380"},
+    {file = "geventhttpclient-2.0.2-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:c8b7298eb1ebd015257bf4503e34f5fbbe64bd83324140f76b511046aba5a0d5"},
+    {file = "geventhttpclient-2.0.2-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:60b81a6d4e65db7c1a5350c9fb72ebf800b478849a7e8020d1ab93af237a3747"},
+    {file = "geventhttpclient-2.0.2-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ad6c2fcbc3733785bd3b8c2bb43d1f605f9085b0a8b70ce354d198f37143f884"},
+    {file = "geventhttpclient-2.0.2-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:94edb022fa50d576cf63f6dd0c437c1acd24a719872a5935991aaf08f8e88cb2"},
+    {file = "geventhttpclient-2.0.2-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2ca459cedb3827d960362e05ea3a4ae600a6d0d93de77eac2ac0f79828e5e18c"},
+    {file = "geventhttpclient-2.0.2-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:7551b6db860b56411de1f96618e91b54f65e1a7be8d10255bd1adfb738bb6ee5"},
+    {file = "geventhttpclient-2.0.2-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:bcb7e061c243308d9a44b02de5298001e917f1636a9f270c10da86601fcc8dfa"},
+    {file = "geventhttpclient-2.0.2-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:96922d170ef8933f4c20036e8d70d4fbe861f54c543e32e7459ebdbaafa65a2e"},
+    {file = "geventhttpclient-2.0.2-cp39-cp39-win32.whl", hash = "sha256:ebb3c993903d40fd4bb1f3e55b84c62c8fc1d14433ae6d4d477dd9a325354c94"},
+    {file = "geventhttpclient-2.0.2-cp39-cp39-win_amd64.whl", hash = "sha256:dbccf1ba155dea3ea99ba0e67a835c05b4303f05298e85f5bb2a46700ccdf092"},
+    {file = "geventhttpclient-2.0.2-pp37-pypy37_pp73-macosx_10_9_x86_64.whl", hash = "sha256:8770b8ab9e8c31d2aaf8a6fbc63fbb7239c58db10bb49cee191ca5c141c61542"},
+    {file = "geventhttpclient-2.0.2-pp37-pypy37_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:daff1e977fccf98f27266d3891afdc101f1d705a48331754909e960bcae83f8a"},
+    {file = "geventhttpclient-2.0.2-pp37-pypy37_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:2435e0f2a60e00d977822ec4c12e7851deb7aa49a23d32d648e72c641aae3b05"},
+    {file = "geventhttpclient-2.0.2-pp37-pypy37_pp73-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:09acd03d0a8c1bb7d5a1cb6fcb77aaa19a907c1b4915ab58da5d283675edb0a5"},
+    {file = "geventhttpclient-2.0.2-pp37-pypy37_pp73-win_amd64.whl", hash = "sha256:5d0813d97050446dab2fb243312e6c446e4ef5e9591befd597ef8f2887f8e2a8"},
+    {file = "geventhttpclient-2.0.2-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:852da9bb0fc792cdca5ffc9327490094783e42415494b3569e5d532615027439"},
+    {file = "geventhttpclient-2.0.2-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e79304a63a9d0512f2757c5862487b332b18a9c85feebecf6ebc3526c6dd1ba2"},
+    {file = "geventhttpclient-2.0.2-pp38-pypy38_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:01c1c783fce45f16db448d7e34864f1e9c22fe60a7780d2c1c14edbb1fb7262e"},
+    {file = "geventhttpclient-2.0.2-pp38-pypy38_pp73-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:77c407c2b4bea817c6f752502db4ab0e9f9465b4fb85b459d1332b5f93a3096c"},
+    {file = "geventhttpclient-2.0.2-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:4f0d70a83ef4ab93102c6601477c13e9cdbc87205e5237fbf5797e30dc9d3ee8"},
+    {file = "geventhttpclient-2.0.2-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:b03f298ec19b8a4717cce8112fe30322c9e5bfada84dde61a1a44d1eeffc1d3c"},
+    {file = "geventhttpclient-2.0.2-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b2dc94b9a23eb6744a8c729aec2b1cdc4e39acf1d8f16ea85a62810aa6b2cae5"},
+    {file = "geventhttpclient-2.0.2-pp39-pypy39_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:805554594bb29231fd990cc2cbbe493d223d76a6085fec891dd76bb4e0928933"},
+    {file = "geventhttpclient-2.0.2-pp39-pypy39_pp73-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:eb23527d98f626ca7a4e8961ed9bdc6aed3388de306614c69a133b34262460f4"},
+    {file = "geventhttpclient-2.0.2-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:a594ab319872a38fb7f16be4cfb107d3c63c43a081f2abe241834e9877f27401"},
+    {file = "geventhttpclient-2.0.2.tar.gz", hash = "sha256:8135a85200b170def7293d01dd1557931fcd1bec1ac78c52ad7cedd22368b9ba"},
+]
 greenlet = [
     {file = "greenlet-1.1.3.post0-cp27-cp27m-macosx_10_14_x86_64.whl", hash = "sha256:949c9061b8c6d3e6e439466a9be1e787208dec6246f4ec5fffe9677b4c19fcc3"},
     {file = "greenlet-1.1.3.post0-cp27-cp27m-manylinux1_x86_64.whl", hash = "sha256:d7815e1519a8361c5ea2a7a5864945906f8e386fa1bc26797b4d443ab11a4589"},
@@ -6045,6 +6314,9 @@ libusb1 = [
     {file = "libusb1-3.0.0-py3-none-win_amd64.whl", hash = "sha256:6f6bb010632ada35c661d17a65e135077beef0fbb2434d5ffdb3a4a911fd9490"},
     {file = "libusb1-3.0.0.tar.gz", hash = "sha256:5792a9defee40f15d330a40d9b1800545c32e47ba7fc66b6f28f133c9fcc8538"},
 ]
+lit = [
+    {file = "lit-15.0.7.tar.gz", hash = "sha256:ed08ac55afe714a193653df293ae8a6ee6c45d6fb11eeca72ce347d99b88ecc8"},
+]
 lockfile = [
     {file = "lockfile-0.12.2-py2.py3-none-any.whl", hash = "sha256:6c3cb24f344923d30b2785d5ad75182c8ea7ac1b6171b08657258ec7429d50fa"},
     {file = "lockfile-0.12.2.tar.gz", hash = "sha256:6aed02de03cba24efabcd600b30540140634fc06cfa603822d508d5361e9f799"},
@@ -6624,6 +6896,7 @@ onnx = [
 ]
 onnx2torch = [
     {file = "onnx2torch-1.5.4-py3-none-any.whl", hash = "sha256:fd1a0fe05072bfb9f3d86d9330299b130b41f11bd4ae634db17078974e711725"},
+    {file = "onnx2torch-1.5.4.tar.gz", hash = "sha256:df837b557a63540223d85fde4a1d679fde0ca8d8bb89d5379c030b01eddc9c24"},
 ]
 onnxoptimizer = [
     {file = "onnxoptimizer-0.3.1-cp37-cp37m-macosx_10_15_x86_64.whl", hash = "sha256:e73a5e2e3ca4db9bff54f7131768749c861677b97ee811a136fcf1a52783cf6e"},
@@ -7009,6 +7282,7 @@ pycryptodome = [
     {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux2010_i686.whl", hash = "sha256:7c9ed8aa31c146bef65d89a1b655f5f4eab5e1120f55fc297713c89c9e56ff0b"},
     {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux2010_x86_64.whl", hash = "sha256:5099c9ca345b2f252f0c28e96904643153bae9258647585e5e6f649bb7a1844a"},
     {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux2014_aarch64.whl", hash = "sha256:2ec709b0a58b539a4f9d33fb8508264c3678d7edb33a68b8906ba914f71e8c13"},
+    {file = "pycryptodome-3.15.0-cp27-cp27m-musllinux_1_1_aarch64.whl", hash = "sha256:2ae53125de5b0d2c95194d957db9bb2681da8c24d0fb0fe3b056de2bcaf5d837"},
     {file = "pycryptodome-3.15.0-cp27-cp27m-win32.whl", hash = "sha256:fd2184aae6ee2a944aaa49113e6f5787cdc5e4db1eb8edb1aea914bd75f33a0c"},
     {file = "pycryptodome-3.15.0-cp27-cp27m-win_amd64.whl", hash = "sha256:7e3a8f6ee405b3bd1c4da371b93c31f7027944b2bcce0697022801db93120d83"},
     {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux1_i686.whl", hash = "sha256:b9c5b1a1977491533dfd31e01550ee36ae0249d78aae7f632590db833a5012b8"},
@@ -7016,12 +7290,14 @@ pycryptodome = [
     {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux2010_i686.whl", hash = "sha256:2aa55aae81f935a08d5a3c2042eb81741a43e044bd8a81ea7239448ad751f763"},
     {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:c3640deff4197fa064295aaac10ab49a0d55ef3d6a54ae1499c40d646655c89f"},
     {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux2014_aarch64.whl", hash = "sha256:045d75527241d17e6ef13636d845a12e54660aa82e823b3b3341bcf5af03fa79"},
+    {file = "pycryptodome-3.15.0-cp27-cp27mu-musllinux_1_1_aarch64.whl", hash = "sha256:eb6fce570869e70cc8ebe68eaa1c26bed56d40ad0f93431ee61d400525433c54"},
     {file = "pycryptodome-3.15.0-cp35-abi3-macosx_10_9_x86_64.whl", hash = "sha256:9ee40e2168f1348ae476676a2e938ca80a2f57b14a249d8fe0d3cdf803e5a676"},
     {file = "pycryptodome-3.15.0-cp35-abi3-manylinux1_i686.whl", hash = "sha256:4c3ccad74eeb7b001f3538643c4225eac398c77d617ebb3e57571a897943c667"},
     {file = "pycryptodome-3.15.0-cp35-abi3-manylinux1_x86_64.whl", hash = "sha256:1b22bcd9ec55e9c74927f6b1f69843cb256fb5a465088ce62837f793d9ffea88"},
     {file = "pycryptodome-3.15.0-cp35-abi3-manylinux2010_i686.whl", hash = "sha256:57f565acd2f0cf6fb3e1ba553d0cb1f33405ec1f9c5ded9b9a0a5320f2c0bd3d"},
     {file = "pycryptodome-3.15.0-cp35-abi3-manylinux2010_x86_64.whl", hash = "sha256:4b52cb18b0ad46087caeb37a15e08040f3b4c2d444d58371b6f5d786d95534c2"},
     {file = "pycryptodome-3.15.0-cp35-abi3-manylinux2014_aarch64.whl", hash = "sha256:092a26e78b73f2530b8bd6b3898e7453ab2f36e42fd85097d705d6aba2ec3e5e"},
+    {file = "pycryptodome-3.15.0-cp35-abi3-musllinux_1_1_aarch64.whl", hash = "sha256:50ca7e587b8e541eb6c192acf92449d95377d1f88908c0a32ac5ac2703ebe28b"},
     {file = "pycryptodome-3.15.0-cp35-abi3-win32.whl", hash = "sha256:e244ab85c422260de91cda6379e8e986405b4f13dc97d2876497178707f87fc1"},
     {file = "pycryptodome-3.15.0-cp35-abi3-win_amd64.whl", hash = "sha256:c77126899c4b9c9827ddf50565e93955cb3996813c18900c16b2ea0474e130e9"},
     {file = "pycryptodome-3.15.0-pp27-pypy_73-macosx_10_9_x86_64.whl", hash = "sha256:9eaadc058106344a566dc51d3d3a758ab07f8edde013712bc8d22032a86b264f"},
@@ -7290,6 +7566,64 @@ python-engineio = [
 python-logstash = [
     {file = "python-logstash-0.4.8.tar.gz", hash = "sha256:d04e1ce11ecc107e4a4f3b807fc57d96811e964a554081b3bbb44732f74ef5f9"},
 ]
+python-rapidjson = [
+    {file = "python-rapidjson-1.10.tar.gz", hash = "sha256:acfecbf5edb91ec72a20a125de7f56b8c2f6161eff4c65382c8ee6a2484d3540"},
+    {file = "python_rapidjson-1.10-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:1db7b0af882999f5685eb7046a0f3b3aca5d55a3e84b3089747d29a4ec6fdade"},
+    {file = "python_rapidjson-1.10-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a87c8c8b615513f9dc414af1554140589036d14840f5e1f1845965e1c0a080e1"},
+    {file = "python_rapidjson-1.10-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:a0a2f5c4abe529ca2764343416e35710a263832533b7bdc76c3285efb5b5ecc8"},
+    {file = "python_rapidjson-1.10-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:40467c3a6d8f070cc4d196fe46a79ed59d1a13a4d3fdc6a0325a21816600e5a7"},
+    {file = "python_rapidjson-1.10-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:9df4e7237a3e77666ccb9b437013294e6aa3968528f7c61f60f6f38eea0f8f79"},
+    {file = "python_rapidjson-1.10-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:99a5215f24ff1fa6cc67ee275a6852aa56d934d3b8cd7a40197feb632b54fd76"},
+    {file = "python_rapidjson-1.10-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:3dbea0ee9fa1cd6ecc13a949f6bb94013639d39cdb56f58df4ab61130d35e57c"},
+    {file = "python_rapidjson-1.10-cp310-cp310-musllinux_1_1_ppc64le.whl", hash = "sha256:6d1d0c5da3bd5f701b1aed550e1e7bd59b16ae642877cddf18815006cf998f9a"},
+    {file = "python_rapidjson-1.10-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:072f76c1f1483bcc4056d7d3a8b0319bf841a73e955f188302094b62b2163bf9"},
+    {file = "python_rapidjson-1.10-cp310-cp310-win32.whl", hash = "sha256:c95d466307a2140a7687a575103980c6e81c9f62d19556cafad3d6b2932b7eb1"},
+    {file = "python_rapidjson-1.10-cp310-cp310-win_amd64.whl", hash = "sha256:454ffda58cc6fed64d983b1b8ae4b39a563b4fd671dae9132e06450025898539"},
+    {file = "python_rapidjson-1.10-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:fff343076fbeee0cd7e4e3fb9472f2d567a127ec7b8b5b7ecba6bf7960a3ce07"},
+    {file = "python_rapidjson-1.10-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:686482c67727edad4b6d0c753bc159f35134a5a623e9651c4b7c008ef2996252"},
+    {file = "python_rapidjson-1.10-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:5ef7d55688b7123d62690b193537cc048fa9f35cfa43d249fedc0d9fd398890a"},
+    {file = "python_rapidjson-1.10-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3f27c0601792533ab6e98452961d61566480dc155da19d2a358a5fd9a85d9321"},
+    {file = "python_rapidjson-1.10-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:95176e35e3bacb8a1a27f563e815b5b57c717992c871b1c25fd76a835fbba32c"},
+    {file = "python_rapidjson-1.10-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:47a0ec20886b8be86af307c10d699a447e22979ed7dd1f2b7ed5cb7496b3d920"},
+    {file = "python_rapidjson-1.10-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:f7968c0cb09d9a76aa2483556ba46ab42634baf216cb2f2c7cd6bf77119a33c1"},
+    {file = "python_rapidjson-1.10-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:5faab270a4dd49216ceaca7169682680b2f5df8311c1ed259e4612d9d0cf61b7"},
+    {file = "python_rapidjson-1.10-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:81b797934dc037810f5f98af138b55a3b6f18dd569cc5e8f81fe79956a4717ca"},
+    {file = "python_rapidjson-1.10-cp311-cp311-win32.whl", hash = "sha256:6c1d62cc58a61629fc5e216fb7b3a1b02787c98fded874a7b474b1e6325e377e"},
+    {file = "python_rapidjson-1.10-cp311-cp311-win_amd64.whl", hash = "sha256:29d31fc4254f1a4dca420e58bd1331e990fc2959d09ff2daa7934d52732a8491"},
+    {file = "python_rapidjson-1.10-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:718f4e217b511cfbf9166f55ccf4bf4e4538495bee403e390cf89791c0debc26"},
+    {file = "python_rapidjson-1.10-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:541bbb96353cf3fe2bdb29e727087226532be4e4573daad6f042cfdea533a564"},
+    {file = "python_rapidjson-1.10-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:50f0402a6899c6a177d4a37152deefcd59c61e44bef56b71e8d006a186c86286"},
+    {file = "python_rapidjson-1.10-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c035e17744d6d6fba073b550b0040a74e55f2ad33fd798df206ff6879b41ad10"},
+    {file = "python_rapidjson-1.10-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:da970bde42309a74a5556e696673ea11c4545b8bee5081b84265ded460b2e9ef"},
+    {file = "python_rapidjson-1.10-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:b7437a649821008aa456f2fbec737880d7f9bdda7ec94cc1743a43ccf32b5d26"},
+    {file = "python_rapidjson-1.10-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:362d969bbd277f78bf0b1ffaa810857ea40351146b827f896f8d49e9c25fc99c"},
+    {file = "python_rapidjson-1.10-cp37-cp37m-musllinux_1_1_ppc64le.whl", hash = "sha256:409256e7748c4ab7f17b3793c7a78ca01914c487644fc42140d116ed4dec8c4f"},
+    {file = "python_rapidjson-1.10-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:a34a7e2853456fe50ba2ee22e38e7841e55eee10021d4496cce62285f148e8e7"},
+    {file = "python_rapidjson-1.10-cp37-cp37m-win32.whl", hash = "sha256:bc4a97940e5afa60a598483d0eb863b26e4810aaf030d92a4301f5fc183e1b6d"},
+    {file = "python_rapidjson-1.10-cp37-cp37m-win_amd64.whl", hash = "sha256:89586b67f9c69b66885774acebf3d018e7b8f93cea2b3cffa306ec9d37877594"},
+    {file = "python_rapidjson-1.10-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:2e38082b1a8ce3e2bd55821852c0cd643cdabe6497fd9c054f6b47a099afbea0"},
+    {file = "python_rapidjson-1.10-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0955ef22fabb36b26fcad702ae54c1bce2bc2a74b1883c42d251d72011d0d426"},
+    {file = "python_rapidjson-1.10-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:0a9db03c68ab0158bcdf80299b2c980186d148aa3e05d5650fea5148a425a29a"},
+    {file = "python_rapidjson-1.10-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:fde8ab0f06debaa06d93085f19dc3ec3db53f22883f1625dd32b96a87e7009de"},
+    {file = "python_rapidjson-1.10-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:23539c9f7d85d64a00d3cb44c7d9ab3be2184d4da42a5f3263dcfd1d0203ee43"},
+    {file = "python_rapidjson-1.10-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:8bfd484285f3477acef0bb45abd2b80b6252e35a5a53395ce48f0327cbe43c23"},
+    {file = "python_rapidjson-1.10-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:8b0ed643ebaa8ddf3f40422752efe83abda29aa30a9e6866ccd9dd591b5057d0"},
+    {file = "python_rapidjson-1.10-cp38-cp38-musllinux_1_1_ppc64le.whl", hash = "sha256:5aeca661a0f229f1312fb3ad3e1a5c6736d49942d80d4931810158559eb8f119"},
+    {file = "python_rapidjson-1.10-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:8a68ed066e8f0878b7112f943cf35ba9e5217395bcdd8cb478cde01871e2701c"},
+    {file = "python_rapidjson-1.10-cp38-cp38-win32.whl", hash = "sha256:d286be6f63446776c4958bb37824c683194b4878fc9cd5b7255134fb5a6ba536"},
+    {file = "python_rapidjson-1.10-cp38-cp38-win_amd64.whl", hash = "sha256:aece5270c6e6d5c3d54586c9a5fb9677d70d7019744a59560c5c369c7b9bba25"},
+    {file = "python_rapidjson-1.10-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:dc09c5ad0fe71f262cdcc5655409f132f1560a8af80e76e7757945ce401fdbab"},
+    {file = "python_rapidjson-1.10-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c9f6447bd7a8ff5135ab7e372b48a174d3c560d5b322e32bd465e8458e6e4593"},
+    {file = "python_rapidjson-1.10-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:22ede69213885391b46cc14596bfd4cd1a5c6f34a2db6600fb08b03982dbc7b7"},
+    {file = "python_rapidjson-1.10-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4a9425129623718a04b885a12190faa23e7997c4e8632054e18df7ea473f746d"},
+    {file = "python_rapidjson-1.10-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:60e10f32e1a8d155448842934cbe71eb620b4b4a0cb3627ba4c4856e27556534"},
+    {file = "python_rapidjson-1.10-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:8d23caab17b87ed5b82e28cdc19172ba1ca65c982e3fff387961d3f33710031f"},
+    {file = "python_rapidjson-1.10-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:f07d4fcdcfd64bdad0143b9705c5d5089677ebddf60ac6c1f8074a34b1c70cf9"},
+    {file = "python_rapidjson-1.10-cp39-cp39-musllinux_1_1_ppc64le.whl", hash = "sha256:87b991c7ae435489c56a46cef228d2b65a3df689ee4fe24fab69c791c841f633"},
+    {file = "python_rapidjson-1.10-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:3706a5c4f21073c04be133c36565efc6e3f5646a03c8d19af78c19d7c70eb708"},
+    {file = "python_rapidjson-1.10-cp39-cp39-win32.whl", hash = "sha256:47f9078ea6884f700166a8728d863609fec62232e66a33b8fb4a7706ce7c731c"},
+    {file = "python_rapidjson-1.10-cp39-cp39-win_amd64.whl", hash = "sha256:9e4921ab7002ae9faad7f439a7c50aa195039f177e9e51a76c34c97966c79a79"},
+]
 python-socketio = [
     {file = "python-socketio-5.7.2.tar.gz", hash = "sha256:92395062d9db3c13d30e7cdedaa0e1330bba78505645db695415f9a3c628d097"},
     {file = "python_socketio-5.7.2-py3-none-any.whl", hash = "sha256:d9a9f047e6fdd306c852fbac36516f4b495c2096f8ad9ceb8803b8e5ff5622e3"},
@@ -7663,6 +7997,18 @@ setproctitle = [
     {file = "setproctitle-1.3.2-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:7f2719a398e1a2c01c2a63bf30377a34d0b6ef61946ab9cf4d550733af8f1ef1"},
     {file = "setproctitle-1.3.2-cp310-cp310-win32.whl", hash = "sha256:e425be62524dc0c593985da794ee73eb8a17abb10fe692ee43bb39e201d7a099"},
     {file = "setproctitle-1.3.2-cp310-cp310-win_amd64.whl", hash = "sha256:e85e50b9c67854f89635a86247412f3ad66b132a4d8534ac017547197c88f27d"},
+    {file = "setproctitle-1.3.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:2a97d51c17d438cf5be284775a322d57b7ca9505bb7e118c28b1824ecaf8aeaa"},
+    {file = "setproctitle-1.3.2-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:587c7d6780109fbd8a627758063d08ab0421377c0853780e5c356873cdf0f077"},
+    {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d7d17c8bd073cbf8d141993db45145a70b307385b69171d6b54bcf23e5d644de"},
+    {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:e932089c35a396dc31a5a1fc49889dd559548d14cb2237adae260382a090382e"},
+    {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8e4f8f12258a8739c565292a551c3db62cca4ed4f6b6126664e2381acb4931bf"},
+    {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:570d255fd99c7f14d8f91363c3ea96bd54f8742275796bca67e1414aeca7d8c3"},
+    {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:a8e0881568c5e6beff91ef73c0ec8ac2a9d3ecc9edd6bd83c31ca34f770910c4"},
+    {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:4bba3be4c1fabf170595b71f3af46c6d482fbe7d9e0563999b49999a31876f77"},
+    {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:37ece938110cab2bb3957e3910af8152ca15f2b6efdf4f2612e3f6b7e5459b80"},
+    {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:db684d6bbb735a80bcbc3737856385b55d53f8a44ce9b46e9a5682c5133a9bf7"},
+    {file = "setproctitle-1.3.2-cp311-cp311-win32.whl", hash = "sha256:ca58cd260ea02759238d994cfae844fc8b1e206c684beb8f38877dcab8451dfc"},
+    {file = "setproctitle-1.3.2-cp311-cp311-win_amd64.whl", hash = "sha256:88486e6cce2a18a033013d17b30a594f1c5cb42520c49c19e6ade40b864bb7ff"},
     {file = "setproctitle-1.3.2-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:92c626edc66169a1b09e9541b9c0c9f10488447d8a2b1d87c8f0672e771bc927"},
     {file = "setproctitle-1.3.2-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:710e16fa3bade3b026907e4a5e841124983620046166f355bbb84be364bf2a02"},
     {file = "setproctitle-1.3.2-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:1f29b75e86260b0ab59adb12661ef9f113d2f93a59951373eb6d68a852b13e83"},
@@ -8032,11 +8378,28 @@ traitlets = [
     {file = "traitlets-5.5.0.tar.gz", hash = "sha256:b122f9ff2f2f6c1709dab289a05555be011c87828e911c0cf4074b85cb780a79"},
 ]
 triton = [
-    {file = "triton-1.1.1-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8441e6f44517aef8f6345f621c003926cbe970892802411a949ccda516cbd5ba"},
-    {file = "triton-1.1.1-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:840776bc1f4757fb2d6af974694c5e5313220ceec238ee6118b9728bc2aa9ade"},
-    {file = "triton-1.1.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:97d42cdaa7d56de463d762c18cc876bfd0828a2b6a706263393fe7e10d1c83ca"},
-    {file = "triton-1.1.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ebc19c0e902bbf7d29de4d444455608065a2c56e3524f4bc94e724511ca518f3"},
-    {file = "triton-1.1.1-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f02f798cd2dd922228082ce1a4e9d81badb9a6217a9aac6d783e95bf7055974d"},
+    {file = "triton-2.0.0-1-cp310-cp310-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:38806ee9663f4b0f7cd64790e96c579374089e58f49aac4a6608121aa55e2505"},
+    {file = "triton-2.0.0-1-cp311-cp311-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:226941c7b8595219ddef59a1fdb821e8c744289a132415ddd584facedeb475b1"},
+    {file = "triton-2.0.0-1-cp36-cp36m-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:4c9fc8c89874bc48eb7e7b2107a9b8d2c0bf139778637be5bfccb09191685cfd"},
+    {file = "triton-2.0.0-1-cp37-cp37m-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:d2684b6a60b9f174f447f36f933e9a45f31db96cb723723ecd2dcfd1c57b778b"},
+    {file = "triton-2.0.0-1-cp38-cp38-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:9d4978298b74fcf59a75fe71e535c092b023088933b2f1df933ec32615e4beef"},
+    {file = "triton-2.0.0-1-cp39-cp39-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:74f118c12b437fb2ca25e1a04759173b517582fcf4c7be11913316c764213656"},
+    {file = "triton-2.0.0-1-pp37-pypy37_pp73-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:9618815a8da1d9157514f08f855d9e9ff92e329cd81c0305003eb9ec25cc5add"},
+    {file = "triton-2.0.0-1-pp38-pypy38_pp73-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:1aca3303629cd3136375b82cb9921727f804e47ebee27b2677fef23005c3851a"},
+    {file = "triton-2.0.0-1-pp39-pypy39_pp73-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:e3e13aa8b527c9b642e3a9defcc0fbd8ffbe1c80d8ac8c15a01692478dc64d8a"},
+    {file = "triton-2.0.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8f05a7e64e4ca0565535e3d5d3405d7e49f9d308505bb7773d21fb26a4c008c2"},
+    {file = "triton-2.0.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:bb4b99ca3c6844066e516658541d876c28a5f6e3a852286bbc97ad57134827fd"},
+    {file = "triton-2.0.0-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:47b4d70dc92fb40af553b4460492c31dc7d3a114a979ffb7a5cdedb7eb546c08"},
+    {file = "triton-2.0.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:fedce6a381901b1547e0e7e1f2546e4f65dca6d91e2d8a7305a2d1f5551895be"},
+    {file = "triton-2.0.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:75834f27926eab6c7f00ce73aaf1ab5bfb9bec6eb57ab7c0bfc0a23fac803b4c"},
+    {file = "triton-2.0.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0117722f8c2b579cd429e0bee80f7731ae05f63fe8e9414acd9a679885fcbf42"},
+    {file = "triton-2.0.0-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:bcd9be5d0c2e45d2b7e6ddc6da20112b6862d69741576f9c3dbaf941d745ecae"},
+    {file = "triton-2.0.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:42a0d2c3fc2eab4ba71384f2e785fbfd47aa41ae05fa58bf12cb31dcbd0aeceb"},
+    {file = "triton-2.0.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:52c47b72c72693198163ece9d90a721299e4fb3b8e24fd13141e384ad952724f"},
+]
+tritonclient = [
+    {file = "tritonclient-2.28.0-py3-none-any.whl", hash = "sha256:1f58bbe09a88c35f7979de8ab6579a5337372951f723c0aba31e8bee3e8d79da"},
+    {file = "tritonclient-2.28.0-py3-none-manylinux1_x86_64.whl", hash = "sha256:47d93197a0876a743012db4c03f1100f7b225b9aaf8d5f8025bf4a5d9e61bfd2"},
 ]
 types-atomicwrites = [
     {file = "types-atomicwrites-1.4.5.1.tar.gz", hash = "sha256:9e9f0923ebf93524b28bcece5a23ac8c3820f39b060df29f671936d2e4bc04bc"},
@@ -8059,8 +8422,8 @@ types-requests = [
     {file = "types_requests-2.28.11.2-py3-none-any.whl", hash = "sha256:14941f8023a80b16441b3b46caffcbfce5265fd14555844d6029697824b5a2ef"},
 ]
 types-tabulate = [
-    {file = "types-tabulate-0.9.0.1.tar.gz", hash = "sha256:e486292c279f19247865bdabe802419740a0e74b53444e7f7a8009e08129da5d"},
-    {file = "types_tabulate-0.9.0.1-py3-none-any.whl", hash = "sha256:be2ea0de05f615ccfcbadf6206aa720e265955eb1de23e343aec9d8bf3fa9aaa"},
+    {file = "types-tabulate-0.8.11.tar.gz", hash = "sha256:17a5fa3b5ca453815778fc9865e8ecd0118b07b2b9faff3e2b06fe448174dd5e"},
+    {file = "types_tabulate-0.8.11-py3-none-any.whl", hash = "sha256:af811268241e8fb87b63c052c87d1e329898a93191309d5d42111372232b2e0e"},
 ]
 types-urllib3 = [
     {file = "types-urllib3-1.26.25.1.tar.gz", hash = "sha256:a948584944b2412c9a74b9cf64f6c48caf8652cb88b38361316f6d15d8a184cd"},
diff --git a/pyproject.toml b/pyproject.toml
index b1ad273cd7..47994779b2 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -59,7 +59,6 @@ urllib3 = "^1.26.10"
 utm = "^0.7.0"
 websocket_client = "^1.3.3"
 polyline = "^1.4.0"
-types-tabulate = "^0.9.0.1"
 
 
 [tool.poetry.group.dev.dependencies]
@@ -84,7 +83,7 @@ mypy = "^0.961"
 myst-parser = "^0.18.0"
 natsort = "^8.1.0"
 numpy = "^1.23.0"
-opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl", platform = "linux" }
+opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu118/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl", platform = "linux" }
 pandas = "^1.4.3"
 parameterized = "^0.8.1"
 paramiko = "^2.11.0"
@@ -108,6 +107,7 @@ types-certifi = "^2021.10.8"
 types-pycurl = "^7.45.1"
 types-PyYAML = "^6.0"
 types-requests = "^2.28.11"
+types-tabulate = "^0.8.10"
 
 
 [tool.poetry.group.xx]
@@ -117,7 +117,7 @@ optional = true
 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" }
+apex = { url = "https://github.com/commaai/apex/releases/download/pytorch2.0.0%2Bcu11.8/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"
@@ -127,7 +127,7 @@ azure-storage-nspkg = "~3.1"
 blosc = "==1.9.2"
 cloudpickle = "^2.1.0"
 configargparse = "^1.5.3"
-cupy-cuda113 = "^10.6.0"
+cupy-cuda11x = "^11.6.0"
 datadog = "^0.44.0"
 dotmap = "^1.3.30"
 einops = "^0.5.0"
@@ -166,14 +166,15 @@ 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" }
+torch = { url = "https://download.pytorch.org/whl/cu118/torch-2.0.0%2Bcu118-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"
+torchvision = { url = "https://download.pytorch.org/whl/cu118/torchvision-0.15.1%2Bcu118-cp38-cp38-linux_x86_64.whl" }
+triton = "^2.0.0"
 Werkzeug = "^2.1.2"
 zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "master" }
 omegaconf = "^2.3.0"
 osmnx = "==1.2.2"
+tritonclient = {version = "2.28.0", extras = ["http"]}
 
 
 [build-system]
diff --git a/release/files_common b/release/files_common
index e0f989e9be..a20f71018b 100644
--- a/release/files_common
+++ b/release/files_common
@@ -219,14 +219,15 @@ system/hardware/pc/__init__.py
 system/hardware/pc/hardware.h
 system/hardware/pc/hardware.py
 
+system/ubloxd/.gitignore
+system/ubloxd/SConscript
+system/ubloxd/generated/*
+system/ubloxd/*.h
+system/ubloxd/*.cc
+
 selfdrive/locationd/__init__.py
-selfdrive/locationd/.gitignore
 selfdrive/locationd/SConscript
-selfdrive/locationd/ubloxd.cc
-selfdrive/locationd/ublox_msg.cc
-selfdrive/locationd/ublox_msg.h
-selfdrive/locationd/generated/*
-
+selfdrive/locationd/.gitignore
 selfdrive/locationd/laikad.py
 selfdrive/locationd/locationd.h
 selfdrive/locationd/locationd.cc
@@ -253,35 +254,36 @@ system/proclogd/main.cc
 system/proclogd/proclog.cc
 system/proclogd/proclog.h
 
-selfdrive/loggerd/.gitignore
-selfdrive/loggerd/SConscript
-selfdrive/loggerd/encoder/encoder.cc
-selfdrive/loggerd/encoder/encoder.h
-selfdrive/loggerd/encoder/v4l_encoder.cc
-selfdrive/loggerd/encoder/v4l_encoder.h
-selfdrive/loggerd/video_writer.cc
-selfdrive/loggerd/video_writer.h
-selfdrive/loggerd/logger.cc
-selfdrive/loggerd/logger.h
-selfdrive/loggerd/loggerd.cc
-selfdrive/loggerd/loggerd.h
-selfdrive/loggerd/encoderd.cc
-selfdrive/loggerd/bootlog.cc
-selfdrive/loggerd/encoder/ffmpeg_encoder.cc
-selfdrive/loggerd/encoder/ffmpeg_encoder.h
-
-selfdrive/loggerd/__init__.py
-selfdrive/loggerd/config.py
-selfdrive/loggerd/uploader.py
-selfdrive/loggerd/deleter.py
-selfdrive/loggerd/xattr_cache.py
-
-selfdrive/sensord/SConscript
-selfdrive/sensord/sensors_qcom2.cc
-selfdrive/sensord/sensors/*.cc
-selfdrive/sensord/sensors/*.h
-selfdrive/sensord/sensord
-selfdrive/sensord/pigeond.py
+system/loggerd/.gitignore
+system/loggerd/SConscript
+system/loggerd/encoder/encoder.cc
+system/loggerd/encoder/encoder.h
+system/loggerd/encoder/v4l_encoder.cc
+system/loggerd/encoder/v4l_encoder.h
+system/loggerd/video_writer.cc
+system/loggerd/video_writer.h
+system/loggerd/logger.cc
+system/loggerd/logger.h
+system/loggerd/loggerd.cc
+system/loggerd/loggerd.h
+system/loggerd/encoderd.cc
+system/loggerd/bootlog.cc
+system/loggerd/encoder/ffmpeg_encoder.cc
+system/loggerd/encoder/ffmpeg_encoder.h
+
+system/loggerd/__init__.py
+system/loggerd/config.py
+system/loggerd/uploader.py
+system/loggerd/deleter.py
+system/loggerd/xattr_cache.py
+
+system/sensord/.gitignore
+system/sensord/SConscript
+system/sensord/sensors_qcom2.cc
+system/sensord/sensors/*.cc
+system/sensord/sensors/*.h
+system/sensord/sensord
+system/sensord/pigeond.py
 
 selfdrive/thermald/thermald.py
 selfdrive/thermald/power_monitoring.py
diff --git a/release/files_tici b/release/files_tici
index c8abd720d5..b4e0c50516 100644
--- a/release/files_tici
+++ b/release/files_tici
@@ -13,7 +13,7 @@ system/camerad/cameras/camera_util.cc
 system/camerad/cameras/camera_util.h
 system/camerad/cameras/real_debayer.cl
 
-selfdrive/sensord/rawgps/*
+system/sensord/rawgps/*
 
 selfdrive/ui/qt/spinner_larch64
 selfdrive/ui/qt/text_larch64
diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index d1cc4cea83..7cb6d5b845 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -36,8 +36,8 @@ from common.file_helpers import CallbackReader
 from common.params import Params
 from common.realtime import sec_since_boot, set_core_affinity
 from system.hardware import HARDWARE, PC, AGNOS
-from selfdrive.loggerd.config import ROOT
-from selfdrive.loggerd.xattr_cache import getxattr, setxattr
+from system.loggerd.config import ROOT
+from system.loggerd.xattr_cache import getxattr, setxattr
 from selfdrive.statsd import STATS_DIR
 from system.swaglog import SWAGLOG_DIR, cloudlog
 from system.version import get_commit, get_origin, get_short_branch, get_version
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 5d885c2c79..4faa08d536 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -113,32 +113,35 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
     return false;
   }
 
-  // set to ELM327 for fingerprinting
+  // initialize to ELM327 without OBD multiplexing for fingerprinting
+  bool obd_multiplexing_enabled = false;
   for (int i = 0; i < pandas.size(); i++) {
-    const uint16_t safety_param = (i > 0) ? 1U : 0U;
-    pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
+    pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
   }
 
-  // wait for FW query at OBD port to finish
+  // openpilot can switch between multiplexing modes for different FW queries
   while (true) {
     if (do_exit || !check_all_connected(pandas) || !ignition) {
       return false;
     }
 
-    if (p.getBool("FirmwareObdQueryDone")) {
-      LOGW("finished FW query at OBD port");
+    bool obd_multiplexing_requested = p.getBool("ObdMultiplexingEnabled");
+    if (obd_multiplexing_requested != obd_multiplexing_enabled) {
+      for (int i = 0; i < pandas.size(); i++) {
+        const uint16_t safety_param = (i > 0 || !obd_multiplexing_requested) ? 1U : 0U;
+        pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
+      }
+      obd_multiplexing_enabled = obd_multiplexing_requested;
+      p.putBool("ObdMultiplexingChanged", true);
+    }
+
+    if (p.getBool("FirmwareQueryDone")) {
+      LOGW("finished FW query");
       break;
     }
     util::sleep_for(20);
   }
 
-  // set to ELM327 to finish fingerprinting and for potential ECU knockouts
-  for (Panda *panda : pandas) {
-    panda->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
-  }
-
-  p.putBool("ObdMultiplexingDisabled", true);
-
   std::string params;
   LOGW("waiting for params to set safety model");
   while (true) {
diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc
index 647a0d9c78..4ad4b5e652 100644
--- a/selfdrive/boardd/panda.cc
+++ b/selfdrive/boardd/panda.cc
@@ -203,7 +203,7 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
     assert(can_data.size() <= 64);
     assert(can_data.size() == dlc_to_len[data_len_code]);
 
-    can_header header;
+    can_header header = {};
     header.addr = cmsg.getAddress();
     header.extended = (cmsg.getAddress() >= 0x800) ? 1 : 0;
     header.data_len_code = data_len_code;
diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py
index f61d9ee1a6..f292b921cf 100755
--- a/selfdrive/boardd/pandad.py
+++ b/selfdrive/boardd/pandad.py
@@ -84,9 +84,9 @@ def main() -> NoReturn:
       params.remove("PandaSignatures")
 
       # Flash all Pandas in DFU mode
-      for p in PandaDFU.list():
-        cloudlog.info(f"Panda in DFU mode found, flashing recovery {p}")
-        PandaDFU(p).recover()
+      for serial in PandaDFU.list():
+        cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}")
+        PandaDFU(serial).recover()
       time.sleep(1)
 
       panda_serials = Panda.list()
diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py
index b8ebbd88a3..d614f0b126 100755
--- a/selfdrive/boardd/tests/test_boardd_loopback.py
+++ b/selfdrive/boardd/tests/test_boardd_loopback.py
@@ -51,7 +51,7 @@ class TestBoardd(unittest.TestCase):
     cp.safetyConfigs = [safety_config]*num_pandas
 
     params = Params()
-    params.put_bool("FirmwareObdQueryDone", True)
+    params.put_bool("FirmwareQueryDone", True)
     params.put_bool("ControlsReady", True)
     params.put("CarParams", cp.to_bytes())
 
diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py
new file mode 100755
index 0000000000..3b2369b39b
--- /dev/null
+++ b/selfdrive/boardd/tests/test_pandad.py
@@ -0,0 +1,48 @@
+#!/usr/bin/env python3
+import time
+import unittest
+
+import cereal.messaging as messaging
+from panda import Panda
+from selfdrive.test.helpers import phone_only
+from selfdrive.manager.process_config import managed_processes
+from system.hardware import HARDWARE
+
+
+class TestPandad(unittest.TestCase):
+
+  def tearDown(self):
+    managed_processes['pandad'].stop()
+
+  def _wait_for_boardd(self):
+    sm = messaging.SubMaster(['peripheralState'])
+    for _ in range(30):
+      sm.update(1000)
+      if sm.updated['peripheralState']:
+        break
+
+    if not sm.updated['peripheralState']:
+      raise Exception("boardd failed to start")
+
+  @phone_only
+  def test_in_dfu(self):
+    HARDWARE.recover_internal_panda()
+    time.sleep(1)
+
+    managed_processes['pandad'].start()
+    self._wait_for_boardd()
+
+  @phone_only
+  def test_in_bootstub(self):
+    with Panda() as p:
+      p.reset(enter_bootstub=True)
+      assert p.bootstub
+    managed_processes['pandad'].start()
+    self._wait_for_boardd()
+
+  #def test_out_of_date_fw(self):
+  #  pass
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 370772c902..6a131c77de 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -8,7 +8,7 @@ from system.version import is_comma_remote, is_tested_branch
 from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
-from selfdrive.car.fw_versions import disable_obd_multiplexing, get_fw_versions_ordered, match_fw_to_car, get_present_ecus
+from selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing
 from system.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint
@@ -80,12 +80,13 @@ 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()
+  params = Params()
 
   if not skip_fw_query:
     # Vin query only reliably works through OBDII
     bus = 1
 
-    cached_params = Params().get("CarParamsCache")
+    cached_params = params.get("CarParamsCache")
     if cached_params is not None:
       cached_params = car.CarParams.from_bytes(cached_params)
       if cached_params.carName == "mock":
@@ -98,6 +99,7 @@ def fingerprint(logcan, sendcan, num_pandas):
       cached = True
     else:
       cloudlog.warning("Getting VIN & FW versions")
+      set_obd_multiplexing(params, True)
       vin_rx_addr, vin = get_vin(logcan, sendcan, bus)
       ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas)
       car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas)
@@ -113,10 +115,11 @@ def fingerprint(logcan, sendcan, num_pandas):
     cloudlog.event("Malformed VIN", vin=vin, error=True)
     vin = VIN_UNKNOWN
   cloudlog.warning("VIN %s", vin)
-
-  params = Params()
   params.put("CarVin", vin)
-  disable_obd_multiplexing(params)
+
+  # disable OBD multiplexing for potential ECU knockouts
+  set_obd_multiplexing(params, False)
+  params.put_bool("FirmwareQueryDone", True)
 
   finger = gen_empty_fingerprint()
   candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1
@@ -180,7 +183,7 @@ def get_car(logcan, sendcan, experimental_long_allowed, 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)
+    cloudlog.event("car doesn't match any fingerprints", fingerprints=fingerprints, error=True)
     candidate = "mock"
 
   CarInterface, CarController, CarState = interfaces[candidate]
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 2af5246b88..8799f073c9 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -50,6 +50,7 @@ class CarControllerParams:
       self.STEER_DELTA_DOWN = 3
       self.STEER_MAX = 261  # higher than this faults the EPS
 
+
 STEER_THRESHOLD = 120
 
 RAM_DT = {CAR.RAM_1500, }
@@ -62,6 +63,7 @@ class ChryslerCarInfo(CarInfo):
   package: str = "Adaptive Cruise Control (ACC)"
   harness: Enum = Harness.fca
 
+
 CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
   CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"),
   CAR.PACIFICA_2018_HYBRID: None,  # same platforms
@@ -73,10 +75,10 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
   ],
   CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
   CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
-  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22", harness=Harness.ram),
+  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", harness=Harness.ram),
   CAR.RAM_HD: [
     ChryslerCarInfo("Ram 2500 2020-22", harness=Harness.ram),
-    ChryslerCarInfo("Ram 3500 2020-22", harness=Harness.ram),
+    ChryslerCarInfo("Ram 3500 2019-22", harness=Harness.ram),
   ],
 }
 
@@ -99,7 +101,7 @@ FINGERPRINTS = {
     55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
   },
   {
-    55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
+    55: 8, 58: 6, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 956: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
   }],
   CAR.PACIFICA_2020: [{
     55: 8, 179: 8, 181: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 536: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 776: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 886: 8, 897: 8, 906: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 7, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1543: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 2015: 8, 2016: 8, 2017:8, 2024: 8, 2025: 8
@@ -180,79 +182,153 @@ FW_QUERY_CONFIG = FwQueryConfig(
 )
 
 FW_VERSIONS = {
+  CAR.JEEP_CHEROKEE_2019: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68402971AD',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68355363AB',
+    ],
+    (Ecu.abs, 0x747, None): [
+      b'68408639AD',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'68456722AC',
+    ],
+    (Ecu.eps, 0x75A, None): [
+      b'68453431AA',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'05035674AB ',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'05035707AA',
+    ],
+  },
+
   CAR.RAM_1500: {
     (Ecu.combinationMeter, 0x742, None): [
-      b'68294063AH',
+      b'68294051AG',
+      b'68294051AI',
+      b'68294052AG',
       b'68294063AG',
+      b'68294063AH',
+      b'68294063AI',
+      b'68434846AC',
+      b'68434858AC',
       b'68434860AC',
-      b'68527375AD',
       b'68453503AC',
+      b'68453505AC',
+      b'68453511AC',
+      b'68453513AD',
+      b'68453514AD',
+      b'68510283AG',
+      b'68527375AD',
     ],
     (Ecu.srs, 0x744, None): [
+      b'68428609AB',
       b'68441329AB',
+      b'68473844AB',
       b'68490898AA',
-      b'68428609AB',
       b'68500728AA',
+      b'68615033AA',
     ],
     (Ecu.abs, 0x747, None): [
-      b'68432418AD',
+      b'68292406AH',
       b'68432418AB',
+      b'68432418AD',
+      b'68436004AD',
       b'68436004AE',
+      b'68438454AC',
       b'68438454AD',
-      b'68436004AD',
+      b'68438456AE',
+      b'68438456AF',
       b'68535469AB',
-      b'68438454AC',
+      b'68535470AC',
+      b'68586307AB',
     ],
     (Ecu.fwdRadar, 0x753, None): [
-      b'68320950AL',
+      b'04672892AB',
+      b'04672932AB',
+      b'68320950AH',
+      b'68320950AI',
       b'68320950AJ',
+      b'68320950AL',
+      b'68320950AM',
       b'68454268AB',
-      b'68475160AG',
-      b'04672892AB',
       b'68475160AE',
+      b'68475160AF',
+      b'68475160AG',
     ],
     (Ecu.eps, 0x75A, None): [
+      b'68273275AF',
       b'68273275AG',
+      b'68312176AE',
+      b'68312176AG',
+      b'68440789AC',
+      b'68466110AB',
       b'68469901AA',
+      b'68522583AB',
+      b'68522585AB',
       b'68552788AA',
+      b'68552790AA',
+      b'68585112AB',
     ],
     (Ecu.engine, 0x7e0, None): [
+      b'05036065AE ',
+      b'05036066AE ',
+      b'68378701AI ',
+      b'68378758AM ',
       b'68448163AJ',
+      b'68448165AK',
       b'68500630AD',
+      b'68500630AE',
       b'68539650AD',
-      b'68378758AM ',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'68360078AL',
-      b'68384328AD',
-      b'68360085AL',
+      b'68360080AM',
       b'68360081AM',
-      b'68502994AD',
+      b'68360085AL',
+      b'68384328AD',
+      b'68384332AD',
       b'68445533AB',
-      b'68540431AB',
       b'68484467AC',
+      b'68502994AD',
+      b'68540431AB',
     ],
   },
 
   CAR.RAM_HD: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68361606AH',
+      b'68437735AC',
       b'68492693AD',
+      b'68525485AB',
+      b'68525487AB',
+      b'68525498AB',
     ],
     (Ecu.srs, 0x744, None): [
       b'68399794AC',
       b'68428503AA',
       b'68428505AA',
+      b'68428507AA',
     ],
     (Ecu.abs, 0x747, None): [
       b'68334977AH',
+      b'68455481AC',
+      b'68504022AA',
       b'68504022AB',
-      b'68530686AB',
       b'68504022AC',
+      b'68530686AB',
+      b'68530686AC',
     ],
     (Ecu.fwdRadar, 0x753, None): [
       b'04672895AB',
       b'56029827AG',
+      b'56029827AH',
+      b'68462657AE',
+      b'68484694AD',
       b'68484694AE',
     ],
     (Ecu.eps, 0x761, None): [
@@ -260,7 +336,13 @@ FW_VERSIONS = {
       b'68507906AB',
     ],
     (Ecu.engine, 0x7e0, None): [
+      b'52370131AF',
+      b'52370231AF',
+      b'52370231AG',
+      b'52370931CT',
+      b'52401032AE',
       b'52421132AF',
+      b'68527616AD ',
       b'M2370131MB',
       b'M2421132MB',
     ],
diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py
index e5d550fac8..86bae91b06 100755
--- a/selfdrive/car/ecu_addrs.py
+++ b/selfdrive/car/ecu_addrs.py
@@ -9,6 +9,8 @@ from selfdrive.car import make_can_msg
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from system.swaglog import cloudlog
 
+EcuAddrBusType = Tuple[int, Optional[int], int]
+
 
 def make_tester_present_msg(addr, bus, subaddr=None):
   dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0]
@@ -33,16 +35,16 @@ def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subadd
   return False
 
 
-def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[Tuple[int, Optional[int], int]]:
+def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[EcuAddrBusType]:
   addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)]
-  queries: Set[Tuple[int, Optional[int], int]] = {(addr, None, bus) for addr in addr_list}
+  queries: Set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list}
   responses = queries
   return get_ecu_addrs(logcan, sendcan, queries, responses, timeout=timeout, debug=debug)
 
 
-def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: Set[Tuple[int, Optional[int], int]],
-                  responses: Set[Tuple[int, Optional[int], int]], timeout: float = 1, debug: bool = False) -> Set[Tuple[int, Optional[int], int]]:
-  ecu_responses: Set[Tuple[int, Optional[int], int]] = set()  # set((addr, subaddr, bus),)
+def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: Set[EcuAddrBusType],
+                  responses: Set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> Set[EcuAddrBusType]:
+  ecu_responses: Set[EcuAddrBusType] = set()  # set((addr, subaddr, bus),)
   try:
     msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
 
diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py
index dd3b19f6de..7ae9bee404 100755
--- a/selfdrive/car/fw_query_definitions.py
+++ b/selfdrive/car/fw_query_definitions.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import capnp
+import copy
 from dataclasses import dataclass, field
 import struct
 from typing import Dict, List, Optional, Tuple
@@ -57,10 +58,12 @@ class Request:
   whitelist_ecus: List[int] = field(default_factory=list)
   rx_offset: int = 0x8
   bus: int = 1
+  # Whether this query should be run on the first auxiliary panda (CAN FD cars for example)
+  auxiliary: bool = False
   # FW responses from these queries will not be used for fingerprinting
   logging: bool = False
-  # These requests are done once OBD multiplexing is disabled, after all others
-  non_obd: bool = False
+  # boardd toggles OBD multiplexing on/off as needed
+  obd_multiplexing: bool = True
 
 
 @dataclass
@@ -71,3 +74,10 @@ class FwQueryConfig:
   non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict)
   # Ecus added for data collection, not to be fingerprinted on
   extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list)
+
+  def __post_init__(self):
+    for i in range(len(self.requests)):
+      if self.requests[i].auxiliary:
+        new_request = copy.deepcopy(self.requests[i])
+        new_request.bus += 4
+        self.requests.append(new_request)
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 8092ac0b76..f85b7f6b7d 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -1,12 +1,12 @@
 #!/usr/bin/env python3
 from collections import defaultdict
-from typing import Any, Optional, Set, Tuple
+from typing import Any, Dict, List, Set
 from tqdm import tqdm
 
 import panda.python.uds as uds
 from cereal import car
 from common.params import Params
-from selfdrive.car.ecu_addrs import get_ecu_addrs
+from selfdrive.car.ecu_addrs import EcuAddrBusType, get_ecu_addrs
 from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import FW_VERSIONS
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
@@ -19,7 +19,7 @@ FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True)
 VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
 
 MODEL_TO_BRAND = {c: b for b, e in VERSIONS.items() for c in e}
-REQUESTS = [(brand, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests]
+REQUESTS = [(brand, config, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests]
 
 
 def chunks(l, n=128):
@@ -39,6 +39,8 @@ def build_fw_dict(fw_versions, filter_brand=None):
 def get_brand_addrs():
   brand_addrs = defaultdict(set)
   for brand, cars in VERSIONS.items():
+    # Add ecus in database + extra ecus to match against
+    brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in FW_QUERY_CONFIGS[brand].extra_ecus}
     for fw in cars.values():
       brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()}
   return brand_addrs
@@ -146,38 +148,43 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True):
   return True, set()
 
 
-def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[Tuple[int, Optional[int], int]]:
-  queries = list()
-  parallel_queries = list()
+def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]:
+  params = Params()
+  # queries are split by OBD multiplexing mode
+  queries: Dict[bool, List[List[EcuAddrBusType]]] = {True: [], False: []}
+  parallel_queries: Dict[bool, List[EcuAddrBusType]] = {True: [], False: []}
   responses = set()
 
-  for brand, r in REQUESTS:
+  for brand, config, r in REQUESTS:
     # Skip query if no panda available
     if r.bus > num_pandas * 4 - 1:
       continue
 
     for brand_versions in VERSIONS[brand].values():
-      for ecu_type, addr, sub_addr in brand_versions:
+      for ecu_type, addr, sub_addr in list(brand_versions) + config.extra_ecus:
         # Only query ecus in whitelist if whitelist is not empty
         if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus:
           a = (addr, sub_addr, r.bus)
           # Build set of queries
           if sub_addr is None:
-            if a not in parallel_queries:
-              parallel_queries.append(a)
+            if a not in parallel_queries[r.obd_multiplexing]:
+              parallel_queries[r.obd_multiplexing].append(a)
           else:  # subaddresses must be queried one by one
-            if [a] not in queries:
-              queries.append([a])
+            if [a] not in queries[r.obd_multiplexing]:
+              queries[r.obd_multiplexing].append([a])
 
           # Build set of expected responses to filter
           response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset)
           responses.add((response_addr, sub_addr, r.bus))
 
-  queries.insert(0, parallel_queries)
+  for obd_multiplexing in queries:
+    queries[obd_multiplexing].insert(0, parallel_queries[obd_multiplexing])
 
   ecu_responses = set()
-  for query in queries:
-    ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1))
+  for obd_multiplexing in queries:
+    set_obd_multiplexing(params, obd_multiplexing)
+    for query in queries[obd_multiplexing]:
+      ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1))
   return ecu_responses
 
 
@@ -185,9 +192,9 @@ def get_brand_ecu_matches(ecu_rx_addrs):
   """Returns dictionary of brands and matches with ECUs in their FW versions"""
 
   brand_addrs = get_brand_addrs()
-  brand_matches = {brand: set() for brand, _ in REQUESTS}
+  brand_matches = {brand: set() for brand, _, _ in REQUESTS}
 
-  brand_rx_offsets = set((brand, r.rx_offset) for brand, r in REQUESTS)
+  brand_rx_offsets = set((brand, r.rx_offset) for brand, _, r in REQUESTS)
   for addr, sub_addr, _ in ecu_rx_addrs:
     # Since we can't know what request an ecu responded to, add matches for all possible rx offsets
     for brand, rx_offset in brand_rx_offsets:
@@ -198,13 +205,13 @@ def get_brand_ecu_matches(ecu_rx_addrs):
   return brand_matches
 
 
-def disable_obd_multiplexing(params):
-  if not params.get_bool("ObdMultiplexingDisabled"):
-    params.put_bool("FirmwareObdQueryDone", True)
-
-    cloudlog.warning("Waiting for OBD multiplexing to be disabled")
-    params.get_bool("ObdMultiplexingDisabled", block=True)
-    cloudlog.warning("OBD multiplexing disabled")
+def set_obd_multiplexing(params: Params, obd_multiplexing: bool):
+  if params.get_bool("ObdMultiplexingEnabled") != obd_multiplexing:
+    cloudlog.warning(f"Setting OBD multiplexing to {obd_multiplexing}")
+    params.remove("ObdMultiplexingChanged")
+    params.put_bool("ObdMultiplexingEnabled", obd_multiplexing)
+    params.get_bool("ObdMultiplexingChanged", block=True)
+    cloudlog.warning("OBD multiplexing set successfully")
 
 
 def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False):
@@ -212,7 +219,6 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand
 
   all_car_fw = []
   brand_matches = get_brand_ecu_matches(ecu_rx_addrs)
-  matched_brand: Optional[str] = None
 
   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, num_pandas=num_pandas, debug=debug, progress=progress)
@@ -220,21 +226,14 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand
     # Try to match using FW returned from this brand only
     matches = match_fw_to_car_exact(build_fw_dict(car_fw))
     if len(matches) == 1:
-      matched_brand = brand
       break
 
-  disable_obd_multiplexing(Params())
-
-  # Do non-OBD queries for matched brand, or all if no match is found
-  for brand in FW_QUERY_CONFIGS.keys():
-    if brand == matched_brand or matched_brand is None:
-      all_car_fw.extend(get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, obd_multiplexed=False, debug=debug, progress=progress))
-
   return all_car_fw
 
 
-def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, obd_multiplexed=True, 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()
+  params = Params()
 
   # Each brand can define extra ECUs to query for data collection
   for brand, config in FW_QUERY_CONFIGS.items():
@@ -250,19 +249,15 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
   # ECUs using a subaddress need be queried one by one, the rest can be done in parallel
   addrs = []
   parallel_addrs = []
-  logging_addrs = []
   ecu_types = {}
 
   for brand, brand_versions in versions.items():
-    for candidate, ecu in brand_versions.items():
+    for ecu in brand_versions.values():
       for ecu_type, addr, sub_addr in ecu.keys():
         a = (brand, addr, sub_addr)
         if a not in ecu_types:
           ecu_types[a] = ecu_type
 
-        if a not in logging_addrs and candidate == "debug":
-          logging_addrs.append(a)
-
         if sub_addr is None:
           if a not in parallel_addrs:
             parallel_addrs.append(a)
@@ -274,16 +269,17 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
 
   # Get versions and build capnp list to put into CarParams
   car_fw = []
-  requests = [(brand, r) for brand, r in REQUESTS if query_brand is None or brand == query_brand]
+  requests = [(brand, config, r) for brand, config, r in REQUESTS if query_brand is None or brand == query_brand]
   for addr in tqdm(addrs, disable=not progress):
     for addr_chunk in chunks(addr):
-      for brand, r in requests:
+      for brand, config, r in requests:
         # Skip query if no panda available
         if r.bus > num_pandas * 4 - 1:
           continue
-        # Or if request is not designated for current multiplexing mode
-        elif r.non_obd == obd_multiplexed:
-          continue
+
+        # Toggle OBD multiplexing for each request
+        if r.bus % 4 == 1:
+          set_obd_multiplexing(params, r.obd_multiplexing)
 
         try:
           addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and
@@ -294,15 +290,15 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
             for (tx_addr, sub_addr), version in query.get_data(timeout).items():
               f = car.CarParams.CarFw.new_message()
 
-              ecu_key = (brand, tx_addr, sub_addr)
-              f.ecu = ecu_types.get(ecu_key, Ecu.unknown)
+              f.ecu = ecu_types.get((brand, tx_addr, sub_addr), Ecu.unknown)
               f.fwVersion = version
               f.address = tx_addr
               f.responseAddress = uds.get_rx_addr_for_tx_addr(tx_addr, r.rx_offset)
               f.request = r.request
               f.brand = brand
               f.bus = r.bus
-              f.logging = r.logging or ecu_key in logging_addrs
+              f.logging = r.logging or (f.ecu, tx_addr, sub_addr) in config.extra_ecus
+              f.obdMultiplexing = r.obd_multiplexing
 
               if sub_addr is not None:
                 f.subAddress = sub_addr
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 7e6e71c642..f501c8c7dd 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -78,7 +78,6 @@ class CarInterface(CarInterfaceBase):
       ret.stoppingDecelRate = 2.0  # reach brake quickly after enabling
       ret.vEgoStopping = 0.25
       ret.vEgoStarting = 0.25
-      ret.longitudinalActuatorDelayUpperBound = 0.5
 
       if experimental_long:
         ret.pcmCruise = False
@@ -113,6 +112,7 @@ class CarInterface(CarInterfaceBase):
 
     ret.steerLimitTimer = 0.4
     ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
+    ret.longitudinalActuatorDelayUpperBound = 0.5  # large delay to initially start braking
 
     if candidate == CAR.VOLT:
       ret.mass = 1607. + STD_CARGO_KG
@@ -148,7 +148,13 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.4  # end to end is 13.46
       ret.centerToFront = ret.wheelbase * 0.4
       ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_acadia()
-      ret.longitudinalActuatorDelayUpperBound = 0.5  # large delay to initially start braking
+
+    elif candidate == CAR.BUICK_LACROSSE:
+      ret.mass = 1712. + STD_CARGO_KG
+      ret.wheelbase = 2.91
+      ret.steerRatio = 15.8
+      ret.centerToFront = ret.wheelbase * 0.4  # wild guess
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.BUICK_REGAL:
       ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG  # (3849+3708)/2
@@ -168,7 +174,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.95  # 116 inches in meters
       ret.steerRatio = 17.3
       ret.centerToFront = ret.wheelbase * 0.5
-      ret.longitudinalActuatorDelayUpperBound = 0.5  # large delay to initially start braking
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.ESCALADE_ESV:
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index 2ac418b629..0d13cb9827 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -66,6 +66,7 @@ class CAR:
   CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
   MALIBU = "CHEVROLET MALIBU PREMIER 2017"
   ACADIA = "GMC ACADIA DENALI 2018"
+  BUICK_LACROSSE = "BUICK LACROSSE 2017"
   BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
   ESCALADE = "CADILLAC ESCALADE 2017"
   ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
@@ -99,6 +100,7 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
   CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"),
   CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017"),
   CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
+  CAR.BUICK_LACROSSE: GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"),
   CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
   CAR.ESCALADE: GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
   CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
@@ -156,6 +158,11 @@ FINGERPRINTS = {
   {
     170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 8, 381: 2, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 5, 844: 8, 853: 8, 866: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7
   }],
+  CAR.BUICK_LACROSSE: [
+  # LaCrosse Premium AWD 2017
+  {
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
+  }],
   CAR.BUICK_REGAL : [
   # Regal TourX Essence w/ ACC 2018
   {
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 4dc1dc8131..f6d328131b 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -1,7 +1,6 @@
 from collections import namedtuple
 
 from cereal import car
-from common.conversions import Conversions as CV
 from common.numpy_fast import clip, interp
 from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
@@ -127,7 +126,8 @@ class CarController:
   def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     hud_control = CC.hudControl
-    hud_v_cruise = hud_control.setSpeed * CV.MS_TO_KPH if hud_control.speedVisible else 255
+    conversion = hondacan.get_cruise_speed_conversion(self.CP.carFingerprint, CS.is_metric)
+    hud_v_cruise = hud_control.setSpeed / conversion if hud_control.speedVisible else 255
     pcm_cancel_cmd = CC.cruiseControl.cancel
 
     if CC.longActive:
@@ -161,7 +161,7 @@ class CarController:
     can_sends = []
 
     # tester present - w/ no response (keeps radar disabled)
-    if self.CP.carFingerprint in HONDA_BOSCH and self.CP.openpilotLongitudinalControl:
+    if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and self.CP.openpilotLongitudinalControl:
       if self.frame % 10 == 0:
         can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1))
 
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index d931b09274..ba14f5c84b 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -5,7 +5,7 @@ from common.conversions import Conversions as CV
 from common.numpy_fast import interp
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from selfdrive.car.honda.hondacan import get_pt_bus
+from selfdrive.car.honda.hondacan import get_cruise_speed_conversion, get_pt_bus
 from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
 from selfdrive.car.interfaces import CarStateBase
 
@@ -246,8 +246,7 @@ class CarState(CarStateBase):
         ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0
         ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252.
 
-        # on certain cars, CRUISE_SPEED changes to imperial with car's unit setting
-        conversion = CV.MPH_TO_MS if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and not self.is_metric else CV.KPH_TO_MS
+        conversion = get_cruise_speed_conversion(self.CP.carFingerprint, self.is_metric)
         # On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this.
         ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion
         self.v_cruise_pcm_prev = ret.cruiseState.speed
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index 17681444af..b7c448d1d3 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -21,6 +21,11 @@ def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False):
   return 0
 
 
+def get_cruise_speed_conversion(car_fingerprint: str, is_metric: bool) -> float:
+  # on certain cars, CRUISE_SPEED changes to imperial with car's unit setting
+  return CV.MPH_TO_MS if car_fingerprint in HONDA_BOSCH_RADARLESS and not is_metric else CV.KPH_TO_MS
+
+
 def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake):
   # TODO: do we loose pressure if we keep pump off for long?
   brakelights = apply_brake > 0
@@ -58,27 +63,36 @@ def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_finge
   standstill = 1 if active and stopping else 0
   standstill_release = 1 if active and not stopping else 0
 
+  # common ACC_CONTROL values
   acc_control_values = {
-    # setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1
-    "CONTROL_ON": control_on,
-    "GAS_COMMAND": gas_command,  # used for gas
-    "ACCEL_COMMAND": accel_command,  # used for brakes
-    "BRAKE_LIGHTS": braking,
-    "BRAKE_REQUEST": braking,
-    "STANDSTILL": standstill,
-    "STANDSTILL_RELEASE": standstill_release,
+    'ACCEL_COMMAND': accel_command,
+    'STANDSTILL': standstill,
   }
-  commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values))
 
-  acc_control_on_values = {
-    "SET_TO_3": 0x03,
-    "CONTROL_ON": enabled,
-    "SET_TO_FF": 0xff,
-    "SET_TO_75": 0x75,
-    "SET_TO_30": 0x30,
-  }
-  commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values))
+  if car_fingerprint in HONDA_BOSCH_RADARLESS:
+    acc_control_values.update({
+      "CONTROL_ON": enabled,
+      "IDLESTOP_ALLOW": 0,  # disallows idle stop
+    })
+  else:
+    acc_control_values.update({
+      # setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1
+      "CONTROL_ON": control_on,
+      "GAS_COMMAND": gas_command,  # used for gas
+      "BRAKE_LIGHTS": braking,
+      "BRAKE_REQUEST": braking,
+      "STANDSTILL_RELEASE": standstill_release,
+    })
+    acc_control_on_values = {
+      "SET_TO_3": 0x03,
+      "CONTROL_ON": enabled,
+      "SET_TO_FF": 0xff,
+      "SET_TO_75": 0x75,
+      "SET_TO_30": 0x30,
+    }
+    commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values))
 
+  commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values))
   return commands
 
 
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index ed0a7f2d87..5cc76a4270 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -37,13 +37,11 @@ class CarInterface(CarInterfaceBase):
     if candidate in HONDA_BOSCH:
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)]
       ret.radarUnavailable = True
-
-      if candidate not in HONDA_BOSCH_RADARLESS:
-        # Disable the radar and let openpilot control longitudinal
-        # WARNING: THIS DISABLES AEB!
-        ret.experimentalLongitudinalAvailable = True
-        ret.openpilotLongitudinalControl = experimental_long
-
+      # Disable the radar and let openpilot control longitudinal
+      # WARNING: THIS DISABLES AEB!
+      # If Bosch radarless, this blocks ACC messages from the camera
+      ret.experimentalLongitudinalAvailable = True
+      ret.openpilotLongitudinalControl = experimental_long
       ret.pcmCruise = not ret.openpilotLongitudinalControl
     else:
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)]
@@ -75,6 +73,8 @@ class CarInterface(CarInterfaceBase):
       ret.longitudinalTuning.kpV = [0.25]
       ret.longitudinalTuning.kiV = [0.05]
       ret.longitudinalActuatorDelayUpperBound = 0.5 # s
+      if candidate in HONDA_BOSCH_RADARLESS:
+        ret.stopAccel = -4.0
     else:
       # default longitudinal tuning for all hondas
       ret.longitudinalTuning.kpBP = [0., 5., 35.]
diff --git a/selfdrive/loggerd/__init__.py b/selfdrive/car/honda/tests/__init__.py
similarity index 100%
rename from selfdrive/loggerd/__init__.py
rename to selfdrive/car/honda/tests/__init__.py
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 0e48670cca..d8e64e145e 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -188,7 +188,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [StdQueries.UDS_VERSION_RESPONSE],
       bus=1,
       logging=True,
-      non_obd=True,
+      obd_multiplexing=False,
     ),
   ],
   extra_ecus=[
diff --git a/selfdrive/loggerd/tests/__init__.py b/selfdrive/car/hyundai/tests/__init__.py
similarity index 100%
rename from selfdrive/loggerd/tests/__init__.py
rename to selfdrive/car/hyundai/tests/__init__.py
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index cf0143543a..dcc3a0fc0f 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -224,7 +224,7 @@ 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_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2022-23", harness=Harness.hyundai_k),
+  CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", harness=Harness.hyundai_k),
   CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", harness=Harness.hyundai_a),
   CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", harness=Harness.hyundai_n),
   CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
@@ -335,10 +335,15 @@ FINGERPRINTS = {
 
 HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
   p16(0xf100)  # Long description
+
+HYUNDAI_VERSION_REQUEST_ALT = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(0xf110)  # Alt long description
+
 HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
   p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
   p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \
   p16(0xf100)
+
 HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
 
 FW_QUERY_CONFIG = FwQueryConfig(
@@ -355,22 +360,46 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [HYUNDAI_VERSION_RESPONSE],
       whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar],
     ),
-    # CAN-FD queries (camera)
+
+    # CAN-FD queries (from camera)
+    # TODO: combine shared whitelists with CAN requests
     Request(
       [HYUNDAI_VERSION_REQUEST_LONG],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar],
-      bus=4,
+      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar, Ecu.hvac],
+      bus=0,
+      auxiliary=True,
     ),
     Request(
       [HYUNDAI_VERSION_REQUEST_LONG],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar],
-      bus=5,
+      whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar, Ecu.hvac],
+      bus=1,
+      auxiliary=True,
+      obd_multiplexing=False,
+    ),
+
+    # CAN-FD debugging queries
+    Request(
+      [HYUNDAI_VERSION_REQUEST_ALT],
+      [HYUNDAI_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.parkingAdas],
+      bus=0,
+      auxiliary=True,
+    ),
+    Request(
+      [HYUNDAI_VERSION_REQUEST_ALT],
+      [HYUNDAI_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.parkingAdas],
+      bus=1,
+      auxiliary=True,
+      obd_multiplexing=False,
     ),
   ],
   extra_ecus=[
     (Ecu.adas, 0x730, None),         # ADAS Driving ECU on HDA2 platforms
+    (Ecu.parkingAdas, 0x7b1, None),  # ADAS Parking ECU (may exist on all platforms)
+    (Ecu.hvac, 0x7b3, None),         # HVAC Control Assembly
     (Ecu.cornerRadar, 0x7b7, None),
   ],
 )
@@ -1025,11 +1054,23 @@ FW_VERSIONS = {
     ],
   },
   CAR.GENESIS_G70: {
-    (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00IK__ SCC F-CUP      1.00 1.02 96400-G9100         ', ],
-    (Ecu.engine, 0x7e0, None): [b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', ],
-    (Ecu.eps, 0x7d4, None): [b'\xf1\x00IK  MDPS R 1.00 1.06 57700-G9420 4I4VL106', ],
-    (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00IK  MFC  AT USA LHD 1.00 1.01 95740-G9000 170920', ],
-    (Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00IK__ SCC F-CUP      1.00 1.02 96400-G9100         ',
+      b'\xf1\x00IK__ SCC F-CUP      1.00 1.01 96400-G9100         ',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00IK  MDPS R 1.00 1.06 57700-G9420 4I4VL106',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00IK  MFC  AT USA LHD 1.00 1.01 95740-G9000 170920',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda',
+      b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda',
+    ],
   },
   CAR.GENESIS_G70_2020: {
     (Ecu.eps, 0x7d4, None): [
@@ -1552,6 +1593,8 @@ FW_VERSIONS = {
       b'\xf1\x00CV1 MFC  AT EUR LHD 1.00 1.06 99210-CV000 220328',
       b'\xf1\x00CV1 MFC  AT EUR RHD 1.00 1.00 99210-CV100 220630',
       b'\xf1\x00CV1 MFC  AT USA LHD 1.00 1.00 99210-CV100 220630',
+      b'\xf1\x00CV1 MFC  AT KOR LHD 1.00 1.04 99210-CV000 210823',
+      b'\xf1\x00CV1 MFC  AT KOR LHD 1.00 1.06 99210-CV000 220328',
     ],
   },
   CAR.IONIQ_5: {
@@ -1562,6 +1605,7 @@ FW_VERSIONS = {
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.02 99211-GI010 211206',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI000 210813',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.05 99211-GI010 220614',
+      b'\xf1\x00NE1 MFC  AT KOR LHD 1.00 1.05 99211-GI010 220614',
       b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.01 99211-GI010 211007',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.01 99211-GI010 211007',
       b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.02 99211-GI010 211206',
@@ -1570,9 +1614,11 @@ FW_VERSIONS = {
   },
   CAR.TUCSON_4TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G',
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NX4__               1.00 1.00 99110-N9100         ',
       b'\xf1\x00NX4__               1.01 1.00 99110-N9100         ',
     ],
   },
@@ -1628,6 +1674,7 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00JW1 MFC  AT USA LHD 1.00 1.02 99211-CU100 211215',
       b'\xf1\x00JW1 MFC  AT USA LHD 1.00 1.02 99211-CU000 211215',
+      b'\xf1\x00JW1 MFC  AT USA LHD 1.00 1.03 99211-CU000 221118',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00JW1_ RDR -----      1.00 1.00 99110-CU000         ',
@@ -1636,14 +1683,17 @@ FW_VERSIONS = {
   CAR.KIA_SORENTO_4TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00MQ4 MFC  AT USA LHD 1.00 1.05 99210-R5000 210623',
+      b'\xf1\x00MQ4 MFC  AT USA LHD 1.00 1.03 99210-R5000 200903',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00MQ4_ SCC FHCUP      1.00 1.06 99110-P2000         ',
+      b'\xf1\x00MQ4_ SCC F-CUP      1.00 1.06 99110-P2000         ',
     ],
   },
   CAR.KIA_NIRO_HEV_2ND_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00SG2HMFC  AT USA LHD 1.01 1.08 99211-AT000 220531',
+      b'\xf1\x00SG2HMFC  AT USA LHD 1.01 1.09 99211-AT000 220801',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00SG2_ RDR -----      1.00 1.01 99110-AT000         ',
diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index d9c658a14c..70f8b5f50d 100644
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@@ -60,7 +60,7 @@ class IsoTpParallelQuery:
     return msgs
 
   def _drain_rx(self):
-    messaging.drain_sock(self.logcan)
+    messaging.drain_sock_raw(self.logcan)
     self.msg_buffer = defaultdict(list)
 
   def _create_isotp_msg(self, tx_addr, sub_addr, rx_addr):
diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py
index e9af828e2b..358cf0d0cd 100644
--- a/selfdrive/car/nissan/values.py
+++ b/selfdrive/car/nissan/values.py
@@ -126,18 +126,22 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x707, None): [
       b'5SH1BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80',
       b'5SK0ADB\x04\x18\x00\x00\x00\x00\x00_(5\x07\x9aQ\x00\x00\x00\x80',
+      b'5SH4BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80',
     ],
     (Ecu.abs, 0x740, None): [
       b'476605SH1D',
       b'476605SK2A',
+      b'476605SD2E',
     ],
     (Ecu.eps, 0x742, None): [
       b'5SH2A\x99A\x05\x02N123F\x15\x81\x00\x00\x00\x00\x00\x00\x00\x80',
       b'5SK3A\x99A\x05\x02N123F\x15u\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'5SH2C\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80',
     ],
     (Ecu.gateway, 0x18dad0f1, None): [
       b'284U25SH3A',
       b'284U25SK2D',
+      b'284U25SF0C',
     ],
   },
   CAR.XTRAIL: {
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 5c7d3f5e4d..9c4447631d 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -273,9 +273,11 @@ FW_VERSIONS = {
       b'\xa3 \031\024\000',
       b'\xa3  \x14\x01',
       b'\xf1\x00\xbb\r\x05',
+      b'\xa3 \x18&\x00',
     ],
     (Ecu.eps, 0x746, None): [
       b'\x8d\xc0\x04\x00',
+      b'\x8d\xc0\x00\x00',
     ],
     (Ecu.fwdCamera, 0x787, None): [
       b'\x00\x00e!\x1f@ \x11',
@@ -292,6 +294,7 @@ FW_VERSIONS = {
       b'\xcb\"`p\a',
       b'\xf1\x00\xa2\x10\n',
       b'\xcf"`p\x07',
+      b'\xb6\xa2`A\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\032\xf6B0\000',
@@ -299,6 +302,7 @@ FW_VERSIONS = {
       b'\032\xf6b`\000',
       b'\x1a\xf6B`\x00',
       b'\x1a\xf6b0\x00',
+      b'\x1a\xe6B1\x00',
     ],
   },
   CAR.FORESTER_PREGLOBAL: {
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 1be11831f5..a256b4ad4f 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -27,6 +27,8 @@ non_tested_cars = [
   HYUNDAI.KIA_OPTIMA_H,
   HONDA.ODYSSEY_CHN,
   VOLKSWAGEN.CRAFTER_MK2,  # need a route from an ACC-equipped Crafter
+  TOYOTA.RAV4_TSS2_2023,
+  TOYOTA.RAV4H_TSS2_2023,
 ]
 
 CarTestRoute = namedtuple('CarTestRoute', ['route', 'car_model', 'segment'], defaults=(None,))
@@ -50,6 +52,7 @@ routes = [
 
   CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA),
   CarTestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL),
+  CarTestRoute("75a6bcb9b8b40373|2023-03-11--22-47-33", GM.BUICK_LACROSSE),
   CarTestRoute("ef8f2185104d862e|2023-02-09--18-37-13", GM.ESCALADE),
   CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV),
   CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT),
@@ -207,6 +210,7 @@ routes = [
   CarTestRoute("0cd0b7f7e31a3853|2021-12-03--03-12-05", VOLKSWAGEN.AUDI_Q3_MK2),
   CarTestRoute("8f205bdd11bcbb65|2021-03-26--01-00-17", VOLKSWAGEN.SEAT_ATECA_MK1),
   CarTestRoute("fc6b6c9a3471c846|2021-05-27--13-39-56", VOLKSWAGEN.SEAT_LEON_MK3),
+  CarTestRoute("0bbe367c98fa1538|2023-03-04--17-46-11", VOLKSWAGEN.SKODA_FABIA_MK4),
   CarTestRoute("12d6ae3057c04b0d|2021-09-15--00-04-07", VOLKSWAGEN.SKODA_KAMIQ_MK1),
   CarTestRoute("12d6ae3057c04b0d|2021-09-04--21-21-21", VOLKSWAGEN.SKODA_KAROQ_MK1),
   CarTestRoute("90434ff5d7c8d603|2021-03-15--12-07-31", VOLKSWAGEN.SKODA_KODIAQ_MK1),
diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py
index 3efdd7404e..d3e4de1798 100755
--- a/selfdrive/car/tests/test_lateral_limits.py
+++ b/selfdrive/car/tests/test_lateral_limits.py
@@ -10,7 +10,6 @@ from common.realtime import DT_CTRL
 from selfdrive.car.car_helpers import interfaces
 from selfdrive.car.fingerprints import all_known_cars
 from selfdrive.car.interfaces import get_torque_params
-from selfdrive.car.hyundai.values import CAR as HYUNDAI
 
 CAR_MODELS = all_known_cars()
 
@@ -22,14 +21,6 @@ MAX_LAT_ACCEL = 3.0            # m/s^2
 # jerk is measured over half a second
 JERK_MEAS_FRAMES = 0.5 / DT_CTRL
 
-# TODO: update the max measured lateral accel for these cars
-ABOVE_LIMITS_CARS = [
-  HYUNDAI.KONA_EV,
-  HYUNDAI.KONA_HEV,
-  HYUNDAI.KONA,
-  HYUNDAI.KONA_EV_2022,
-]
-
 car_model_jerks: DefaultDict[str, Dict[str, float]] = defaultdict(dict)
 
 
@@ -52,9 +43,6 @@ class TestLateralLimits(unittest.TestCase):
     if CP.notCar:
       raise unittest.SkipTest
 
-    if CP.carFingerprint in ABOVE_LIMITS_CARS:
-      raise unittest.SkipTest
-
     CarControllerParams = importlib.import_module(f'selfdrive.car.{CP.carName}.values').CarControllerParams
     cls.control_params = CarControllerParams(CP)
     cls.torque_params = get_torque_params(cls.car_model)
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
index 42b35c7772..a40cf4b368 100644
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -7,6 +7,10 @@ NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan]
 NISSAN LEAF 2018: [.nan, 1.5, .nan]
 NISSAN ROGUE 2019: [.nan, 1.5, .nan]
 
+# Toyota LTA also has torque
+TOYOTA RAV4 2023: [.nan, 3.0, .nan]
+TOYOTA RAV4 HYBRID 2023: [.nan, 3.0, .nan]
+
 # Tesla has high torque
 TESLA AP1 MODEL S: [.nan, 2.5, .nan]
 TESLA AP2 MODEL S: [.nan, 2.5, .nan]
diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml
index 6f8cfe0ce6..cb423e1d87 100644
--- a/selfdrive/car/torque_data/params.yaml
+++ b/selfdrive/car/torque_data/params.yaml
@@ -30,7 +30,7 @@ HYUNDAI IONIQ 5 2022: [3.172929, 2.713050, 0.096019]
 HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276]
 HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778]
 HYUNDAI IONIQ PLUG-IN HYBRID 2019: [2.970807902012267, 1.6312321830002083, 0.1088964990357482]
-HYUNDAI KONA ELECTRIC 2019: [3.078814714619148, 3.2961956260770484, 0.12359762054065548]
+HYUNDAI KONA ELECTRIC 2019: [3.078814714619148, 2.307336938253934, 0.12359762054065548]
 HYUNDAI PALISADE 2020: [2.544642494803999, 1.8721703683337008, 0.1301424599248651]
 HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.1207019341823945]
 HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963]
diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml
index 61243424f0..5feef12206 100644
--- a/selfdrive/car/torque_data/substitute.yaml
+++ b/selfdrive/car/torque_data/substitute.yaml
@@ -50,12 +50,14 @@ HONDA CIVIC SEDAN 1.6 DIESEL 2019: HONDA CIVIC (BOSCH) 2019
 HONDA E 2020: HONDA CIVIC (BOSCH) 2019
 HONDA ODYSSEY CHN 2019: HONDA ODYSSEY 2018
 
+BUICK LACROSSE 2017: CHEVROLET VOLT PREMIER 2017
 BUICK REGAL ESSENCE 2018: CHEVROLET VOLT PREMIER 2017
 CADILLAC ESCALADE ESV 2016: CHEVROLET VOLT PREMIER 2017
 CADILLAC ATS Premium Performance 2018: CHEVROLET VOLT PREMIER 2017
 CHEVROLET MALIBU PREMIER 2017: CHEVROLET VOLT PREMIER 2017
 HOLDEN ASTRA RS-V BK 2017: CHEVROLET VOLT PREMIER 2017
 
+SKODA FABIA 4TH GEN: VOLKSWAGEN GOLF 7TH GEN
 SKODA OCTAVIA 3RD GEN: SKODA SUPERB 3RD GEN
 SKODA SCALA 1ST GEN: SKODA SUPERB 3RD GEN
 SKODA KODIAQ 1ST GEN: SKODA SUPERB 3RD GEN
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 8004ea9dca..66a7b57f01 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -76,6 +76,11 @@ class CarController:
       apply_steer_req = 0
       self.steer_rate_counter = 0
 
+    # Never actuate with LKA on cars that only support LTA
+    if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
+      apply_steer = 0
+      apply_steer_req = 0
+
     # TODO: probably can delete this. CS.pcm_acc_status uses a different signal
     # than CS.cruiseState.enabled. confirm they're not meaningfully different
     if not CC.enabled and CS.pcm_acc_status:
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 8b3fd048d9..33a87451e9 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -2,7 +2,8 @@
 from cereal import car
 from common.conversions import Conversions as CV
 from panda import Panda
-from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, CarControllerParams, NO_STOP_TIMER_CAR
+from selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
+                                        MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
 from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
@@ -20,16 +21,22 @@ class CarInterface(CarInterfaceBase):
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
     ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
 
-    if candidate in (CAR.RAV4, CAR.PRIUS_V, CAR.COROLLA, CAR.LEXUS_ESH, CAR.LEXUS_CTH):
+    # BRAKE_MODULE is on a different address for these cars
+    if DBC[candidate]["pt"] == "toyota_new_mc_pt_generated":
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE
 
+    if candidate in ANGLE_CONTROL_CAR:
+      ret.dashcamOnly = True
+      ret.steerControlType = car.CarParams.SteerControlType.angle
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA
+    else:
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
     ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
     ret.steerLimitTimer = 0.4
     ret.stoppingControl = False  # Toyota starts braking more when it thinks you want to stop
 
     stop_and_go = False
-    steering_angle_deadzone_deg = 0.0
-    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
 
     if candidate == CAR.PRIUS:
       stop_and_go = True
@@ -40,9 +47,8 @@ class CarInterface(CarInterfaceBase):
       # Only give steer angle deadzone to for bad angle sensor prius
       for fw in car_fw:
         if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00':
-          steering_angle_deadzone_deg = 0.2
           ret.steerActuatorDelay = 0.25
-          CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
+          CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.2)
 
     elif candidate == CAR.PRIUS_V:
       stop_and_go = True
@@ -102,7 +108,8 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 0.7983
       ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
 
-    elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022):
+    elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
+                       CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023):
       stop_and_go = True
       ret.wheelbase = 2.68986
       ret.steerRatio = 14.3
diff --git a/selfdrive/sensord/__init__.py b/selfdrive/car/toyota/tests/__init__.py
similarity index 100%
rename from selfdrive/sensord/__init__.py
rename to selfdrive/car/toyota/tests/__init__.py
diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py
new file mode 100755
index 0000000000..5648f75fe7
--- /dev/null
+++ b/selfdrive/car/toyota/tests/test_toyota.py
@@ -0,0 +1,13 @@
+#!/usr/bin/env python3
+import unittest
+
+from selfdrive.car.toyota.values import TSS2_CAR, ANGLE_CONTROL_CAR
+
+
+class TestToyotaInterfaces(unittest.TestCase):
+  def test_angle_car_set(self):
+    self.assertTrue(len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0)
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
index 7e360cc4e1..a78b70608c 100644
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -17,7 +17,7 @@ def create_lta_steer_command(packer, steer, steer_req, raw_cnt):
     "SETME_X1": 1,
     "SETME_X3": 3,
     "PERCENTAGE": 100,
-    "SETME_X64": 0x64,
+    "SETME_X64": 0,
     "ANGLE": 0,
     "STEER_ANGLE_CMD": steer,
     "STEER_REQUEST": steer_req,
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 35e2db8b1e..38fb8dfbd1 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -67,8 +67,10 @@ class CAR:
   RAV4H = "TOYOTA RAV4 HYBRID 2017"
   RAV4_TSS2 = "TOYOTA RAV4 2019"
   RAV4_TSS2_2022 = "TOYOTA RAV4 2022"
+  RAV4_TSS2_2023 = "TOYOTA RAV4 2023"
   RAV4H_TSS2 = "TOYOTA RAV4 HYBRID 2019"
   RAV4H_TSS2_2022 = "TOYOTA RAV4 HYBRID 2022"
+  RAV4H_TSS2_2023 = "TOYOTA RAV4 HYBRID 2023"
   MIRAI = "TOYOTA MIRAI 2021"  # TSS 2.5
   SIENNA = "TOYOTA SIENNA 2018"
 
@@ -157,14 +159,16 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   ],
   CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
   CAR.RAV4_TSS2_2022: ToyotaCarInfo("Toyota RAV4 2022"),
+  CAR.RAV4_TSS2_2023: ToyotaCarInfo("Toyota RAV4 2023"),
   CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),
   CAR.RAV4H_TSS2_2022: ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
+  CAR.RAV4H_TSS2_2023: ToyotaCarInfo("Toyota RAV4 Hybrid 2023"),
   CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"),
   CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED),
 
   # Lexus
   CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"),
-  CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "Lexus Safety System+"),
+  CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18"),
   CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-22"),
   CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-23", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
   CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"),
@@ -172,7 +176,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19"),
   CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"),
   CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
-  CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2017-20"),
+  CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2018-20"),
   CAR.LEXUS_RX: [
     ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"),
     ToyotaCarInfo("Lexus RX 2017-19"),
@@ -527,14 +531,18 @@ FW_VERSIONS = {
   CAR.CAMRY_TSS2: {
     (Ecu.eps, 0x7a1, None): [
       b'8965B33630\x00\x00\x00\x00\x00\x00',
+      b'8965B33640\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'\x01F152606370\x00\x00\x00\x00\x00\x00',
       b'\x01F152606390\x00\x00\x00\x00\x00\x00',
       b'\x01F152606400\x00\x00\x00\x00\x00\x00',
+      b'\x01F152606431\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x700, None): [
       b'\x018966306Q5000\x00\x00\x00\x00',
+      b'\x018966306Q9000\x00\x00\x00\x00',
+      b'\x018966306R3000\x00\x00\x00\x00',
       b'\x018966306T3100\x00\x00\x00\x00',
       b'\x018966306T3200\x00\x00\x00\x00',
       b'\x018966306T4000\x00\x00\x00\x00',
@@ -542,12 +550,15 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F6201200\x00\x00\x00\x00',
+      b'\x018821F6201300\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F0602100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
       b'\x028646F0602200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
       b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
+      b'\x028646F3305200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
       b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
+      b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
   CAR.CAMRYH_TSS2: {
@@ -716,22 +727,26 @@ FW_VERSIONS = {
     ],
   },
   CAR.CHRH_TSS2: {
-     (Ecu.eps, 0x7a1, None): [
-       b'8965B10092\x00\x00\x00\x00\x00\x00',
-     ],
-     (Ecu.abs, 0x7b0, None): [
-       b'F152610041\x00\x00\x00\x00\x00\x00',
-     ],
-     (Ecu.engine, 0x700, None): [
-       b'\x0189663F438000\x00\x00\x00\x00',
-     ],
-     (Ecu.fwdRadar, 0x750, 15): [
-       b'\x018821FF410500\x00\x00\x00\x00',
-     ],
-     (Ecu.fwdCamera, 0x750, 109): [
-       b'\x028646FF413100\x00\x00\x00\x008646GF411100\x00\x00\x00\x00',
-     ],
-   },
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B10092\x00\x00\x00\x00\x00\x00',
+      b'8965B10091\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'F152610041\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x700, None): [
+      b'\x0189663F438000\x00\x00\x00\x00',
+      b'\x0289663F453000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 15): [
+      b'\x018821FF410500\x00\x00\x00\x00',
+      b'\x018821FF410300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 109): [
+      b'\x028646FF413100\x00\x00\x00\x008646GF411100\x00\x00\x00\x00',
+      b'\x028646FF411100\x00\x00\x00\x008646GF409000\x00\x00\x00\x00',
+    ],
+  },
   CAR.COROLLA: {
     (Ecu.engine, 0x7e0, None): [
       b'\x0230ZC2000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -1454,6 +1469,23 @@ FW_VERSIONS = {
       b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00',
     ],
   },
+  CAR.RAV4_TSS2_2023: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\x01F15260R450\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x700, None): [
+      b'\x01896634AJ2000\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F0R03100\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00',
+    ],
+  },
   CAR.RAV4H_TSS2: {
     (Ecu.engine, 0x700, None): [
       b'\x01896634A15000\x00\x00\x00\x00',
@@ -1541,6 +1573,23 @@ FW_VERSIONS = {
       b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00',
     ],
   },
+  CAR.RAV4H_TSS2_2023: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\x01F15264283200\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x700, None): [
+      b'\x01896634AE1001\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F0R03100\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00',
+    ],
+  },
   CAR.SIENNA: {
     (Ecu.engine, 0x700, None): [
       b'\x01896630832100\x00\x00\x00\x00',
@@ -1637,6 +1686,7 @@ FW_VERSIONS = {
       b'\x028966333S8000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
       b'\x028966333T0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
       b'\x028966333V4000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+      b'\x028966333W1000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
       b'\x02896633T09000\x00\x00\x00\x00897CF3307001\x00\x00\x00\x00',
       b'\x01896633T38000\x00\x00\x00\x00',
       b'\x01896633T58000\x00\x00\x00\x00',
@@ -1728,6 +1778,7 @@ FW_VERSIONS = {
       b'\x018966378B2100\x00\x00\x00\x00',
       b'\x018966378B3000\x00\x00\x00\x00',
       b'\x018966378B4100\x00\x00\x00\x00',
+      b'\x018966378G2000\x00\x00\x00\x00',
       b'\x018966378G3000\x00\x00\x00\x00',
       b'\x018966378B2000\x00\x00\x00\x00',
     ],
@@ -1750,6 +1801,7 @@ FW_VERSIONS = {
   CAR.LEXUS_NXH_TSS2: {
     (Ecu.engine, 0x7e0, None): [
       b'\x0237887000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02378A0000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'F152678210\x00\x00\x00\x00\x00\x00',
@@ -1759,6 +1811,7 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F3301400\x00\x00\x00\x00',
+      b'\x018821F3301300\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F78030A0\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
@@ -2095,6 +2148,7 @@ DBC = {
   CAR.AVALONH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.RAV4_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.RAV4_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None),
+  CAR.RAV4_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None),
   CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.COROLLAH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
@@ -2105,6 +2159,7 @@ DBC = {
   CAR.LEXUS_CTH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   CAR.RAV4H_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.RAV4H_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None),
+  CAR.RAV4H_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None),
   CAR.LEXUS_NXH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_NX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_NX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
@@ -2119,8 +2174,8 @@ DBC = {
 EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.PRIUS_V: 100})
 
 # Toyota/Lexus Safety Sense 2.0 and 2.5
-TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
-            CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2,
+TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
+            CAR.RAV4H_TSS2_2023, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2,
             CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2, CAR.CHR_TSS2, CAR.CHRH_TSS2}
 
 NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
@@ -2129,10 +2184,13 @@ NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
 UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC}
 
 # these cars have a radar which sends ACC messages instead of the camera
-RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.CHR_TSS2, CAR.CHRH_TSS2}
+RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2, CAR.CHRH_TSS2}
+
+# these cars use the Lane Tracing Assist (LTA) message for lateral control
+ANGLE_CONTROL_CAR = {CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023}
 
 EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.CHRH_TSS2, CAR.COROLLAH_TSS2, CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS,
-                 CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH,
+                 CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH,
                  CAR.LEXUS_RXH_TSS2, CAR.LEXUS_NXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2}
 
 # no resume button press required
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index 64d1246880..f3cd2808a8 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -228,13 +228,13 @@ class CarState(CarStateBase):
     ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"])
     ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["GRA_Status"] in (1, 2)
     if self.CP.pcmCruise:
-      ret.accFaulted = ext_cp.vl["ACC_GRA_Anziege"]["ACA_StaACC"] in (6, 7)
+      ret.accFaulted = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_StaACC"] in (6, 7)
     else:
       ret.accFaulted = pt_cp.vl["Motor_2"]["GRA_Status"] == 3
 
     # Update ACC setpoint. When the setpoint reads as 255, the driver has not
     # yet established an ACC setpoint, so treat it as zero.
-    ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anziege"]["ACA_V_Wunsch"] * CV.KPH_TO_MS
+    ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_V_Wunsch"] * CV.KPH_TO_MS
     if ret.cruiseState.speed > 70:  # 255 kph in m/s == no current setpoint
       ret.cruiseState.speed = 0
 
@@ -516,12 +516,12 @@ class PqExtraSignals:
   # Additional signal and message lists for optional or bus-portable controllers
   fwd_radar_signals = [
     ("ACS_Typ_ACC", "ACC_System"),               # Basic vs FtS (no SnG support on PQ)
-    ("ACA_StaACC", "ACC_GRA_Anziege"),           # ACC drivetrain coordinator status
-    ("ACA_V_Wunsch", "ACC_GRA_Anziege"),         # ACC set speed
+    ("ACA_StaACC", "ACC_GRA_Anzeige"),           # ACC drivetrain coordinator status
+    ("ACA_V_Wunsch", "ACC_GRA_Anzeige"),         # ACC set speed
   ]
   fwd_radar_checks = [
     ("ACC_System", 50),                          # From J428 ACC radar control module
-    ("ACC_GRA_Anziege", 25),                     # From J428 ACC radar control module
+    ("ACC_GRA_Anzeige", 25),                     # From J428 ACC radar control module
   ]
   bsm_radar_signals = [
     ("SWA_Infostufe_SWA_li", "SWA_1"),           # Blind spot object info, left
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 521c68184d..2f8bd8661b 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -187,6 +187,10 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1227 + STD_CARGO_KG
       ret.wheelbase = 2.64
 
+    elif candidate == CAR.SKODA_FABIA_MK4:
+      ret.mass = 1266 + STD_CARGO_KG
+      ret.wheelbase = 2.56
+
     elif candidate == CAR.SKODA_KAMIQ_MK1:
       ret.mass = 1265 + STD_CARGO_KG
       ret.wheelbase = 2.66
diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py
index 130f107950..84200c2921 100644
--- a/selfdrive/car/volkswagen/pqcan.py
+++ b/selfdrive/car/volkswagen/pqcan.py
@@ -88,4 +88,4 @@ def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance
     # kmh_mph handling probably needed to resolve rounding errors in displayed setpoint
   }
 
-  return packer.make_can_msg("ACC_GRA_Anziege", bus, values)
+  return packer.make_can_msg("ACC_GRA_Anzeige", bus, values)
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 4eef1307be..9873b628cd 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -36,7 +36,7 @@ class CarControllerParams:
 
     if CP.carFingerprint in PQ_CARS:
       self.LDW_STEP = 5                   # LDW_1 message frequency 20Hz
-      self.ACC_HUD_STEP = 4               # ACC_GRA_Anziege frequency 25Hz
+      self.ACC_HUD_STEP = 4               # ACC_GRA_Anzeige frequency 25Hz
       self.STEER_DRIVER_ALLOWANCE = 80    # Driver intervention threshold 0.8 Nm
       self.STEER_DELTA_UP = 6             # Max HCA reached in 1.00s (STEER_MAX / (50Hz * 1.00))
       self.STEER_DELTA_DOWN = 10          # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
@@ -129,6 +129,7 @@ class CAR:
   AUDI_Q3_MK2 = "AUDI Q3 2ND GEN"                   # Chassis 8U/F3/FS, Mk2 Audi Q3 and variants
   SEAT_ATECA_MK1 = "SEAT ATECA 1ST GEN"             # Chassis 5F, Mk1 SEAT Ateca and CUPRA Ateca
   SEAT_LEON_MK3 = "SEAT LEON 3RD GEN"               # Chassis 5F, Mk3 SEAT Leon and variants
+  SKODA_FABIA_MK4 = "SKODA FABIA 4TH GEN"           # Chassis PJ, Mk4 Skoda Fabia
   SKODA_KAMIQ_MK1 = "SKODA KAMIQ 1ST GEN"           # Chassis NW, Mk1 Skoda Kamiq
   SKODA_KAROQ_MK1 = "SKODA KAROQ 1ST GEN"           # Chassis NU, Mk1 Skoda Karoq
   SKODA_KODIAQ_MK1 = "SKODA KODIAQ 1ST GEN"         # Chassis NS, Mk1 Skoda Kodiaq
@@ -239,9 +240,10 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
   CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2019-23"),
   CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"),
   CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"),
+  CAR.SKODA_FABIA_MK4: VWCarInfo("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0]),
   CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]),
   CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"),
-  CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2018-19"),
+  CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2017-23"),
   CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020", footnotes=[Footnote.VW_MQB_A0]),
   CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-22"),
   CAR.SKODA_OCTAVIA_MK3: [
@@ -291,6 +293,7 @@ FW_VERSIONS = {
       b'\xf1\x873G0906259N \xf1\x890004',
       b'\xf1\x873G0906259P \xf1\x890001',
       b'\xf1\x875NA907115H \xf1\x890002',
+      b'\xf1\x873G0906259G \xf1\x890004',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158L \xf1\x893611',
@@ -302,17 +305,19 @@ FW_VERSIONS = {
       b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121157161111572900',
       b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121177161113772900',
       b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\0161812141812171105141123052J00',
+      b'\xf1\x873Q0959655CK\xf1\x890711\xf1\x82\x0e1712141712141105121122052900',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1',
       b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571B00817A1',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\00567B0020800',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020800',
       b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002MB4092M7N',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x872Q0907572AA\xf1\x890396',
       b'\xf1\x872Q0907572T \xf1\x890383',
       b'\xf1\x875Q0907572J \xf1\x890654',
+      b'\xf1\x875Q0907572R \xf1\x890771',
     ],
   },
   CAR.ATLAS_MK1: {
@@ -392,6 +397,7 @@ FW_VERSIONS = {
       b'\xf1\x8704L906021DT\xf1\x895520',
       b'\xf1\x8704L906021DT\xf1\x898127',
       b'\xf1\x8704L906021N \xf1\x895518',
+      b'\xf1\x8704L906026BN\xf1\x891197',
       b'\xf1\x8704L906026BP\xf1\x897608',
       b'\xf1\x8704L906026NF\xf1\x899528',
       b'\xf1\x8704L906056CL\xf1\x893823',
@@ -512,6 +518,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0511A00403A0',
       b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1',
       b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00404A1',
+      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00504A1',
       b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00604A1',
       b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A07A02A1',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00507A1',
@@ -859,6 +866,7 @@ FW_VERSIONS = {
       b'\xf1\x878V0906264B \xf1\x890003',
       b'\xf1\x878V0907115B \xf1\x890007',
       b'\xf1\x878V0907404A \xf1\x890005',
+      b'\xf1\x875G0906259D \xf1\x890002',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870CW300044T \xf1\x895245',
@@ -866,6 +874,7 @@ FW_VERSIONS = {
       b'\xf1\x870D9300012  \xf1\x894912',
       b'\xf1\x870D9300012  \xf1\x894931',
       b'\xf1\x870D9300012K \xf1\x894513',
+      b'\xf1\x870D9300013B \xf1\x894902',
       b'\xf1\x870D9300013B \xf1\x894931',
       b'\xf1\x870D9300041N \xf1\x894512',
       b'\xf1\x870D9300043T \xf1\x899699',
@@ -903,11 +912,13 @@ FW_VERSIONS = {
       b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00803A0',
       b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0503G0G803A0',
       b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\00516G00804A1',
+      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516G00804A1',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521G00807A1',
     ],
     (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x875Q0907567N \xf1\x890400\xf1\x82\00101',
-      b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\00101',
+      b'\xf1\x875Q0907567N \xf1\x890400\xf1\x82\x0101',
+      b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101',
+      b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101',
       b'\xf1\x875Q0907572G \xf1\x890571',
       b'\xf1\x875Q0907572H \xf1\x890620',
       b'\xf1\x875Q0907572P \xf1\x890682',
@@ -1009,6 +1020,23 @@ FW_VERSIONS = {
       b'\xf1\x875Q0907572P \xf1\x890682',
     ],
   },
+  CAR.SKODA_FABIA_MK4: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8705E906018CF\xf1\x891905',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300051M \xf1\x891936',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100110200--1111120749',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x872Q1909144S \xf1\x896042',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
+    ],
+  },
   CAR.SKODA_KAMIQ_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8705C906032M \xf1\x891333',
@@ -1052,32 +1080,43 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906027DD\xf1\x893123',
       b'\xf1\x8704L906026DE\xf1\x895418',
+      b'\xf1\x8704L906026EJ\xf1\x893661',
       b'\xf1\x8704L906026HT\xf1\x893617',
+      b'\xf1\x8783A907115E \xf1\x890001',
+      b'\xf1\x8705E906018DJ\xf1\x890915',
       b'\xf1\x875NA907115E \xf1\x890003',
       b'\xf1\x875NA907115E \xf1\x890005',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870D9300043  \xf1\x895202',
+      b'\xf1\x870DL300011N \xf1\x892014',
       b'\xf1\x870DL300012M \xf1\x892107',
       b'\xf1\x870DL300012N \xf1\x892110',
       b'\xf1\x870DL300013G \xf1\x892119',
+      b'\xf1\x870GC300014N \xf1\x892801',
+      b'\xf1\x870GC300046Q \xf1\x892802',
     ],
     (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655AP\xf1\x890306\xf1\x82\r11110011110011421111314211',
       b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e1213001211001205212111052100',
       b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1213001211001244212111442100',
       b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e1213001211001205212112052100',
       b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111',
+      b'\xf1\x873Q0959655DJ\xf1\x890731\xf1\x82\x0e1513001511001205232113052J00',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405',
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6060405',
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6070405',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G500',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G600',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x872Q0907572Q \xf1\x890342',
       b'\xf1\x872Q0907572R \xf1\x890372',
+      b'\xf1\x872Q0907572T \xf1\x890383',
       b'\xf1\x872Q0907572AA\xf1\x890396',
+      b'\xf1\x872Q0907572AB\xf1\x890397',
     ],
   },
   CAR.SKODA_OCTAVIA_MK3: {
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index e4ddfb5326..67a4735e14 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -658,6 +658,11 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
     ET.NO_ENTRY: NoEntryAlert("Steering Temporarily Unavailable"),
   },
 
+  EventName.steerTimeLimit: {
+    ET.SOFT_DISABLE: soft_disable_alert("Vehicle Steering Time Limit"),
+    ET.NO_ENTRY: NoEntryAlert("Vehicle Steering Time Limit"),
+  },
+
   EventName.outOfSpace: {
     ET.PERMANENT: out_of_space_alert,
     ET.NO_ENTRY: NoEntryAlert("Out of Storage"),
@@ -811,10 +816,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
     ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
   },
 
-  EventName.accFaultedTemp: {
-    ET.NO_ENTRY: NoEntryAlert("Cruise Temporarily Faulted"),
-  },
-
   EventName.controlsMismatch: {
     ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch"),
     ET.NO_ENTRY: NoEntryAlert("Controls Mismatch"),
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index d8cf9386d1..14934254af 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -19,6 +19,7 @@ def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner):
   ui_send = messaging.new_message('uiPlan')
   ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
   uiPlan = ui_send.uiPlan
+  uiPlan.frameId = sm['modelV2'].frameId
   uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,0]).tolist()
   uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,1]).tolist()
   uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist()
diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py
index 92fc2468bb..18c8e79026 100755
--- a/selfdrive/controls/tests/test_startup.py
+++ b/selfdrive/controls/tests/test_startup.py
@@ -72,7 +72,6 @@ class TestStartup(unittest.TestCase):
     params.clear_all()
     params.put_bool("Passive", False)
     params.put_bool("OpenpilotEnabledToggle", True)
-    params.put_bool("ObdMultiplexingDisabled", True)
 
     # Build capnn version of FW array
     if fw_versions is not None:
@@ -109,6 +108,10 @@ class TestStartup(unittest.TestCase):
       finger = _FINGERPRINTS[car_model][0]
 
     for _ in range(1000):
+      # controlsd waits for boardd to echo back that it has changed the multiplexing mode
+      if not params.get_bool("ObdMultiplexingChanged"):
+        params.put_bool("ObdMultiplexingChanged", True)
+
       msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()]
       pm.send('can', can_list_to_can_capnp(msgs))
 
diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py
index 07ce5ebddb..3a0ff33cb6 100755
--- a/selfdrive/debug/hyundai_enable_radar_points.py
+++ b/selfdrive/debug/hyundai_enable_radar_points.py
@@ -32,6 +32,9 @@ SUPPORTED_FW_VERSIONS = {
   b"DN8_ SCC FHCUP      1.00 1.00 99110-L0000\x19\x08)\x15T    ": ConfigValues(
     default_config=b"\x00\x00\x00\x01\x00\x00",
     tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  b"DN8_ SCC F-CUP      1.00 1.00 99110-L0000\x19\x08)\x15T    ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
   # 2021 SONATA HYBRID
   b"DNhe SCC FHCUP      1.00 1.02 99110-L5000 \x01#\x15#    ": ConfigValues(
     default_config=b"\x00\x00\x00\x01\x00\x00",
diff --git a/selfdrive/debug/internal/check_frame_frequencies.py b/selfdrive/debug/internal/check_frame_frequencies.py
new file mode 100755
index 0000000000..9ac8bfc80e
--- /dev/null
+++ b/selfdrive/debug/internal/check_frame_frequencies.py
@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+
+import time
+import statistics
+import cereal.messaging as messaging
+
+from typing import Dict
+
+camera_states = [
+  'roadCameraState',
+  'wideRoadCameraState',
+  'driverCameraState'
+]
+
+def fmt(val):
+  ref = 0.05
+  return f"{val:.6f} ({100 * val / ref:.2f}%)"
+
+if __name__ == "__main__":
+  sm = messaging.SubMaster(camera_states)
+
+  prev_sof = {state: None for state in camera_states}
+  diffs: Dict[str, list] = {state: [] for state in camera_states}
+
+  st = time.monotonic()
+  while True:
+    sm.update()
+
+    for state in camera_states:
+      if sm.updated[state]:
+        if prev_sof[state] is not None:
+          diffs[state].append((sm[state].timestampSof - prev_sof[state]) / 1e9)
+        prev_sof[state] = sm[state].timestampSof
+
+    if time.monotonic() - st > 10:
+      for state in camera_states:
+        values = diffs[state]
+        ref = 0.05
+        print(f"{state}  \tMean: {fmt(statistics.mean(values))} \t Min: {fmt(min(values))} \t Max: {fmt(max(values))} \t Std: {statistics.stdev(values):.6f} \t Num frames: {len(values)}")
+        diffs[state] = []
+
+      print()
+      st = time.monotonic()
diff --git a/selfdrive/locationd/.gitignore b/selfdrive/locationd/.gitignore
index 86a228a6ff..11b9f127b2 100644
--- a/selfdrive/locationd/.gitignore
+++ b/selfdrive/locationd/.gitignore
@@ -1,6 +1,3 @@
-ubloxd
-ubloxd_test
 params_learner
 paramsd
 locationd
-test/test_glonass_runner
diff --git a/selfdrive/locationd/SConscript b/selfdrive/locationd/SConscript
index 61a0ed7f42..740f827a49 100644
--- a/selfdrive/locationd/SConscript
+++ b/selfdrive/locationd/SConscript
@@ -1,20 +1,6 @@
 Import('env', 'common', 'cereal', 'messaging', 'libkf', 'transformations')
 
-loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'kaitai', 'pthread']
-
-if GetOption('kaitai'):
-  generated = Dir('generated').srcnode().abspath
-  cmd = f"kaitai-struct-compiler --target cpp_stl --outdir {generated} $SOURCES"
-  env.Command(['generated/ubx.cpp', 'generated/ubx.h'], 'ubx.ksy', cmd)
-  env.Command(['generated/gps.cpp', 'generated/gps.h'], 'gps.ksy', cmd)
-  glonass = env.Command(['generated/glonass.cpp', 'generated/glonass.h'], 'glonass.ksy', cmd)
-
-  # kaitai issue: https://github.com/kaitai-io/kaitai_struct/issues/910
-  patch = env.Command(None, 'glonass_fix.patch', 'git apply $SOURCES')
-  env.Depends(patch, glonass)
-
-glonass_obj = env.Object('generated/glonass.cpp')
-env.Program("ubloxd", ["ubloxd.cc", "ublox_msg.cc", "generated/ubx.cpp", "generated/gps.cpp",  glonass_obj], LIBS=loc_libs)
+loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'pthread']
 
 ekf_sym_cc = env.SharedObject("#rednose/helpers/ekf_sym.cc")
 locationd_sources = ["locationd.cc", "models/live_kf.cc", ekf_sym_cc]
@@ -25,7 +11,4 @@ lenv.Depends(locationd, libkf)
 
 if File("liblocationd.cc").exists():
   liblocationd = lenv.SharedLibrary("liblocationd", ["liblocationd.cc"] + locationd_sources, LIBS=loc_libs + transformations)
-  lenv.Depends(liblocationd, libkf)
-
-if GetOption('test'):
-  env.Program("test/test_glonass_runner", ['test/test_glonass_runner.cc', 'test/test_glonass_kaitai.cc', glonass_obj], LIBS=[loc_libs])
\ No newline at end of file
+  lenv.Depends(liblocationd, libkf)
\ No newline at end of file
diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index 2b18dcf152..0c0bcbf7ef 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import json
 import math
 import os
 import time
@@ -8,7 +7,7 @@ from collections import defaultdict
 from concurrent.futures import Future, ProcessPoolExecutor
 from datetime import datetime
 from enum import IntEnum
-from typing import List, Optional
+from typing import List, Optional, Dict, Any
 
 import numpy as np
 
@@ -17,9 +16,9 @@ from common.params import Params, put_nonblocking
 from laika import AstroDog
 from laika.constants import SECS_IN_HR, SECS_IN_MIN
 from laika.downloader import DownloadFailed
-from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_gps_ephem, convert_ublox_glonass_ephem, parse_qcom_ephem
+from laika.ephemeris import EphemerisType, GPSEphemeris, GLONASSEphemeris, ephemeris_structs, parse_qcom_ephem
 from laika.gps_time import GPSTime
-from laika.helpers import ConstellationId
+from laika.helpers import ConstellationId, get_sv_id
 from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox, read_raw_qcom
 from laika.opt import calc_pos_fix, get_posfix_sympy_fun, calc_vel_fix, get_velfix_sympy_func
 from selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind
@@ -28,15 +27,53 @@ from selfdrive.locationd.models.gnss_kf import States as GStates
 from system.swaglog import cloudlog
 
 MAX_TIME_GAP = 10
-EPHEMERIS_CACHE = 'LaikadEphemerisV2'
+EPHEMERIS_CACHE = 'LaikadEphemerisV3'
 DOWNLOADS_CACHE_FOLDER = "/tmp/comma_download_cache/"
 CACHE_VERSION = 0.2
 POS_FIX_RESIDUAL_THRESHOLD = 100.0
 
 
+class LogEphemerisType(IntEnum):
+  nav = 0
+  nasaUltraRapid = 1
+  glonassIacUltraRapid = 2
+  qcom = 3
+
+class EphemerisSource(IntEnum):
+  gnssChip = 0
+  internet = 1
+  cache = 2
+  unknown = 3
+
+def get_log_eph_type(ephem):
+  if ephem.eph_type == EphemerisType.NAV:
+    source_type = LogEphemerisType.nav
+  elif ephem.eph_type == EphemerisType.QCOM_POLY:
+    source_type = LogEphemerisType.qcom
+  else:
+    assert ephem.file_epoch is not None
+    file_src = ephem.file_source
+    if file_src == 'igu':  # example nasa: '2214/igu22144_00.sp3.Z'
+      source_type = LogEphemerisType.nasaUltraRapid
+    elif file_src == 'Sta':  # example nasa: '22166/ultra/Stark_1D_22061518.sp3'
+      source_type = LogEphemerisType.glonassIacUltraRapid
+    else:
+      raise Exception(f"Didn't expect file source {file_src}")
+  return source_type
+
+def get_log_eph_source(ephem):
+  if ephem.file_name == 'qcom' or ephem.file_name == 'ublox':
+    source = EphemerisSource.gnssChip
+  elif ephem.file_name == EPHEMERIS_CACHE:
+    source = EphemerisSource.cache
+  else:
+    source = EphemerisSource.internet
+  return source
+
+
 class Laikad:
-  def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_navs=True, auto_update=False,
-               valid_ephem_types=(EphemerisType.NAV,),
+  def __init__(self, valid_const=(ConstellationId.GPS, ConstellationId.GLONASS), auto_fetch_navs=True, auto_update=False,
+               valid_ephem_types=(EphemerisType.NAV, EphemerisType.QCOM_POLY),
                save_ephemeris=False, use_qcom=False):
     """
     valid_const: GNSS constellation which can be used
@@ -51,10 +88,11 @@ class Laikad:
     self.auto_fetch_navs = auto_fetch_navs
     self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None
     self.orbit_fetch_future: Optional[Future] = None
-
-    self.last_fetch_navs_t = None
     self.got_first_gnss_msg = False
-    self.last_cached_t = None
+
+    self.last_report_time = GPSTime(0, 0)
+    self.last_fetch_navs_t = GPSTime(0, 0)
+    self.last_cached_t = GPSTime(0, 0)
     self.save_ephemeris = save_ephemeris
     self.load_cache()
 
@@ -64,36 +102,58 @@ class Laikad:
     self.last_fix_t = None
     self.gps_week = None
     self.use_qcom = use_qcom
+    self.first_log_time = None
+    self.ttff = -1
 
   def load_cache(self):
     if not self.save_ephemeris:
       return
 
-    cache = Params().get(EPHEMERIS_CACHE)
-    if not cache:
+    cache_bytes = Params().get(EPHEMERIS_CACHE)
+    if not cache_bytes:
       return
 
+    nav_dict = {}
     try:
-      cache = json.loads(cache, object_hook=deserialize_hook)
-      if cache['version'] == CACHE_VERSION:
-        self.astro_dog.add_navs(cache['navs'])
-        self.last_fetch_navs_t = cache['last_fetch_navs_t']
-      else:
-        cache['navs'] = {}
-    except json.decoder.JSONDecodeError:
+      ephem_cache = ephemeris_structs.EphemerisCache.from_bytes(cache_bytes)
+      glonass_navs = [GLONASSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.glonassEphemerides]
+      gps_navs = [GPSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.gpsEphemerides]
+      for e in sum([glonass_navs, gps_navs], []):
+        if e.prn not in nav_dict:
+          nav_dict[e.prn] = []
+        nav_dict[e.prn].append(e)
+      self.astro_dog.add_navs(nav_dict)
+    except Exception:
       cloudlog.exception("Error parsing cache")
-    timestamp = self.last_fetch_navs_t.as_datetime() if self.last_fetch_navs_t is not None else 'Nan'
     cloudlog.debug(
-      f"Loaded navs ({sum([len(v) for v in cache['navs']])}) cache with timestamp: {timestamp}. Unique orbit and nav sats: {list(cache['navs'].keys())} " +
-      f"With time range: {[f'{start.as_datetime()}, {end.as_datetime()}' for (start,end) in self.astro_dog.navs_fetched_times._ranges]}")
-
-  def cache_ephemeris(self, t: GPSTime):
-    if self.save_ephemeris and (self.last_cached_t is None or t - self.last_cached_t > SECS_IN_MIN):
-      put_nonblocking(EPHEMERIS_CACHE, json.dumps(
-        {'version': CACHE_VERSION, 'last_fetch_navs_t': self.last_fetch_navs_t, 'navs': self.astro_dog.navs},
-        cls=CacheSerializer))
+      f"Loaded navs ({sum([len(nav_dict[prn]) for prn in nav_dict.keys()])}). Unique orbit and nav sats: {list(nav_dict.keys())} ")
+
+  def cache_ephemeris(self):
+
+    if self.save_ephemeris and (self.last_report_time - self.last_cached_t > SECS_IN_MIN):
+      nav_list: List = sum([v for k,v in self.astro_dog.navs.items()], [])
+      ephem_cache = ephemeris_structs.EphemerisCache(**{'glonassEphemerides': [e.data for e in nav_list if e.prn[0]=='R'],
+                                                        'gpsEphemerides': [e.data for e in nav_list if e.prn[0]=='G']})
+
+      put_nonblocking(EPHEMERIS_CACHE, ephem_cache.to_bytes())
       cloudlog.debug("Cache saved")
-      self.last_cached_t = t
+      self.last_cached_t = self.last_report_time
+
+  def create_ephem_statuses(self):
+    ephemeris_statuses = []
+    prns_to_check = list(self.astro_dog.get_all_ephem_prns())
+    prns_to_check.sort()
+    for prn in prns_to_check:
+      eph = self.astro_dog.get_eph(prn, self.last_report_time)
+      if eph is not None:
+        status = log.GnssMeasurements.EphemerisStatus.new_message()
+        status.constellationId = ConstellationId.from_rinex_char(prn[0]).value
+        status.svId = get_sv_id(prn)
+        status.type = get_log_eph_type(eph).value
+        status.source = get_log_eph_source(eph).value
+        ephemeris_statuses.append(status)
+    return ephemeris_statuses
+
 
   def get_lsq_fix(self, t, measurements):
     if self.last_fix_t is None or abs(self.last_fix_t - t) > 0:
@@ -121,8 +181,15 @@ class Laikad:
   def is_good_report(self, gnss_msg):
     if gnss_msg.which() == 'drMeasurementReport' and self.use_qcom:
       constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source)
-      # TODO support GLONASS
-      return constellation_id in [ConstellationId.GPS, ConstellationId.SBAS]
+      # TODO: Understand and use remaining unknown constellations
+      try:
+        good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS]
+      except NotImplementedError:
+        good_constellation = False
+      # gpsWeek 65535 is received rarely from quectel, this cannot be
+      # passed to GnssMeasurements's gpsWeek (Int16)
+      good_week = not getattr(gnss_msg, gnss_msg.which()).gpsWeek > np.iinfo(np.int16).max
+      return good_constellation and good_week
     elif gnss_msg.which() == 'measurementReport' and not self.use_qcom:
       return True
     else:
@@ -139,6 +206,7 @@ class Laikad:
       week = report.gpsWeek
       tow = report.rcvTow
       new_meas = read_raw_ublox(report)
+    self.last_report_time = GPSTime(week, tow)
     return week, tow, new_meas
 
   def is_ephemeris(self, gnss_msg):
@@ -152,29 +220,47 @@ class Laikad:
       # TODO this is not robust to gps week rollover
       if self.gps_week is None:
         return
-      ephem = parse_qcom_ephem(gnss_msg.drSvPoly, self.gps_week)
+      try:
+        ephem = parse_qcom_ephem(gnss_msg.drSvPoly, self.gps_week)
+        self.astro_dog.add_qcom_polys({ephem.prn: [ephem]})
+      except Exception:
+        cloudlog.exception("Error parsing qcom svPoly ephemeris from qcom module")
+        return
+
     else:
       if gnss_msg.which() == 'ephemeris':
-        ephem = convert_ublox_gps_ephem(gnss_msg.ephemeris)
+        data_struct = ephemeris_structs.Ephemeris.new_message(**gnss_msg.ephemeris.to_dict())
+        try:
+          ephem = GPSEphemeris(data_struct, file_name='ublox')
+        except Exception:
+          cloudlog.exception("Error parsing GPS ephemeris from ublox")
+          return
       elif gnss_msg.which() == 'glonassEphemeris':
-        ephem = convert_ublox_glonass_ephem(gnss_msg.glonassEphemeris)
+        data_struct = ephemeris_structs.GlonassEphemeris.new_message(**gnss_msg.glonassEphemeris.to_dict())
+        try:
+          ephem = GLONASSEphemeris(data_struct, file_name='ublox')
+        except Exception:
+          cloudlog.exception("Error parsing GLONASS ephemeris from ublox")
+          return
       else:
         cloudlog.error(f"Unsupported ephemeris type: {gnss_msg.which()}")
         return
-    self.astro_dog.add_navs({ephem.prn: [ephem]})
-    self.cache_ephemeris(t=ephem.epoch)
+      self.astro_dog.add_navs({ephem.prn: [ephem]})
+    self.cache_ephemeris()
 
   def process_report(self, new_meas, t):
     # Filter measurements with unexpected pseudoranges for GPS and GLONASS satellites
     new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7]
     processed_measurements = process_measurements(new_meas, self.astro_dog)
     if self.last_fix_pos is not None:
-      corrected_measurements = correct_measurements(processed_measurements, self.last_fix_pos, self.astro_dog)
-      instant_fix = self.get_lsq_fix(t, corrected_measurements)
-      #instant_fix = self.get_lsq_fix(t, processed_measurements)
+      est_pos = self.last_fix_pos
     else:
-      corrected_measurements = []
-      instant_fix = self.get_lsq_fix(t, processed_measurements)
+      est_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist()
+    corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog)
+    return corrected_measurements
+
+  def calc_fix(self, t, measurements):
+    instant_fix = self.get_lsq_fix(t, measurements)
     if instant_fix is None:
       return None
     else:
@@ -182,60 +268,53 @@ class Laikad:
       self.last_fix_t = t
       self.last_fix_pos = position_estimate
       self.lat_fix_pos_std = position_std
-    if (t*1e9) % 10 == 0:
-      cloudlog.debug(f"Measurements Incoming/Processed/Corrected: {len(new_meas), len(processed_measurements), len(corrected_measurements)}")
-    return position_estimate, position_std, velocity_estimate, velocity_std, corrected_measurements, processed_measurements
+      return position_estimate, position_std, velocity_estimate, velocity_std
 
   def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False):
+    out_msg = messaging.new_message("gnssMeasurements")
+    t = gnss_mono_time * 1e-9
+    msg_dict: Dict[str, Any] = {"measTime": gnss_mono_time}
+    if self.first_log_time is None:
+      self.first_log_time = 1e-9 * gnss_mono_time
     if self.is_ephemeris(gnss_msg):
       self.read_ephemeris(gnss_msg)
-      return None
     elif self.is_good_report(gnss_msg):
-
       week, tow, new_meas = self.read_report(gnss_msg)
       self.gps_week = week
-      if len(new_meas) == 0:
-        return None
-
-      t = gnss_mono_time * 1e-9
       if week > 0:
         self.got_first_gnss_msg = True
         latest_msg_t = GPSTime(week, tow)
         if self.auto_fetch_navs:
           self.fetch_navs(latest_msg_t, block)
 
-      output = self.process_report(new_meas, t)
-      if output is None:
-        return None
-      position_estimate, position_std, velocity_estimate, velocity_std, corrected_measurements, _ = output
+      corrected_measurements = self.process_report(new_meas, t)
+      msg_dict['correctedMeasurements'] = [create_measurement_msg(m) for m in corrected_measurements]
 
-      self.update_localizer(position_estimate, t, corrected_measurements)
-      meas_msgs = [create_measurement_msg(m) for m in corrected_measurements]
-      msg = messaging.new_message("gnssMeasurements")
+      fix = self.calc_fix(t, corrected_measurements)
       measurement_msg = log.LiveLocationKalman.Measurement.new_message
-
+      if fix is not None:
+        position_estimate, position_std, velocity_estimate, velocity_std = fix
+        if self.ttff <= 0:
+          self.ttff = max(1e-3, t - self.first_log_time)
+        msg_dict["positionECEF"] = measurement_msg(value=position_estimate, std=position_std.tolist(), valid=bool(self.last_fix_t == t))
+        msg_dict["velocityECEF"] = measurement_msg(value=velocity_estimate, std=velocity_std.tolist(), valid=bool(self.last_fix_t == t))
+
+      self.update_localizer(self.last_fix_pos, t, corrected_measurements)
       P_diag = self.gnss_kf.P.diagonal()
       kf_valid = all(self.kf_valid(t))
-      msg.gnssMeasurements = {
-        "gpsWeek": week,
-        "gpsTimeOfWeek": tow,
-        "kalmanPositionECEF": measurement_msg(value=self.gnss_kf.x[GStates.ECEF_POS].tolist(),
+      msg_dict["kalmanPositionECEF"] = measurement_msg(value=self.gnss_kf.x[GStates.ECEF_POS].tolist(),
                                         std=np.sqrt(P_diag[GStates.ECEF_POS]).tolist(),
-                                        valid=kf_valid),
-        "kalmanVelocityECEF": measurement_msg(value=self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist(),
+                                        valid=kf_valid)
+      msg_dict["kalmanVelocityECEF"] = measurement_msg(value=self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist(),
                                         std=np.sqrt(P_diag[GStates.ECEF_VELOCITY]).tolist(),
-                                        valid=kf_valid),
-        "positionECEF": measurement_msg(value=position_estimate, std=position_std.tolist(), valid=bool(self.last_fix_t == t)),
-        "velocityECEF": measurement_msg(value=velocity_estimate, std=velocity_std.tolist(), valid=bool(self.last_fix_t == t)),
-
-        "measTime": gnss_mono_time,
-        "correctedMeasurements": meas_msgs
-      }
-      return msg
-
-    #elif gnss_msg.which() == 'ionoData':
-    # TODO: add this, Needed to better correct messages offline. First fix ublox_msg.cc to sent them.
+                                        valid=kf_valid)
 
+    msg_dict['gpsWeek'] = self.last_report_time.week
+    msg_dict['gpsTimeOfWeek'] = self.last_report_time.tow
+    msg_dict['timeToFirstFix'] = self.ttff
+    msg_dict['ephemerisStatuses'] = self.create_ephem_statuses()
+    out_msg.gnssMeasurements = msg_dict
+    return out_msg
 
   def update_localizer(self, est_pos, t: float, measurements: List[GNSSMeasurement]):
     # Check time and outputs are valid
@@ -247,7 +326,7 @@ class Laikad:
         cloudlog.error("Time gap of over 10s detected, gnss kalman reset")
       elif not valid[2]:
         cloudlog.error("Gnss kalman filter state is nan")
-      if len(est_pos) > 0:
+      if est_pos is not None and len(est_pos) > 0:
         cloudlog.info(f"Reset kalman filter with {est_pos}")
         self.init_gnss_localizer(est_pos)
       else:
@@ -272,7 +351,7 @@ class Laikad:
 
   def fetch_navs(self, t: GPSTime, block):
     # Download new navs if 1 hour of navs data left
-    if t + SECS_IN_HR not in self.astro_dog.navs_fetched_times and (self.last_fetch_navs_t is None or abs(t - self.last_fetch_navs_t) > SECS_IN_MIN):
+    if t + SECS_IN_HR not in self.astro_dog.navs_fetched_times and (abs(t - self.last_fetch_navs_t) > SECS_IN_MIN):
       astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types, self.astro_dog.cache_dir
       ret = None
 
@@ -290,7 +369,7 @@ class Laikad:
           self.last_fetch_navs_t = ret[2]
         else:
           self.astro_dog.navs, self.astro_dog.navs_fetched_times, self.last_fetch_navs_t = ret
-          self.cache_ephemeris(t=t)
+          self.cache_ephemeris()
 
 
 def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types, cache_dir):
@@ -320,31 +399,8 @@ def create_measurement_msg(meas: GNSSMeasurement):
   c.satPos = meas.sat_pos_final.tolist()
   c.satVel = meas.sat_vel.tolist()
   c.satVel = meas.sat_vel.tolist()
-  ephem = meas.sat_ephemeris
-  assert ephem is not None
-  week, time_of_week = -1, -1
-  if ephem.eph_type == EphemerisType.NAV:
-    source_type = EphemerisSourceType.nav
-  elif ephem.eph_type == EphemerisType.QCOM_POLY:
-    source_type = EphemerisSourceType.qcom
-  else:
-    assert ephem.file_epoch is not None
-    week = ephem.file_epoch.week
-    time_of_week = ephem.file_epoch.tow
-    file_src = ephem.file_source
-    if file_src == 'igu':  # example nasa: '2214/igu22144_00.sp3.Z'
-      source_type = EphemerisSourceType.nasaUltraRapid
-    elif file_src == 'Sta':  # example nasa: '22166/ultra/Stark_1D_22061518.sp3'
-      source_type = EphemerisSourceType.glonassIacUltraRapid
-    else:
-      raise Exception(f"Didn't expect file source {file_src}")
-
-  c.ephemerisSource.type = source_type.value
-  c.ephemerisSource.gpsWeek = week
-  c.ephemerisSource.gpsTimeOfWeek = int(time_of_week)
   return c
 
-
 def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMeasurement]):
   ekf_data = defaultdict(list)
   for m in measurements:
@@ -360,69 +416,29 @@ def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMe
       gnss_kf.predict_and_observe(t, kind, data)
 
 
-class CacheSerializer(json.JSONEncoder):
-
-  def default(self, o):
-    if isinstance(o, Ephemeris):
-      return o.to_json()
-    if isinstance(o, GPSTime):
-      return o.__dict__
-    if isinstance(o, np.ndarray):
-      return o.tolist()
-    return json.JSONEncoder.default(self, o)
-
-
-def deserialize_hook(dct):
-  if 'ephemeris' in dct:
-    return Ephemeris.from_json(dct)
-  if 'week' in dct:
-    return GPSTime(dct['week'], dct['tow'])
-  return dct
-
-
-class EphemerisSourceType(IntEnum):
-  nav = 0
-  nasaUltraRapid = 1
-  glonassIacUltraRapid = 2
-  qcom = 3
-
-
-def process_msg(laikad, gnss_msg, mono_time, block=False):
-  # TODO: Understand and use remaining unknown constellations
-  if gnss_msg.which() == "drMeasurementReport":
-    if getattr(gnss_msg, gnss_msg.which()).source not in ['glonass', 'gps', 'beidou', 'sbas']:
-      return None
-
-    if getattr(gnss_msg, gnss_msg.which()).gpsWeek > np.iinfo(np.int16).max:
-      # gpsWeek 65535 is received rarely from quectel, this cannot be
-      # passed to GnssMeasurements's gpsWeek (Int16)
-      return None
-
-  return laikad.process_gnss_msg(gnss_msg, mono_time, block=block)
-
-
 def clear_tmp_cache():
   if os.path.exists(DOWNLOADS_CACHE_FOLDER):
     shutil.rmtree(DOWNLOADS_CACHE_FOLDER)
   os.mkdir(DOWNLOADS_CACHE_FOLDER)
 
 
-def main(sm=None, pm=None, qc=None):
+def main(sm=None, pm=None):
   #clear_tmp_cache()
 
   use_qcom = not Params().get_bool("UbloxAvailable", block=True)
-  if use_qcom or (qc is not None and qc):
-    raw_gnss_socket = "qcomGnss"
+  if use_qcom:
+    raw_name = "qcomGnss"
   else:
-    raw_gnss_socket = "ubloxGnss"
+    raw_name = "ubloxGnss"
+  raw_gnss_sock = messaging.sub_sock(raw_name, conflate=False, timeout=1000)
 
   if sm is None:
-    sm = messaging.SubMaster([raw_gnss_socket, 'clocks'])
+    sm = messaging.SubMaster(['clocks',])
   if pm is None:
     pm = messaging.PubMaster(['gnssMeasurements'])
 
   # disable until set as main gps source, to better analyze startup time
-  use_internet = False #"LAIKAD_NO_INTERNET" not in os.environ
+  use_internet = False  # "LAIKAD_NO_INTERNET" not in os.environ
 
   replay = "REPLAY" in os.environ
   if replay or "CI" in os.environ:
@@ -431,22 +447,17 @@ def main(sm=None, pm=None, qc=None):
   laikad = Laikad(save_ephemeris=not replay, auto_fetch_navs=use_internet, use_qcom=use_qcom)
 
   while True:
-    sm.update()
-
-    if sm.updated[raw_gnss_socket]:
-      gnss_msg = sm[raw_gnss_socket]
-
-      msg = process_msg(laikad, gnss_msg, sm.logMonoTime[raw_gnss_socket], replay)
-      if msg is None:
-        # TODO: beautify this, locationd needs a valid message
-        msg = messaging.new_message("gnssMeasurements")
-      pm.send('gnssMeasurements', msg)
+    for in_msg in messaging.drain_sock(raw_gnss_sock):
+      out_msg = laikad.process_gnss_msg(getattr(in_msg, raw_name), in_msg.logMonoTime, replay)
+      pm.send('gnssMeasurements', out_msg)
 
+    sm.update(0)
     if not laikad.got_first_gnss_msg and sm.updated['clocks']:
       clocks_msg = sm['clocks']
       t = GPSTime.from_datetime(datetime.utcfromtimestamp(clocks_msg.wallTimeNanos * 1E-9))
       if laikad.auto_fetch_navs:
         laikad.fetch_navs(t, block=replay)
 
+
 if __name__ == "__main__":
   main()
diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h
index a292a3c936..b7e42a9df8 100755
--- a/selfdrive/locationd/locationd.h
+++ b/selfdrive/locationd/locationd.h
@@ -14,7 +14,7 @@
 #include "common/timing.h"
 #include "common/util.h"
 
-#include "selfdrive/sensord/sensors/constants.h"
+#include "system/sensord/sensors/constants.h"
 #define VISION_DECIMATION 2
 #define SENSOR_DECIMATION 10
 #include "selfdrive/locationd/models/live_kf.h"
diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py
index 10ac7790b6..e184dc3ec4 100755
--- a/selfdrive/locationd/test/test_laikad.py
+++ b/selfdrive/locationd/test/test_laikad.py
@@ -1,21 +1,51 @@
 #!/usr/bin/env python3
 import time
 import unittest
-from collections import defaultdict
+from cereal import log
+import cereal.messaging as messaging
+from common.params import Params
 from datetime import datetime
 from unittest import mock
-from unittest.mock import patch
+#from unittest.mock import patch
+from tqdm import tqdm
+
 
-from common.params import Params
 from laika.constants import SECS_IN_DAY
 from laika.downloader import DownloadFailed
-from laika.ephemeris import EphemerisType, GPSEphemeris
+from laika.ephemeris import EphemerisType
 from laika.gps_time import GPSTime
-from laika.helpers import ConstellationId, TimeRangeHolder
-from laika.raw_gnss import GNSSMeasurement, read_raw_ublox
-from selfdrive.locationd.laikad import EPHEMERIS_CACHE, EphemerisSourceType, Laikad, create_measurement_msg
+from laika.helpers import ConstellationId
+from laika.raw_gnss import GNSSMeasurement, read_raw_ublox, read_raw_qcom
+from selfdrive.locationd.laikad import EPHEMERIS_CACHE, Laikad
 from selfdrive.test.openpilotci import get_url
 from tools.lib.logreader import LogReader
+from selfdrive.manager.process_config import managed_processes
+
+from selfdrive.test.process_replay.helpers import OpenpilotPrefix
+
+
+def get_ublox_gnss(ubloxraw):
+  with OpenpilotPrefix():
+    managed_processes['ubloxd'].start()
+    timeout_ms = 30
+    pm = messaging.PubMaster(['ubloxRaw'])
+    sock = messaging.sub_sock('ubloxGnss', timeout=timeout_ms)
+
+    log_msgs = []
+    log_t = []
+    for x in tqdm(ubloxraw):
+      pm.send(x.which(), x.as_builder())
+      ret = messaging.recv_one(sock)
+      if ret is not None:
+        msg = log.Event.new_message(ubloxGnss=ret.ubloxGnss.to_dict())
+        msg.logMonoTime = x.logMonoTime
+        log_msgs.append(msg)
+        log_t.append(1e-9 * x.logMonoTime)
+    assert managed_processes['ubloxd'].get_process_state_msg().running
+    assert len(log_msgs) > 1 or len(ubloxraw) == 0
+    managed_processes['ubloxd'].stop()
+  return log_t, log_msgs
+
 
 
 def get_log(segs=range(0)):
@@ -23,7 +53,8 @@ def get_log(segs=range(0)):
   for i in segs:
     logs.extend(LogReader(get_url("4cf7a6ad03080c90|2021-09-29--13-46-36", i)))
 
-  all_logs = [m for m in logs if m.which() == 'ubloxGnss']
+  raw_logs = [m for m in logs if m.which() == 'ubloxRaw']
+  all_logs = get_ublox_gnss(raw_logs)[1]
   low_gnss = []
   for m in all_logs:
     if m.ubloxGnss.which() != 'measurementReport':
@@ -31,21 +62,31 @@ def get_log(segs=range(0)):
 
     MAX_MEAS = 7
     if m.ubloxGnss.measurementReport.numMeas > MAX_MEAS:
-      mb = m.as_builder()
+      mb = log.Event.new_message(ubloxGnss=m.ubloxGnss.to_dict())
+      mb.logMonoTime = m.logMonoTime
       mb.ubloxGnss.measurementReport.numMeas = MAX_MEAS
       mb.ubloxGnss.measurementReport.measurements = list(m.ubloxGnss.measurementReport.measurements)[:MAX_MEAS]
       mb.ubloxGnss.measurementReport.measurements[0].pseudorange += 1000
       low_gnss.append(mb.as_reader())
     else:
       low_gnss.append(m)
-
   return all_logs, low_gnss
 
+def get_log_qcom(segs=range(0)):
+  logs = []
+  for i in segs:
+    logs.extend(LogReader(get_url("b0b3cba7abf862d1|2023-03-11--09-40-33", i)))
+  all_logs = [m for m in logs if m.which() == 'qcomGnss']
+  return all_logs
 
 def verify_messages(lr, laikad, return_one_success=False):
   good_msgs = []
   for m in lr:
-    msg = laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True)
+    if m.which() == 'ubloxGnss':
+      gnss_msg = m.ubloxGnss
+    else:
+      gnss_msg = m.qcomGnss
+    msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=True)
     if msg is not None and len(msg.gnssMeasurements.correctedMeasurements) > 0:
       good_msgs.append(msg)
       if return_one_success:
@@ -55,10 +96,16 @@ def verify_messages(lr, laikad, return_one_success=False):
 
 def get_first_gps_time(logs):
   for m in logs:
-    if m.ubloxGnss.which == 'measurementReport':
-      new_meas = read_raw_ublox(m.ubloxGnss.measurementReport)
-      if len(new_meas) > 0:
-        return new_meas[0].recv_time
+    if m.which() == 'ubloxGnss':
+      if m.ubloxGnss.which == 'measurementReport':
+        new_meas = read_raw_ublox(m.ubloxGnss.measurementReport)
+        if len(new_meas) > 0:
+          return new_meas[0].recv_time
+    else:
+      if m.qcomGnss.which == 'measurementReport':
+        new_meas = read_raw_qcom(m.qcomGnss.measurementReport)
+        if len(new_meas) > 0:
+          return new_meas[0].recv_time
 
 
 def get_measurement_mock(gpstime, sat_ephemeris):
@@ -79,6 +126,7 @@ class TestLaikad(unittest.TestCase):
     logs, low_gnss = get_log(range(1))
     cls.logs = logs
     cls.low_gnss = low_gnss
+    cls.logs_qcom = get_log_qcom(range(1))
     first_gps_time = get_first_gps_time(logs)
     cls.first_gps_time = first_gps_time
 
@@ -90,9 +138,9 @@ class TestLaikad(unittest.TestCase):
     laikad = Laikad()
     laikad.fetch_navs(gpstime, block=False)
     laikad.orbit_fetch_future.result(30)
+    
     # Get results and save orbits to laikad:
     laikad.fetch_navs(gpstime, block=False)
-
     ephem = laikad.astro_dog.navs['G01'][0]
     self.assertIsNotNone(ephem)
 
@@ -105,6 +153,7 @@ class TestLaikad(unittest.TestCase):
     self.assertIsNotNone(ephem)
     self.assertNotEqual(ephem, ephem2)
 
+
   def test_fetch_navs_with_wrong_clocks(self):
     laikad = Laikad()
 
@@ -127,40 +176,11 @@ class TestLaikad(unittest.TestCase):
     check_has_navs()
     self.assertEqual(laikad.last_fetch_navs_t, real_current_time)
 
-  def test_ephemeris_source_in_msg(self):
-    data_mock = defaultdict(str)
-    data_mock['sv_id'] = 1
-
-    gpstime = GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC
-    laikad = Laikad()
-    laikad.fetch_navs(gpstime, block=True)
-    meas = get_measurement_mock(gpstime, laikad.astro_dog.navs['R01'][0])
-    msg = create_measurement_msg(meas)
-    self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav)
-    # Verify gps satellite returns same source
-    meas = get_measurement_mock(gpstime, laikad.astro_dog.navs['R01'][0])
-    msg = create_measurement_msg(meas)
-    self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav)
-
-    # Test nasa source by using older date
-    gpstime = GPSTime.from_datetime(datetime(2021, month=3, day=1))
-    laikad = Laikad()
-    laikad.fetch_navs(gpstime, block=True)
-    meas = get_measurement_mock(gpstime, laikad.astro_dog.navs['G01'][0])
-    msg = create_measurement_msg(meas)
-    self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav)
-
-    # Test nav source type
-    ephem = GPSEphemeris(data_mock, gpstime)
-    meas = get_measurement_mock(gpstime, ephem)
-    msg = create_measurement_msg(meas)
-    self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav)
-
   def test_laika_online(self):
     laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT)
     correct_msgs = verify_messages(self.logs, laikad)
 
-    correct_msgs_expected = 559
+    correct_msgs_expected = 560
     self.assertEqual(correct_msgs_expected, len(correct_msgs))
     self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
 
@@ -177,12 +197,15 @@ class TestLaikad(unittest.TestCase):
     self.assertTrue(kf_valid)
 
   def test_laika_online_nav_only(self):
-    laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV)
-    # Disable fetch_orbits to test NAV only
-    correct_msgs = verify_messages(self.logs, laikad)
-    correct_msgs_expected = 559
-    self.assertEqual(correct_msgs_expected, len(correct_msgs))
-    self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
+    for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]):
+      laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV, use_qcom=use_qcom)
+      # Disable fetch_orbits to test NAV only
+      correct_msgs = verify_messages(logs, laikad)
+      correct_msgs_expected = 44 if use_qcom else 560
+      valid_fix_expected = 43 if use_qcom else 560
+
+      self.assertEqual(correct_msgs_expected, len(correct_msgs))
+      self.assertEqual(valid_fix_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
 
   @mock.patch('laika.downloader.download_and_cache_file')
   def test_laika_offline(self, downloader_mock):
@@ -195,8 +218,9 @@ class TestLaikad(unittest.TestCase):
     downloader_mock.side_effect = DownloadFailed
     laikad = Laikad(auto_update=False)
     correct_msgs = verify_messages(self.logs, laikad)
-    self.assertEqual(255, len(correct_msgs))
-    self.assertEqual(255, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
+    expected_msgs = 376
+    self.assertEqual(expected_msgs, len(correct_msgs))
+    self.assertEqual(expected_msgs, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
 
   def test_laika_get_orbits(self):
     laikad = Laikad(auto_update=False)
@@ -212,65 +236,87 @@ class TestLaikad(unittest.TestCase):
     self.assertGreater(len(laikad.astro_dog.navs[prn]), 0)
     prn = "R01"
     self.assertGreater(len(laikad.astro_dog.navs[prn]), 0)
-    print(min(laikad.astro_dog.navs[prn], key=lambda e: e.epoch).epoch.as_datetime())
 
   def test_get_navs_in_process(self):
-    laikad = Laikad(auto_update=False)
-    has_navs = False
-    for m in self.logs:
-      laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=False)
-      if laikad.orbit_fetch_future is not None:
-        laikad.orbit_fetch_future.result()
-      vals = laikad.astro_dog.navs.values()
-      has_navs = len(vals) > 0 and max([len(v) for v in vals]) > 0
-      if has_navs:
-        break
-    self.assertTrue(has_navs)
-    self.assertGreater(len(laikad.astro_dog.navs_fetched_times._ranges), 0)
-    self.assertEqual(None, laikad.orbit_fetch_future)
+    for auto_fetch_navs in [True, False]:
+      for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]):
+        laikad = Laikad(auto_update=False, use_qcom=use_qcom, auto_fetch_navs=auto_fetch_navs)
+        has_navs = False
+        has_fix = False
+        seen_chip_eph = False
+        seen_internet_eph = False
+
+        for m in logs:
+          gnss_msg = m.qcomGnss if use_qcom else m.ubloxGnss
+          out_msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=False)
+          if laikad.orbit_fetch_future is not None:
+            laikad.orbit_fetch_future.result()
+          vals = laikad.astro_dog.navs.values()
+          has_navs = len(vals) > 0 and max([len(v) for v in vals]) > 0
+          vals = laikad.astro_dog.qcom_polys.values()
+          has_polys = len(vals) > 0 and max([len(v) for v in vals]) > 0
+          has_fix = has_fix or out_msg.gnssMeasurements.positionECEF.valid
+          if len(out_msg.gnssMeasurements.ephemerisStatuses):
+            seen_chip_eph = seen_chip_eph or any([x.source == 'gnssChip' for x in out_msg.gnssMeasurements.ephemerisStatuses])
+            seen_internet_eph = seen_internet_eph or any([x.source == 'internet' for x in out_msg.gnssMeasurements.ephemerisStatuses])
+            
+        self.assertTrue(has_navs or has_polys)
+        self.assertTrue(has_fix)
+        self.assertTrue(seen_chip_eph or auto_fetch_navs)
+        self.assertTrue(seen_internet_eph or not auto_fetch_navs)
+        self.assertEqual(len(laikad.astro_dog.navs_fetched_times._ranges), 0)
+        self.assertEqual(None, laikad.orbit_fetch_future)
 
   def test_cache(self):
-    laikad = Laikad(auto_update=True, save_ephemeris=True)
-
-    def wait_for_cache():
-      max_time = 2
-      while Params().get(EPHEMERIS_CACHE) is None:
-        time.sleep(0.1)
-        max_time -= 0.1
-        if max_time < 0:
-          self.fail("Cache has not been written after 2 seconds")
-
-    # Test cache with no ephemeris
-    laikad.cache_ephemeris(t=GPSTime(0, 0))
-    wait_for_cache()
-    Params().remove(EPHEMERIS_CACHE)
+    use_qcom = True
+    for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]):
+      laikad = Laikad(auto_update=True, save_ephemeris=True, use_qcom=use_qcom)
+      def wait_for_cache():
+        max_time = 2
+        while Params().get(EPHEMERIS_CACHE) is None:
+          time.sleep(0.1)
+          max_time -= 0.1
+          if max_time < 0:
+            self.fail("Cache has not been written after 2 seconds")
+
+      # Test cache with no ephemeris
+      laikad.last_report_time = GPSTime(1,0)
+      laikad.cache_ephemeris()
+      wait_for_cache()
+      Params().remove(EPHEMERIS_CACHE)
+
+      #laikad.astro_dog.get_navs(self.first_gps_time)
+      msg = verify_messages(logs, laikad, return_one_success=True)
+      laikad.cache_ephemeris()
+      wait_for_cache()
+
+      # Check both nav and orbits separate
+      laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV,
+                      save_ephemeris=True, use_qcom=use_qcom, auto_fetch_navs=False)
+      # Verify navs are loaded from cache
+      self.dict_has_values(laikad.astro_dog.navs)
+      # Verify cache is working for only nav by running a segment
+      msg = verify_messages(logs, laikad, return_one_success=True)
+      self.assertTrue(len(msg.gnssMeasurements.ephemerisStatuses))
+      self.assertTrue(any([x.source=='cache' for x in msg.gnssMeasurements.ephemerisStatuses]))
+      self.assertIsNotNone(msg)
 
-    #laikad.astro_dog.get_navs(self.first_gps_time)
-    laikad.fetch_navs(self.first_gps_time, block=True)
 
-    # Wait for cache to save
-    wait_for_cache()
 
-    # Check both nav and orbits separate
-    laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV, save_ephemeris=True)
-    # Verify navs are loaded from cache
-    self.dict_has_values(laikad.astro_dog.navs)
-    # Verify cache is working for only nav by running a segment
-    msg = verify_messages(self.logs, laikad, return_one_success=True)
-    self.assertIsNotNone(msg)
-
-    with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method:
-      # Verify no orbit downloads even if orbit fetch times is reset since the cache has recently been saved and we don't want to download high frequently
-      laikad.astro_dog.orbit_fetched_times = TimeRangeHolder()
-      laikad.fetch_navs(self.first_gps_time, block=False)
-      mock_method.assert_not_called()
-
-      # Verify cache is working for only orbits by running a segment
-      laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT, save_ephemeris=True)
-      msg = verify_messages(self.logs, laikad, return_one_success=True)
-      self.assertIsNotNone(msg)
-      # Verify orbit data is not downloaded
-      mock_method.assert_not_called()
+      #TODO test cache with only orbits 
+      #with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method:
+      #  # Verify no orbit downloads even if orbit fetch times is reset since the cache has recently been saved and we don't want to download high frequently
+      #  laikad.astro_dog.orbit_fetched_times = TimeRangeHolder()
+      #  laikad.fetch_navs(self.first_gps_time, block=False)
+      #  mock_method.assert_not_called()
+
+      #  # Verify cache is working for only orbits by running a segment
+      #  laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT, save_ephemeris=True)
+      #  msg = verify_messages(self.logs, laikad, return_one_success=True)
+      #  self.assertIsNotNone(msg)
+      #  # Verify orbit data is not downloaded
+      #  mock_method.assert_not_called()
+      #break
 
   def test_low_gnss_meas(self):
     cnt = 0
@@ -282,12 +328,10 @@ class TestLaikad(unittest.TestCase):
       gm = msg.gnssMeasurements
       if len(gm.correctedMeasurements) != 0 and gm.positionECEF.valid:
         cnt += 1
-    self.assertEqual(cnt, 559)
+    self.assertEqual(cnt, 560)
 
   def dict_has_values(self, dct):
     self.assertGreater(len(dct), 0)
     self.assertGreater(min([len(v) for v in dct.values()]), 0)
-
-
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index 963d94066b..1b10cee806 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -29,7 +29,7 @@ def manager_init() -> None:
   set_time(cloudlog)
 
   # save boot log
-  subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))
+  subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"))
 
   params = Params()
   params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
@@ -153,7 +153,7 @@ def manager_thread() -> None:
     for param in ("DoUninstall", "DoShutdown", "DoReboot"):
       if params.get_bool(param):
         shutdown = True
-        params.put("LastManagerExitReason", param)
+        params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}")
         cloudlog.warning(f"Shutting down manager - {param} set")
 
     if shutdown:
diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py
index 8fc4d94e55..57c42aaaaa 100644
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@@ -17,11 +17,17 @@ def logging(started, params, CP: car.CarParams) -> bool:
   run = (not CP.notCar) or not params.get_bool("DisableLogging")
   return started and run
 
+def ublox_available() -> bool:
+  return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
+
 def ublox(started, params, CP: car.CarParams) -> bool:
-  use_ublox = os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
+  use_ublox = ublox_available()
   params.put_bool("UbloxAvailable", use_ublox)
   return started and use_ublox
 
+def qcomgps(started, params, CP: car.CarParams) -> bool:
+  return started and not ublox_available()
+
 procs = [
   # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
   NativeProcess("camerad", "system/camerad", ["./camerad"], unkillable=True, callback=driverview),
@@ -34,12 +40,12 @@ procs = [
 
   DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
   NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview),
-  NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]),
-  NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging),
+  NativeProcess("encoderd", "system/loggerd", ["./encoderd"]),
+  NativeProcess("loggerd", "system/loggerd", ["./loggerd"], onroad=False, callback=logging),
   NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
   NativeProcess("mapsd", "selfdrive/navd", ["./map_renderer"], enabled=False),
   NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], enabled=False),
-  NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC),
+  NativeProcess("sensord", "system/sensord", ["./sensord"], enabled=not PC),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)),
   NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], offroad=True),
   NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]),
@@ -47,21 +53,21 @@ procs = [
   PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"),
   PythonProcess("torqued", "selfdrive.locationd.torqued"),
   PythonProcess("controlsd", "selfdrive.controls.controlsd"),
-  PythonProcess("deleter", "selfdrive.loggerd.deleter", offroad=True),
+  PythonProcess("deleter", "system.loggerd.deleter", offroad=True),
   PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview),
   PythonProcess("laikad", "selfdrive.locationd.laikad"),
-  PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=TICI),
+  PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", enabled=TICI, onroad=False, callback=qcomgps),
   PythonProcess("navd", "selfdrive.navd.navd"),
   PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd"),
-  NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=TICI, onroad=False, callback=ublox),
-  PythonProcess("pigeond", "selfdrive.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox),
+  NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], enabled=TICI, onroad=False, callback=ublox),
+  PythonProcess("pigeond", "system.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox),
   PythonProcess("plannerd", "selfdrive.controls.plannerd"),
   PythonProcess("radard", "selfdrive.controls.radard"),
   PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True),
   PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, offroad=True),
   PythonProcess("updated", "selfdrive.updated", enabled=not PC, onroad=False, offroad=True),
-  PythonProcess("uploader", "selfdrive.loggerd.uploader", offroad=True),
+  PythonProcess("uploader", "system.loggerd.uploader", offroad=True),
   PythonProcess("statsd", "selfdrive.statsd", offroad=True),
 
   # debug procs
diff --git a/selfdrive/modeld/models/README.md b/selfdrive/modeld/models/README.md
index 6b704cbfa8..1bfca8e95a 100644
--- a/selfdrive/modeld/models/README.md
+++ b/selfdrive/modeld/models/README.md
@@ -2,7 +2,7 @@
 To view the architecture of the ONNX networks, you can use [netron](https://netron.app/)
 
 ## Supercombo
-### Supercombo input format (Full size: 393738 x float32)
+### Supercombo input format (Full size: 799906 x float32)
 * **image stream**
   * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
     * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
@@ -16,11 +16,11 @@ To view the architecture of the ONNX networks, you can use [netron](https://netr
       * Channel 4 represents the half-res U channel
       * Channel 5 represents the half-res V channel
 * **desire**
-  * one-hot encoded vector to command model to execute certain actions, bit only needs to be sent for 1 frame : 8
+  * one-hot encoded buffer to command model to execute certain actions, bit needs to be sent for the past 5 seconds (at 20FPS) : 100 * 8
 * **traffic convention**
   * one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2
-* **recurrent state**
-  * The recurrent state vector that is fed back into the GRU for temporal context : 512
+* **feature buffer**
+  * A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 128
 
 
 ### Supercombo output format (Full size: XXX x float32)
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index a483fa4db4..13759c62f8 100644
--- 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 sha256:736ddc08497d7596bae4d9515a8efb996676be80e67a6d34d632bb8af2ed3fa9
-size 45962515
+oid sha256:5121deb0d5c683b0fbee4c1cad7bc625953bf127b1383fb7599a6b644efd0aea
+size 46011200
diff --git a/selfdrive/statsd.py b/selfdrive/statsd.py
index 7dc002727e..e64907149c 100755
--- a/selfdrive/statsd.py
+++ b/selfdrive/statsd.py
@@ -13,7 +13,7 @@ from system.swaglog import cloudlog
 from system.hardware import HARDWARE
 from common.file_helpers import atomic_write_in_dir
 from system.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty
-from selfdrive.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
+from system.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
 
 
 class METRIC_TYPE:
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index ad09668a46..bd026f5710 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-ab64afd1abd1059c14f50c67b51e5ef89029f216
+82db08d52b155336e9a1dadd11485d5acdf2eba0
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 971ddb3fe2..43b329e916 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -5,7 +5,8 @@ import sys
 import threading
 import time
 import signal
-from collections import namedtuple
+from dataclasses import dataclass, field
+from typing import Dict, List, Optional, Callable
 
 import capnp
 
@@ -28,7 +29,20 @@ TIMEOUT = 15
 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__))
 FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/")
 
-ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance', 'fake_pubsubmaster', 'submaster_config', 'environ', 'subtest_name', "field_tolerances"], defaults=({}, {}, "", {}))
+@dataclass
+class ProcessConfig:
+  proc_name: str
+  pub_sub: Dict[str, List[str]]
+  ignore: List[str]
+  init_callback: Optional[Callable]
+  should_recv_callback: Optional[Callable]
+  tolerance: Optional[float]
+  fake_pubsubmaster: bool
+  submaster_config: Dict[str, List[str]] = field(default_factory=dict)
+  environ: Dict[str, str] = field(default_factory=dict)
+  subtest_name: str = ""
+  field_tolerances: Dict[str, float] = field(default_factory=dict)
+  timeout: int = 30
 
 
 def wait_for_event(evt):
@@ -238,21 +252,12 @@ def torqued_rcv_callback(msg, CP, cfg, fsm):
   return recv_socks, fsm.frame == 0 or msg.which() == 'liveLocationKalman'
 
 
-def ublox_rcv_callback(msg):
+def ublox_rcv_callback(msg, CP, cfg, fsm):
   msg_class, msg_id = msg.ubloxRaw[2:4]
   if (msg_class, msg_id) in {(1, 7 * 16)}:
-    return ["gpsLocationExternal"]
+    return ["gpsLocationExternal"], True
   elif (msg_class, msg_id) in {(2, 1 * 16 + 5), (10, 9)}:
-    return ["ubloxGnss"]
-  else:
-    return []
-
-
-def laika_rcv_callback(msg, CP, cfg, fsm):
-  if msg.which() == 'ubloxGnss' and msg.ubloxGnss.which() == "measurementReport":
-    return ["gnssMeasurements"], True
-  elif msg.which() == 'qcomGnss' and msg.qcomGnss.which() == "drMeasurementReport":
-    return ["gnssMeasurements"], True
+    return ["ubloxGnss"], True
   else:
     return [], False
 
@@ -331,7 +336,7 @@ CONFIGS = [
     pub_sub={
       "cameraOdometry": ["liveLocationKalman"],
       "accelerometer": [], "gyroscope": [],
-      "gpsLocationExternal": [], "liveCalibration": [], "carState": [],
+      "gpsLocationExternal": [], "liveCalibration": [], "carState": [], "gpsLocation": [],
     },
     ignore=["logMonoTime", "valid"],
     init_callback=get_car_params,
@@ -371,9 +376,10 @@ CONFIGS = [
     },
     ignore=["logMonoTime"],
     init_callback=get_car_params,
-    should_recv_callback=laika_rcv_callback,
+    should_recv_callback=None,
     tolerance=NUMPY_TOLERANCE,
-    fake_pubsubmaster=True,
+    fake_pubsubmaster=False,
+    timeout=60*10,  # first messages are blocked on internet assistance
   ),
   ProcessConfig(
     proc_name="torqued",
@@ -395,10 +401,10 @@ def replay_process(cfg, lr, fingerprint=None):
     if cfg.fake_pubsubmaster:
       return python_replay_process(cfg, lr, fingerprint)
     else:
-      return cpp_replay_process(cfg, lr, fingerprint)
+      return replay_process_with_sockets(cfg, lr, fingerprint)
 
 
-def setup_env(simulation=False, CP=None, cfg=None, controlsState=None):
+def setup_env(simulation=False, CP=None, cfg=None, controlsState=None, lr=None):
   params = Params()
   params.clear_all()
   params.put_bool("OpenpilotEnabledToggle", True)
@@ -406,13 +412,19 @@ def setup_env(simulation=False, CP=None, cfg=None, controlsState=None):
   params.put_bool("DisengageOnAccelerator", True)
   params.put_bool("WideCameraOnly", False)
   params.put_bool("DisableLogging", False)
-  params.put_bool("UbloxAvailable", True)
-  params.put_bool("ObdMultiplexingDisabled", True)
 
   os.environ["NO_RADAR_SLEEP"] = "1"
   os.environ["REPLAY"] = "1"
-  os.environ['SKIP_FW_QUERY'] = ""
-  os.environ['FINGERPRINT'] = ""
+  os.environ["SKIP_FW_QUERY"] = ""
+  os.environ["FINGERPRINT"] = ""
+
+  if lr is not None:
+    services = {m.which() for m in lr}
+    params.put_bool("UbloxAvailable", "ubloxGnss" in services)
+
+  if lr is not None:
+    services = {m.which() for m in lr}
+    params.put_bool("UbloxAvailable", "ubloxGnss" in services)
 
   if cfg is not None:
     # Clear all custom processConfig environment variables
@@ -464,12 +476,6 @@ def python_replay_process(cfg, lr, fingerprint=None):
   all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
   pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())]
 
-  # laikad needs decision between submaster ubloxGnss and qcomGnss, prio given to ubloxGnss
-  if cfg.proc_name == "laikad":
-    args = (*args, not any(m.which() == "ubloxGnss" for m in pub_msgs))
-    service = "qcomGnss" if args[2] else "ubloxGnss"
-    pub_msgs = [m for m in pub_msgs if m.which() == service or m.which() == 'clocks']
-
   controlsState = None
   initialized = False
   for msg in lr:
@@ -485,10 +491,10 @@ def python_replay_process(cfg, lr, fingerprint=None):
   if fingerprint is not None:
     os.environ['SKIP_FW_QUERY'] = "1"
     os.environ['FINGERPRINT'] = fingerprint
-    setup_env(cfg=cfg, controlsState=controlsState)
+    setup_env(cfg=cfg, controlsState=controlsState, lr=lr)
   else:
     CP = [m for m in lr if m.which() == 'carParams'][0].carParams
-    setup_env(CP=CP, cfg=cfg, controlsState=controlsState)
+    setup_env(CP=CP, cfg=cfg, controlsState=controlsState, lr=lr)
 
   assert(type(managed_processes[cfg.proc_name]) is PythonProcess)
   managed_processes[cfg.proc_name].prepare()
@@ -517,7 +523,7 @@ def python_replay_process(cfg, lr, fingerprint=None):
       recv_socks, should_recv = cfg.should_recv_callback(msg, CP, cfg, fsm)
     else:
       recv_socks = [s for s in cfg.pub_sub[msg.which()] if
-                    (fsm.frame + 1) % int(service_list[msg.which()].frequency / service_list[s].frequency) == 0]
+                    (fsm.frame + 1) % max(1, int(service_list[msg.which()].frequency / service_list[s].frequency)) == 0]
       should_recv = bool(len(recv_socks))
 
     if msg.which() == 'can':
@@ -540,49 +546,58 @@ def python_replay_process(cfg, lr, fingerprint=None):
   return log_msgs
 
 
-def cpp_replay_process(cfg, lr, fingerprint=None):
-  sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]  # We get responses here
+def replay_process_with_sockets(cfg, lr, fingerprint=None):
   pm = messaging.PubMaster(cfg.pub_sub.keys())
+  sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]
+  sockets = {s: messaging.sub_sock(s, timeout=100) for s in sub_sockets}
 
   all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
   pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())]
-  log_msgs = []
 
   # We need to fake SubMaster alive since we can't inject a fake clock
-  setup_env(simulation=True, cfg=cfg)
+  setup_env(simulation=True, cfg=cfg, lr=lr)
+
+  if cfg.proc_name == "laikad":
+    ublox = Params().get_bool("UbloxAvailable")
+    keys = set(cfg.pub_sub.keys()) - ({"qcomGnss", } if ublox else {"ubloxGnss", })
+    pub_msgs = [msg for msg in pub_msgs if msg.which() in keys]
 
   managed_processes[cfg.proc_name].prepare()
   managed_processes[cfg.proc_name].start()
 
+  log_msgs = []
   try:
-    with Timeout(TIMEOUT, error_msg=f"timed out testing process {repr(cfg.proc_name)}"):
-      while not all(pm.all_readers_updated(s) for s in cfg.pub_sub.keys()):
+    # Wait for process to startup
+    with Timeout(10, error_msg=f"timed out waiting for process to start: {repr(cfg.proc_name)}"):
+      while not any(pm.all_readers_updated(s) for s in cfg.pub_sub.keys()):
         time.sleep(0)
 
-      # Make sure all subscribers are connected
-      sockets = {s: messaging.sub_sock(s, timeout=2000) for s in sub_sockets}
-      for s in sub_sockets:
-        messaging.recv_one_or_none(sockets[s])
+    for s in sockets.values():
+      messaging.recv_one_or_none(s)
 
-      for i, msg in enumerate(pub_msgs):
-        pm.send(msg.which(), msg.as_builder())
-
-        resp_sockets = cfg.pub_sub[msg.which()] if cfg.should_recv_callback is None else cfg.should_recv_callback(msg)
-        for s in resp_sockets:
-          response = messaging.recv_one_retry(sockets[s])
+    # Do the replay
+    cnt = 0
+    for msg in pub_msgs:
+      with Timeout(cfg.timeout, error_msg=f"timed out testing process {repr(cfg.proc_name)}, {cnt}/{len(pub_msgs)} msgs done"):
+        resp_sockets = cfg.pub_sub[msg.which()]
+        if cfg.should_recv_callback is not None:
+          resp_sockets, _ = cfg.should_recv_callback(msg, None, None, None)
 
-          if response is None:
-            print(f"Warning, no response received {i}")
-          else:
+        # Make sure all subscribers are connected
+        if len(log_msgs) == 0 and len(resp_sockets) > 0:
+          for s in sockets.values():
+            messaging.recv_one_or_none(s)
 
-            response = response.as_builder()
-            response.logMonoTime = msg.logMonoTime
-            response = response.as_reader()
-            log_msgs.append(response)
+        pm.send(msg.which(), msg.as_builder())
+        while not pm.all_readers_updated(msg.which()):
+          time.sleep(0)
 
-        if not len(resp_sockets):  # We only need to wait if we didn't already wait for a response
-          while not pm.all_readers_updated(msg.which()):
-            time.sleep(0)
+        for s in resp_sockets:
+          m = messaging.recv_one_retry(sockets[s])
+          m = m.as_builder()
+          m.logMonoTime = msg.logMonoTime
+          log_msgs.append(m.as_reader())
+        cnt += 1
   finally:
     managed_processes[cfg.proc_name].signal(signal.SIGKILL)
     managed_processes[cfg.proc_name].stop()
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 79769e14b6..556781738d 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-f9c7e05b836c4bff364978752e82d64b90f9d6e6
+50f1e873095fe2462d2aadb9c401bda76759c01c
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 07117c2e7f..a2dd938e2f 100755
--- 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", "d545129f3ca90f28|2022-11-07--20-43-08--3"),    # HYUNDAI.KIA_EV6
+  ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"),    # HYUNDAI.KIA_EV6 (+ QCOM GPS)
   ("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
@@ -70,7 +70,7 @@ def run_test_process(data):
   res = None
   if not args.upload_only:
     lr = LogReader.from_bytes(lr_dat)
-    res, log_msgs = test_process(cfg, lr, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs)
+    res, log_msgs = test_process(cfg, lr, segment, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs)
     # save logs so we can upload when updating refs
     save_log(cur_log_fn, log_msgs)
 
@@ -88,7 +88,7 @@ def get_log_data(segment):
     return (segment, f.read())
 
 
-def test_process(cfg, lr, ref_log_path, new_log_path, ignore_fields=None, ignore_msgs=None):
+def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=None, ignore_msgs=None):
   if ignore_fields is None:
     ignore_fields = []
   if ignore_msgs is None:
@@ -96,7 +96,10 @@ def test_process(cfg, lr, ref_log_path, new_log_path, ignore_fields=None, ignore
 
   ref_log_msgs = list(LogReader(ref_log_path))
 
-  log_msgs = replay_process(cfg, lr)
+  try:
+    log_msgs = replay_process(cfg, lr)
+  except Exception as e:
+    raise Exception("failed on segment: " + segment) from e
 
   # check to make sure openpilot is engaged in the route
   if cfg.proc_name == "controlsd":
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 84511771f7..07a3c61bc5 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -15,7 +15,7 @@ from common.basedir import BASEDIR
 from common.timeout import Timeout
 from common.params import Params
 from selfdrive.controls.lib.events import EVENTS, ET
-from selfdrive.loggerd.config import ROOT
+from system.loggerd.config import ROOT
 from selfdrive.test.helpers import set_params_enabled, release_only
 from tools.lib.logreader import LogReader
 
diff --git a/selfdrive/test/test_valgrind_replay.py b/selfdrive/test/test_valgrind_replay.py
index 238b822ec9..46dd4901e5 100755
--- a/selfdrive/test/test_valgrind_replay.py
+++ b/selfdrive/test/test_valgrind_replay.py
@@ -28,7 +28,7 @@ CONFIGS = [
     },
     ignore=[],
     command="./ubloxd",
-    path="selfdrive/locationd/",
+    path="system/ubloxd",
     segment="0375fdf7b1ce594d|2019-06-13--08-32-25--3",
     wait_for_response=True
   ),
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index eedeff31f1..531e0b04d1 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -18,7 +18,7 @@ from common.params import Params
 from common.realtime import DT_TRML, sec_since_boot
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
 from system.hardware import HARDWARE, TICI, AGNOS
-from selfdrive.loggerd.config import get_available_percent
+from system.loggerd.config import get_available_percent
 from selfdrive.statsd import statlog
 from system.swaglog import cloudlog
 from selfdrive.thermald.power_monitoring import PowerMonitoring
diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py
index 61a575f141..65fb45b678 100755
--- a/selfdrive/tombstoned.py
+++ b/selfdrive/tombstoned.py
@@ -10,7 +10,7 @@ import glob
 from typing import NoReturn
 
 from common.file_helpers import mkdirs_exists_ok
-from selfdrive.loggerd.config import ROOT
+from system.loggerd.config import ROOT
 import selfdrive.sentry as sentry
 from system.swaglog import cloudlog
 from system.version import get_commit
diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
index dd30b5feff..abbf434d69 100644
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@@ -24,8 +24,6 @@ const float MAX_PITCH = 50;
 const float MIN_PITCH = 0;
 const float MAP_SCALE = 2;
 
-const float VALID_POS_STD = 50.0; // m
-
 const QString ICON_SUFFIX = ".png";
 
 MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05) {
@@ -125,42 +123,6 @@ void MapWindow::updateState(const UIState &s) {
     }
   }
 
-  // TODO should check a valid/status flag
-  if (sm.updated("gnssMeasurements") && sm["gnssMeasurements"].getGnssMeasurements().getGpsWeek() > 0){
-    auto laikad_location = sm["gnssMeasurements"].getGnssMeasurements();
-    auto laikad_pos = laikad_location.getPositionECEF();
-    auto laikad_pos_ecef = laikad_pos.getValue();
-    auto laikad_pos_std = laikad_pos.getStd();
-    auto laikad_velocity_ecef = laikad_location.getVelocityECEF().getValue();
-
-    laikad_valid = laikad_pos.getValid() && Eigen::Vector3d(laikad_pos_std[0], laikad_pos_std[1], laikad_pos_std[2]).norm() < VALID_POS_STD;
-
-    if (laikad_valid && !locationd_valid) {
-      ECEF ecef = {.x = laikad_pos_ecef[0], .y = laikad_pos_ecef[1], .z = laikad_pos_ecef[2]};
-      Geodetic laikad_pos_geodetic = ecef2geodetic(ecef);
-      last_position = QMapbox::Coordinate(laikad_pos_geodetic.lat, laikad_pos_geodetic.lon);
-
-      // Compute NED velocity
-      LocalCoord converter(ecef);
-      ECEF next_ecef = {.x = ecef.x + laikad_velocity_ecef[0], .y = ecef.y + laikad_velocity_ecef[1], .z = ecef.z + laikad_velocity_ecef[2]};
-      Eigen::VectorXd ned_vel = converter.ecef2ned(next_ecef).to_vector() - converter.ecef2ned(ecef).to_vector();
-
-      float velocity = ned_vel.norm();
-      velocity_filter.update(velocity);
-
-      // Convert NED velocity to angle
-      if (velocity > 1.0) {
-        float new_bearing = fmod(RAD2DEG(atan2(ned_vel[1], ned_vel[0])) + 360.0, 360.0);
-        if (last_bearing) {
-          float delta = 0.1 * angle_difference(*last_bearing, new_bearing); // Smooth heading
-          last_bearing = fmod(*last_bearing + delta + 360.0, 360.0);
-        } else {
-          last_bearing = new_bearing;
-        }
-      }
-    }
-  }
-
   if (sm.updated("navRoute") && sm["navRoute"].getNavRoute().getCoordinates().size()) {
     qWarning() << "Got new navRoute from navd. Opening map:" << allow_open;
 
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index dc2f1368ac..009798a569 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -648,16 +648,18 @@ void AnnotatedCameraWidget::paintGL() {
     }
 
     // Wide or narrow cam dependent on speed
-    float v_ego = sm["carState"].getCarState().getVEgo();
-    if ((v_ego < 10) || s->wide_cam_only) {
-      wide_cam_requested = true;
-    } else if (v_ego > 15) {
-      wide_cam_requested = false;
+    bool has_wide_cam = available_streams.count(VISION_STREAM_WIDE_ROAD);
+    if (has_wide_cam) {
+      float v_ego = sm["carState"].getCarState().getVEgo();
+      if ((v_ego < 10) || available_streams.size() == 1) {
+        wide_cam_requested = true;
+      } else if (v_ego > 15) {
+        wide_cam_requested = false;
+      }
+      wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode();
+      // for replay of old routes, never go to widecam
+      wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid;
     }
-    wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode();
-    // TODO: also detect when ecam vision stream isn't available
-    // for replay of old routes, never go to widecam
-    wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid;
     CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
 
     s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD;
diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index 8c7a7072e2..de3b64cffd 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -96,8 +96,10 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio)
 CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) :
                           stream_name(stream_name), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) {
   setAttribute(Qt::WA_OpaquePaintEvent);
+  qRegisterMetaType<std::set<VisionStreamType>>("availableStreams");
   QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection);
   QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection);
+  QObject::connect(this, &CameraWidget::vipcAvailableStreamsUpdated, this, &CameraWidget::availableStreamsUpdated, Qt::QueuedConnection);
 }
 
 CameraWidget::~CameraWidget() {
@@ -181,6 +183,10 @@ void CameraWidget::stopVipcThread() {
   }
 }
 
+void CameraWidget::availableStreamsUpdated(std::set<VisionStreamType> streams) {
+  available_streams = streams;
+}
+
 void CameraWidget::updateFrameMat() {
   int w = width(), h = height();
 
@@ -366,6 +372,13 @@ void CameraWidget::vipcThread() {
 
     if (!vipc_client->connected) {
       clearFrames();
+      auto streams = VisionIpcClient::getAvailableStreams(stream_name, false);
+      if (streams.empty()) {
+        QThread::msleep(100);
+        continue;
+      }
+      emit vipcAvailableStreamsUpdated(streams);
+
       if (!vipc_client->connect(false)) {
         QThread::msleep(100);
         continue;
@@ -400,4 +413,5 @@ void CameraWidget::vipcThread() {
 void CameraWidget::clearFrames() {
   std::lock_guard lk(frame_lock);
   frames.clear();
+  available_streams.clear();
 }
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index f8b97be03e..9135620d35 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -41,6 +41,7 @@ signals:
   void clicked();
   void vipcThreadConnected(VisionIpcClient *);
   void vipcThreadFrameReceived();
+  void vipcAvailableStreamsUpdated(std::set<VisionStreamType>);
 
 protected:
   void paintGL() override;
@@ -71,6 +72,7 @@ protected:
   int stream_stride = 0;
   std::atomic<VisionStreamType> active_stream_type;
   std::atomic<VisionStreamType> requested_stream_type;
+  std::set<VisionStreamType> available_streams;
   QThread *vipc_thread = nullptr;
 
   // Calibration
@@ -88,4 +90,7 @@ protected:
 protected slots:
   void vipcConnected(VisionIpcClient *vipc_client);
   void vipcFrameReceived();
+  void availableStreamsUpdated(std::set<VisionStreamType> streams);
 };
+
+Q_DECLARE_METATYPE(std::set<VisionStreamType>);
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 5c4eab3327..8dc3a9830d 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -596,16 +596,17 @@ trabalho definido</translation>
     </message>
     <message>
         <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
-        <translation type="unfinished"></translation>
+        <translation>Não é possível montar a partição de dados. Partição corrompida. Confirme para apagar e redefinir o dispositivo.</translation>
     </message>
     <message>
         <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation type="unfinished"></translation>
+        <translation>Pressione confirmar para apagar todo o conteúdo e configurações. Pressione cancelar para voltar.</translation>
     </message>
     <message>
         <source>Resetting device...
 This may take up to a minute.</source>
-        <translation type="unfinished"></translation>
+        <translation>Redefinindo o dispositivo
+Isso pode levar até um minuto.</translation>
     </message>
 </context>
 <context>
@@ -707,11 +708,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>No custom software found at this URL.</source>
-        <translation type="unfinished"></translation>
+        <translation>Não há software personalizado nesta URL.</translation>
     </message>
     <message>
         <source>Something went wrong. Reboot the device.</source>
-        <translation type="unfinished"></translation>
+        <translation>Algo deu errado. Reinicie o dispositivo.</translation>
     </message>
 </context>
 <context>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index e4058ee0db..83db0b7301 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -200,7 +200,7 @@
     </message>
     <message>
         <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。</translation>
+        <translation>openpilot 需要將設備固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -592,16 +592,16 @@ location set</source>
     </message>
     <message>
         <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
-        <translation type="unfinished"></translation>
+        <translation>無法掛載資料分割區 分割區可能已經毀損 請確認是否要刪除並重新設定</translation>
     </message>
     <message>
         <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation type="unfinished"></translation>
+        <translation>按下確認以刪除所有內容及設定 按下取消來繼續開機</translation>
     </message>
     <message>
         <source>Resetting device...
 This may take up to a minute.</source>
-        <translation type="unfinished"></translation>
+        <translation>設備重置中 此過程可能需要幾分鐘</translation>
     </message>
 </context>
 <context>
@@ -703,11 +703,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>No custom software found at this URL.</source>
-        <translation type="unfinished"></translation>
+        <translation>無法在此URL找到定制的軟體</translation>
     </message>
     <message>
         <source>Something went wrong. Reboot the device.</source>
-        <translation type="unfinished"></translation>
+        <translation>發生了一些錯誤 請重新啟動您的設備</translation>
     </message>
 </context>
 <context>
@@ -1028,11 +1028,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>openpilot longitudinal control may come in a future update.</source>
-        <translation type="unfinished"></translation>
+        <translation>未來可能會推出openpilot縱向控制</translation>
     </message>
     <message>
         <source>An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation type="unfinished"></translation>
+        <translation>在非發行分支中 可找到包含實驗模式的openpilot縱向控制測試版本</translation>
     </message>
     <message>
         <source>Enable experimental longitudinal control to allow Experimental mode.</source>
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 50843de68e..50ffc84f4f 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -234,7 +234,6 @@ void UIState::updateStatus() {
     if (scene.started) {
       status = STATUS_DISENGAGED;
       scene.started_frame = sm->frame;
-      wide_cam_only = Params().getBool("WideCameraOnly");
     }
     started_prev = scene.started;
     emit offroadTransition(!scene.started);
@@ -252,12 +251,10 @@ UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
-    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "gnssMeasurements",
-    "uiPlan",
+    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan",
   });
 
   Params params;
-  wide_cam_only = params.getBool("WideCameraOnly");
   prime_type = std::atoi(params.get("PrimeType").c_str());
   language = QString::fromStdString(params.get("LanguageSetting"));
 
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index ad2a1fe1f4..4c4bd462e7 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -150,7 +150,6 @@ public:
   QString language;
 
   QTransform car_space_transform;
-  bool wide_cam_only;
 
 signals:
   void uiUpdate(const UIState &s);
diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py
index e15d4c3433..5964eb49dc 100755
--- a/selfdrive/ui/update_translations.py
+++ b/selfdrive/ui/update_translations.py
@@ -19,7 +19,7 @@ def update_translations(vanish=False, plural_only=None, translations_dir=TRANSLA
 
   for file in translation_files.values():
     tr_file = os.path.join(translations_dir, f"{file}.ts")
-    args = f"lupdate -locations none -recursive {UI_DIR} -ts {tr_file}"
+    args = f"lupdate -locations none -recursive {UI_DIR} -ts {tr_file} -I {BASEDIR}"
     if vanish:
       args += " -no-obsolete"
     if file in plural_only:
diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 7ee3738057..9ef5d89a4e 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -157,9 +157,6 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr
   framed.setHighConversionGain(frame_data.high_conversion_gain);
   framed.setMeasuredGreyFraction(frame_data.measured_grey_fraction);
   framed.setTargetGreyFraction(frame_data.target_grey_fraction);
-  framed.setLensPos(frame_data.lens_pos);
-  framed.setLensErr(frame_data.lens_err);
-  framed.setLensTruePos(frame_data.lens_true_pos);
   framed.setProcessingTime(frame_data.processing_time);
 
   const float ev = c->cur_ev[frame_data.frame_id % 3];
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index 088b9f7939..07d1291a2a 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -66,11 +66,6 @@ typedef struct FrameMetadata {
   float measured_grey_fraction;
   float target_grey_fraction;
 
-  // Focus
-  unsigned int lens_pos;
-  float lens_err;
-  float lens_true_pos;
-
   float processing_time;
 } FrameMetadata;
 
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 92b3bde413..94116b11cd 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -1175,7 +1175,7 @@ void CameraState::set_camera_exposure(float grey_frac) {
     // t_HCG&t_LCG + t_VS on LPD, t_SPD on SPD
     uint32_t hcg_time = exposure_time;
     uint32_t lcg_time = hcg_time;
-    uint32_t spd_time = exposure_time_max + VS_TIME_MAX_OX03C10;
+    uint32_t spd_time = std::min(std::max((uint32_t)exposure_time, (exposure_time_max + VS_TIME_MAX_OX03C10) / 3), exposure_time_max + VS_TIME_MAX_OX03C10);
     uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 40, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10);
 
     uint32_t real_gain = ox03c10_analog_gains_reg[new_exp_g];
diff --git a/system/camerad/cameras/sensor2_i2c.h b/system/camerad/cameras/sensor2_i2c.h
index 83fcb8f7a9..4db4bfd4d8 100644
--- a/system/camerad/cameras/sensor2_i2c.h
+++ b/system/camerad/cameras/sensor2_i2c.h
@@ -58,7 +58,7 @@ struct i2c_random_wr_payload init_array_ox03c10[] = {
 
   // SC ctrl
   {0x3001, 0x03}, // io_pad_oen
-  {0x3002, 0xf8}, // io_pad_oen
+  {0x3002, 0xfc}, // io_pad_oen
   {0x3005, 0x80}, // io_pad_out
   {0x3007, 0x01}, // io_pad_sel
   {0x3008, 0x80}, // io_pad_sel
@@ -85,6 +85,9 @@ struct i2c_random_wr_payload init_array_ox03c10[] = {
   {0x3882, 0x8}, {0x3883, 0x0D},
   {0x3836, 0x1F}, {0x3837, 0x40},
 
+  {0x3892, 0x44},
+  {0x3823, 0x48},
+
   {0x3012, 0x41}, // SC_PHY_CTRL = 4 lane MIPI
   {0x3020, 0x05}, // SC_CTRL_20
 
@@ -179,8 +182,8 @@ struct i2c_random_wr_payload init_array_ox03c10[] = {
   {0x3820, 0x04},
 
   {0x3821, 0x19},
-  {0x3832, 0x00},
-  {0x3834, 0x00},
+  {0x3832, 0xF0},
+  {0x3834, 0xF0},
   {0x384c, 0x02},
   {0x384d, 0x0d},
   {0x3850, 0x00},
diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py
old mode 100644
new mode 100755
index 8233834d11..9725cd689c
--- a/system/hardware/tici/amplifier.py
+++ b/system/hardware/tici/amplifier.py
@@ -24,13 +24,10 @@ BASE_CONFIG = [
   AmpConfig("MCLK prescaler", 0b01, 0x10, 4, 0b00110000),
   AmpConfig("PM: enable speakers", 0b11, 0x4D, 4, 0b00110000),
   AmpConfig("PM: enable DACs", 0b11, 0x4D, 0, 0b00000011),
-  AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
-  AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
   AmpConfig("Enable PLL1", 0b1, 0x12, 7, 0b10000000),
   AmpConfig("Enable PLL2", 0b1, 0x1A, 7, 0b10000000),
   AmpConfig("DAI1: I2S mode", 0b00100, 0x14, 2, 0b01111100),
   AmpConfig("DAI2: I2S mode", 0b00100, 0x1C, 2, 0b01111100),
-  AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111),
   AmpConfig("DAI1 Passband filtering: music mode", 0b1, 0x18, 7, 0b10000000),
   AmpConfig("DAI1 voice mode gain (DV1G)", 0b00, 0x2F, 4, 0b00110000),
   AmpConfig("DAI1 attenuation (DV1)", 0x0, 0x2F, 0, 0b00001111),
@@ -41,7 +38,6 @@ BASE_CONFIG = [
   AmpConfig("ALC/excursion limiter release time", 0b101, 0x43, 4, 0b01110000),
   AmpConfig("ALC multiband enable", 0b1, 0x43, 3, 0b00001000),
   AmpConfig("DAI1 EQ enable", 0b0, 0x49, 0, 0b00000001),
-  AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010),
   AmpConfig("DAI2 EQ clip detection disabled", 0b1, 0x32, 4, 0b00010000),
   AmpConfig("DAI2 EQ attenuation", 0x5, 0x32, 0, 0b00001111),
   AmpConfig("Excursion limiter upper corner freq", 0b100, 0x41, 4, 0b01110000),
@@ -64,6 +60,11 @@ BASE_CONFIG = [
 
 CONFIGS = {
   "tici": [
+    AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
+    AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
+    AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111),
+    AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010),
+
     *configs_from_eq_params(0x84, EQParams(0x274F, 0xC0FF, 0x3BF9, 0x0B3C, 0x1656)),
     *configs_from_eq_params(0x8E, EQParams(0x1009, 0xC6BF, 0x2952, 0x1C97, 0x30DF)),
     *configs_from_eq_params(0x98, EQParams(0x0F75, 0xCBE5, 0x0ED2, 0x2528, 0x3E42)),
@@ -72,11 +73,13 @@ CONFIGS = {
   ],
   "tizi": [
     AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111),
+    AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
     AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011),
-    AmpConfig("Left speaker output volume", 0x1F, 0x3D, 0, 0b00011111),
-    AmpConfig("Right speaker output volume", 0x1F, 0x3E, 0, 0b00011111),
-    AmpConfig("DAI1 attenuation (DV1)", 0x4, 0x2F, 0, 0b00001111),
-    AmpConfig("DAI2 attenuation (DV2)", 0x4, 0x31, 0, 0b00001111),
+    AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
+    AmpConfig("Left speaker output volume", 0x17, 0x3D, 0, 0b00011111),
+    AmpConfig("Right speaker output volume", 0x17, 0x3E, 0, 0b00011111),
+
+    AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010),
     AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001),
     AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000),
     AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111),
@@ -91,12 +94,6 @@ CONFIGS = {
     AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010),
     AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001),
     AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000),
-
-    *configs_from_eq_params(0x84, EQParams(0x3084, 0xC023, 0x3D60, 0x042B, 0x1222)),
-    *configs_from_eq_params(0x8E, EQParams(0x2FB2, 0xC05C, 0x3BD3, 0x06C5, 0x16BB)),
-    *configs_from_eq_params(0x98, EQParams(0x21F5, 0xDF73, 0x2DFE, 0x371A, 0x2C80)),
-    *configs_from_eq_params(0xA2, EQParams(0x2A5A, 0x0AD0, 0x14FA, 0x3F14, 0x3C76)),
-    *configs_from_eq_params(0xAC, EQParams(0x1577, 0x3FAE, 0xEE60, 0x0664, 0x3D86)),
   ],
 }
 
@@ -132,3 +129,12 @@ class Amplifier:
       self.set_config(config)
 
     self.set_global_shutdown(amp_disabled=False)
+
+
+if __name__ == "__main__":
+  with open("/sys/firmware/devicetree/base/model") as f:
+    model = f.read().strip('\x00')
+  model = model.split('comma ')[-1]
+
+  amp = Amplifier()
+  amp.initialize_configuration(model)
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 9c1cc930c1..46db097da1 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -452,6 +452,12 @@ class Tici(HardwareBase):
     # Allow thermald to write engagement status to kmsg
     os.system("sudo chmod a+w /dev/kmsg")
 
+    # TODO: remove the if once agnos 7 ships
+    # Turn off fan, turned on by the ABL
+    if os.path.exists('/sys/class/gpio/gpio49/'):
+      gpio_init(GPIO.SOM_ST_IO, True)
+      gpio_set(GPIO.SOM_ST_IO, 0)
+
     # *** IRQ config ***
 
     # move these off the default core
diff --git a/system/hardware/tici/pins.py b/system/hardware/tici/pins.py
index fe31b9311d..082a402f15 100644
--- a/system/hardware/tici/pins.py
+++ b/system/hardware/tici/pins.py
@@ -10,6 +10,8 @@ class GPIO:
   STM_RST_N = 124
   STM_BOOT0 = 134
 
+  SOM_ST_IO = 49
+
   LTE_RST_N = 50
   LTE_PWRKEY = 116
   LTE_BOOT = 52
diff --git a/selfdrive/loggerd/.gitignore b/system/loggerd/.gitignore
similarity index 100%
rename from selfdrive/loggerd/.gitignore
rename to system/loggerd/.gitignore
diff --git a/selfdrive/loggerd/README.md b/system/loggerd/README.md
similarity index 100%
rename from selfdrive/loggerd/README.md
rename to system/loggerd/README.md
diff --git a/selfdrive/loggerd/SConscript b/system/loggerd/SConscript
similarity index 100%
rename from selfdrive/loggerd/SConscript
rename to system/loggerd/SConscript
diff --git a/selfdrive/sensord/tests/__init__.py b/system/loggerd/__init__.py
similarity index 100%
rename from selfdrive/sensord/tests/__init__.py
rename to system/loggerd/__init__.py
diff --git a/selfdrive/loggerd/bootlog.cc b/system/loggerd/bootlog.cc
similarity index 86%
rename from selfdrive/loggerd/bootlog.cc
rename to system/loggerd/bootlog.cc
index e882e4cf8d..becd293c02 100644
--- a/selfdrive/loggerd/bootlog.cc
+++ b/system/loggerd/bootlog.cc
@@ -2,8 +2,9 @@
 #include <string>
 
 #include "cereal/messaging/messaging.h"
+#include "common/params.h"
 #include "common/swaglog.h"
-#include "selfdrive/loggerd/logger.h"
+#include "system/loggerd/logger.h"
 
 
 static kj::Array<capnp::word> build_boot_log() {
@@ -48,7 +49,8 @@ static kj::Array<capnp::word> build_boot_log() {
 }
 
 int main(int argc, char** argv) {
-  const std::string path = LOG_ROOT + "/boot/" + logger_get_route_name();
+  const std::string timestr = logger_get_route_name();
+  const std::string path = LOG_ROOT + "/boot/" + timestr;
   LOGW("bootlog to %s", path.c_str());
 
   // Open bootlog
@@ -61,5 +63,8 @@ int main(int argc, char** argv) {
   // Write bootlog
   file.write(build_boot_log().asBytes());
 
+  // Write out bootlog param to match routes with bootlog
+  Params().put("CurrentBootlog", timestr.c_str());
+
   return 0;
 }
diff --git a/selfdrive/loggerd/config.py b/system/loggerd/config.py
similarity index 100%
rename from selfdrive/loggerd/config.py
rename to system/loggerd/config.py
diff --git a/selfdrive/loggerd/deleter.py b/system/loggerd/deleter.py
similarity index 89%
rename from selfdrive/loggerd/deleter.py
rename to system/loggerd/deleter.py
index 5606288024..5fb2b9eb41 100644
--- a/selfdrive/loggerd/deleter.py
+++ b/system/loggerd/deleter.py
@@ -3,8 +3,8 @@ import os
 import shutil
 import threading
 from system.swaglog import cloudlog
-from selfdrive.loggerd.config import ROOT, get_available_bytes, get_available_percent
-from selfdrive.loggerd.uploader import listdir_by_creation
+from system.loggerd.config import ROOT, get_available_bytes, get_available_percent
+from system.loggerd.uploader import listdir_by_creation
 
 MIN_BYTES = 5 * 1024 * 1024 * 1024
 MIN_PERCENT = 10
diff --git a/selfdrive/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc
similarity index 98%
rename from selfdrive/loggerd/encoder/encoder.cc
rename to system/loggerd/encoder/encoder.cc
index 943f37803d..08eaf0ff01 100644
--- a/selfdrive/loggerd/encoder/encoder.cc
+++ b/system/loggerd/encoder/encoder.cc
@@ -1,5 +1,5 @@
 #include <cassert>
-#include "selfdrive/loggerd/encoder/encoder.h"
+#include "system/loggerd/encoder/encoder.h"
 
 VideoEncoder::~VideoEncoder() {}
 
diff --git a/selfdrive/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h
similarity index 97%
rename from selfdrive/loggerd/encoder/encoder.h
rename to system/loggerd/encoder/encoder.h
index 21ef65cf12..88dd5cee23 100644
--- a/selfdrive/loggerd/encoder/encoder.h
+++ b/system/loggerd/encoder/encoder.h
@@ -7,7 +7,7 @@
 #include "cereal/messaging/messaging.h"
 #include "cereal/visionipc/visionipc.h"
 #include "common/queue.h"
-#include "selfdrive/loggerd/video_writer.h"
+#include "system/loggerd/video_writer.h"
 #include "system/camerad/cameras/camera_common.h"
 
 #define V4L2_BUF_FLAG_KEYFRAME 8
diff --git a/selfdrive/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc
similarity index 98%
rename from selfdrive/loggerd/encoder/ffmpeg_encoder.cc
rename to system/loggerd/encoder/ffmpeg_encoder.cc
index 5f8d140e8b..275da34f18 100644
--- a/selfdrive/loggerd/encoder/ffmpeg_encoder.cc
+++ b/system/loggerd/encoder/ffmpeg_encoder.cc
@@ -1,6 +1,6 @@
 #pragma clang diagnostic ignored "-Wdeprecated-declarations"
 
-#include "selfdrive/loggerd/encoder/ffmpeg_encoder.h"
+#include "system/loggerd/encoder/ffmpeg_encoder.h"
 
 #include <fcntl.h>
 #include <unistd.h>
diff --git a/selfdrive/loggerd/encoder/ffmpeg_encoder.h b/system/loggerd/encoder/ffmpeg_encoder.h
similarity index 92%
rename from selfdrive/loggerd/encoder/ffmpeg_encoder.h
rename to system/loggerd/encoder/ffmpeg_encoder.h
index 497a28b651..9095a6e815 100644
--- a/selfdrive/loggerd/encoder/ffmpeg_encoder.h
+++ b/system/loggerd/encoder/ffmpeg_encoder.h
@@ -11,8 +11,8 @@ extern "C" {
 #include <libavutil/imgutils.h>
 }
 
-#include "selfdrive/loggerd/encoder/encoder.h"
-#include "selfdrive/loggerd/loggerd.h"
+#include "system/loggerd/encoder/encoder.h"
+#include "system/loggerd/loggerd.h"
 
 class FfmpegEncoder : public VideoEncoder {
  public:
diff --git a/selfdrive/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc
similarity index 99%
rename from selfdrive/loggerd/encoder/v4l_encoder.cc
rename to system/loggerd/encoder/v4l_encoder.cc
index 88aeb21256..16e7246ff4 100644
--- a/selfdrive/loggerd/encoder/v4l_encoder.cc
+++ b/system/loggerd/encoder/v4l_encoder.cc
@@ -2,7 +2,7 @@
 #include <sys/ioctl.h>
 #include <poll.h>
 
-#include "selfdrive/loggerd/encoder/v4l_encoder.h"
+#include "system/loggerd/encoder/v4l_encoder.h"
 #include "common/util.h"
 #include "common/timing.h"
 
diff --git a/selfdrive/loggerd/encoder/v4l_encoder.h b/system/loggerd/encoder/v4l_encoder.h
similarity index 95%
rename from selfdrive/loggerd/encoder/v4l_encoder.h
rename to system/loggerd/encoder/v4l_encoder.h
index c2a53dd6ef..d4b0a1211d 100644
--- a/selfdrive/loggerd/encoder/v4l_encoder.h
+++ b/system/loggerd/encoder/v4l_encoder.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include "common/queue.h"
-#include "selfdrive/loggerd/encoder/encoder.h"
+#include "system/loggerd/encoder/encoder.h"
 
 #define BUF_IN_COUNT 7
 #define BUF_OUT_COUNT 6
diff --git a/selfdrive/loggerd/encoderd.cc b/system/loggerd/encoderd.cc
similarity index 99%
rename from selfdrive/loggerd/encoderd.cc
rename to system/loggerd/encoderd.cc
index db5f4b61ab..12b58b6591 100644
--- a/selfdrive/loggerd/encoderd.cc
+++ b/system/loggerd/encoderd.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/loggerd/loggerd.h"
+#include "system/loggerd/loggerd.h"
 
 ExitHandler do_exit;
 
diff --git a/selfdrive/loggerd/logger.cc b/system/loggerd/logger.cc
similarity index 99%
rename from selfdrive/loggerd/logger.cc
rename to system/loggerd/logger.cc
index aaf267e523..0599aa1e54 100644
--- a/selfdrive/loggerd/logger.cc
+++ b/system/loggerd/logger.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/loggerd/logger.h"
+#include "system/loggerd/logger.h"
 
 #include <sys/stat.h>
 #include <unistd.h>
diff --git a/selfdrive/loggerd/logger.h b/system/loggerd/logger.h
similarity index 100%
rename from selfdrive/loggerd/logger.h
rename to system/loggerd/logger.h
diff --git a/selfdrive/loggerd/loggerd.cc b/system/loggerd/loggerd.cc
similarity index 99%
rename from selfdrive/loggerd/loggerd.cc
rename to system/loggerd/loggerd.cc
index e09cdfaa9e..a7f7db4801 100644
--- a/selfdrive/loggerd/loggerd.cc
+++ b/system/loggerd/loggerd.cc
@@ -1,5 +1,5 @@
-#include "selfdrive/loggerd/loggerd.h"
-#include "selfdrive/loggerd/video_writer.h"
+#include "system/loggerd/loggerd.h"
+#include "system/loggerd/video_writer.h"
 
 ExitHandler do_exit;
 
diff --git a/selfdrive/loggerd/loggerd.h b/system/loggerd/loggerd.h
similarity index 92%
rename from selfdrive/loggerd/loggerd.h
rename to system/loggerd/loggerd.h
index 1fa6349828..1b8f9e0d2a 100644
--- a/selfdrive/loggerd/loggerd.h
+++ b/system/loggerd/loggerd.h
@@ -23,13 +23,13 @@
 #include "common/util.h"
 #include "system/hardware/hw.h"
 
-#include "selfdrive/loggerd/encoder/encoder.h"
-#include "selfdrive/loggerd/logger.h"
+#include "system/loggerd/encoder/encoder.h"
+#include "system/loggerd/logger.h"
 #ifdef QCOM2
-#include "selfdrive/loggerd/encoder/v4l_encoder.h"
+#include "system/loggerd/encoder/v4l_encoder.h"
 #define Encoder V4LEncoder
 #else
-#include "selfdrive/loggerd/encoder/ffmpeg_encoder.h"
+#include "system/loggerd/encoder/ffmpeg_encoder.h"
 #define Encoder FfmpegEncoder
 #endif
 
diff --git a/system/loggerd/tests/__init__.py b/system/loggerd/tests/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/loggerd/tests/fill_eon.py b/system/loggerd/tests/fill_eon.py
similarity index 79%
rename from selfdrive/loggerd/tests/fill_eon.py
rename to system/loggerd/tests/fill_eon.py
index b40982fa9f..e0c52ea0d7 100755
--- a/selfdrive/loggerd/tests/fill_eon.py
+++ b/system/loggerd/tests/fill_eon.py
@@ -3,8 +3,8 @@
 
 import os
 
-from selfdrive.loggerd.config import ROOT, get_available_percent
-from selfdrive.loggerd.tests.loggerd_tests_common import create_random_file
+from system.loggerd.config import ROOT, get_available_percent
+from system.loggerd.tests.loggerd_tests_common import create_random_file
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py
similarity index 98%
rename from selfdrive/loggerd/tests/loggerd_tests_common.py
rename to system/loggerd/tests/loggerd_tests_common.py
index 80cfb162f1..6aca83858b 100644
--- a/selfdrive/loggerd/tests/loggerd_tests_common.py
+++ b/system/loggerd/tests/loggerd_tests_common.py
@@ -5,7 +5,7 @@ import random
 import tempfile
 import unittest
 
-import selfdrive.loggerd.uploader as uploader
+import system.loggerd.uploader as uploader
 
 def create_random_file(file_path, size_mb, lock=False):
   try:
diff --git a/selfdrive/loggerd/tests/test_deleter.py b/system/loggerd/tests/test_deleter.py
similarity index 96%
rename from selfdrive/loggerd/tests/test_deleter.py
rename to system/loggerd/tests/test_deleter.py
index 80fb5c997f..5b54a43f3b 100755
--- a/selfdrive/loggerd/tests/test_deleter.py
+++ b/system/loggerd/tests/test_deleter.py
@@ -6,8 +6,8 @@ import unittest
 from collections import namedtuple
 
 from common.timeout import Timeout, TimeoutException
-import selfdrive.loggerd.deleter as deleter
-from selfdrive.loggerd.tests.loggerd_tests_common import UploaderTestCase
+import system.loggerd.deleter as deleter
+from system.loggerd.tests.loggerd_tests_common import UploaderTestCase
 
 Stats = namedtuple("Stats", ['f_bavail', 'f_blocks', 'f_frsize'])
 
diff --git a/selfdrive/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py
similarity index 99%
rename from selfdrive/loggerd/tests/test_encoder.py
rename to system/loggerd/tests/test_encoder.py
index 1b9bcef2d7..81f4e9fb9d 100755
--- a/selfdrive/loggerd/tests/test_encoder.py
+++ b/system/loggerd/tests/test_encoder.py
@@ -14,7 +14,7 @@ from tqdm import trange
 from common.params import Params
 from common.timeout import Timeout
 from system.hardware import TICI
-from selfdrive.loggerd.config import ROOT
+from system.loggerd.config import ROOT
 from selfdrive.manager.process_config import managed_processes
 from tools.lib.logreader import LogReader
 
diff --git a/selfdrive/loggerd/tests/test_logger.cc b/system/loggerd/tests/test_logger.cc
similarity index 99%
rename from selfdrive/loggerd/tests/test_logger.cc
rename to system/loggerd/tests/test_logger.cc
index ba7835d632..9c82299091 100644
--- a/selfdrive/loggerd/tests/test_logger.cc
+++ b/system/loggerd/tests/test_logger.cc
@@ -9,7 +9,7 @@
 #include "catch2/catch.hpp"
 #include "cereal/messaging/messaging.h"
 #include "common/util.h"
-#include "selfdrive/loggerd/logger.h"
+#include "system/loggerd/logger.h"
 #include "tools/replay/util.h"
 
 typedef cereal::Sentinel::SentinelType SentinelType;
diff --git a/selfdrive/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
similarity index 96%
rename from selfdrive/loggerd/tests/test_loggerd.py
rename to system/loggerd/tests/test_loggerd.py
index 857dc5c4e9..f39b8bb9d6 100755
--- a/selfdrive/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -15,7 +15,7 @@ from cereal.services import service_list
 from common.basedir import BASEDIR
 from common.params import Params
 from common.timeout import Timeout
-from selfdrive.loggerd.config import ROOT
+from system.loggerd.config import ROOT
 from selfdrive.manager.process_config import managed_processes
 from system.version import get_version
 from tools.lib.logreader import LogReader
@@ -51,7 +51,7 @@ class TestLoggerd(unittest.TestCase):
 
   def _gen_bootlog(self):
     with Timeout(5):
-      out = subprocess.check_output("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd"), encoding='utf-8')
+      out = subprocess.check_output("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), encoding='utf-8')
 
     log_fn = self._get_log_fn(out)
 
@@ -86,7 +86,7 @@ class TestLoggerd(unittest.TestCase):
     params.clear_all()
     for k, _, v in fake_params:
       params.put(k, v)
-    params.put("LaikadEphemerisV2", "abc")
+    params.put("LaikadEphemerisV3", "abc")
 
     lr = list(LogReader(str(self._gen_bootlog())))
     initData = lr[0].initData
@@ -103,14 +103,14 @@ class TestLoggerd(unittest.TestCase):
 
     # check params
     logged_params = {entry.key: entry.value for entry in initData.params.entries}
-    expected_params = set(k for k, _, __ in fake_params) | {'LaikadEphemerisV2'}
+    expected_params = set(k for k, _, __ in fake_params) | {'LaikadEphemerisV3'}
     assert set(logged_params.keys()) == expected_params, set(logged_params.keys()) ^ expected_params
-    assert logged_params['LaikadEphemerisV2'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['LaikadEphemerisV2'])}"
+    assert logged_params['LaikadEphemerisV3'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['LaikadEphemerisV3'])}"
     for param_key, initData_key, v in fake_params:
       self.assertEqual(getattr(initData, initData_key), v)
       self.assertEqual(logged_params[param_key].decode(), v)
 
-    params.put("LaikadEphemerisV2", "")
+    params.put("LaikadEphemerisV3", "")
 
   def test_rotation(self):
     os.environ["LOGGERD_TEST"] = "1"
diff --git a/selfdrive/loggerd/tests/test_runner.cc b/system/loggerd/tests/test_runner.cc
similarity index 100%
rename from selfdrive/loggerd/tests/test_runner.cc
rename to system/loggerd/tests/test_runner.cc
diff --git a/selfdrive/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py
similarity index 97%
rename from selfdrive/loggerd/tests/test_uploader.py
rename to system/loggerd/tests/test_uploader.py
index 6090bbe2aa..11b273cec8 100755
--- a/selfdrive/loggerd/tests/test_uploader.py
+++ b/system/loggerd/tests/test_uploader.py
@@ -7,9 +7,9 @@ import logging
 import json
 
 from system.swaglog import cloudlog
-import selfdrive.loggerd.uploader as uploader
+import system.loggerd.uploader as uploader
 
-from selfdrive.loggerd.tests.loggerd_tests_common import UploaderTestCase
+from system.loggerd.tests.loggerd_tests_common import UploaderTestCase
 
 
 class TestLogHandler(logging.Handler):
diff --git a/selfdrive/loggerd/tools/mark_all_uploaded.py b/system/loggerd/tools/mark_all_uploaded.py
similarity index 60%
rename from selfdrive/loggerd/tools/mark_all_uploaded.py
rename to system/loggerd/tools/mark_all_uploaded.py
index e60e6cfa2c..c963014748 100644
--- a/selfdrive/loggerd/tools/mark_all_uploaded.py
+++ b/system/loggerd/tools/mark_all_uploaded.py
@@ -1,7 +1,7 @@
 import os
-from selfdrive.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE
+from system.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE
 
-from selfdrive.loggerd.config import ROOT
+from system.loggerd.config import ROOT
 for folder in os.walk(ROOT):
   for file1 in folder[2]:
     full_path = os.path.join(folder[0], file1)
diff --git a/selfdrive/loggerd/tools/mark_unuploaded.py b/system/loggerd/tools/mark_unuploaded.py
similarity index 70%
rename from selfdrive/loggerd/tools/mark_unuploaded.py
rename to system/loggerd/tools/mark_unuploaded.py
index 343805d5fc..3d1d4472b0 100755
--- a/selfdrive/loggerd/tools/mark_unuploaded.py
+++ b/system/loggerd/tools/mark_unuploaded.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import os
 import sys
-from selfdrive.loggerd.uploader import UPLOAD_ATTR_NAME
+from system.loggerd.uploader import UPLOAD_ATTR_NAME
 
 for fn in sys.argv[1:]:
   print(f"unmarking {fn}")
diff --git a/selfdrive/loggerd/uploader.py b/system/loggerd/uploader.py
similarity index 98%
rename from selfdrive/loggerd/uploader.py
rename to system/loggerd/uploader.py
index f97bafecb9..d4ed6dca28 100644
--- a/selfdrive/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -16,8 +16,8 @@ from common.api import Api
 from common.params import Params
 from common.realtime import set_core_affinity
 from system.hardware import TICI
-from selfdrive.loggerd.xattr_cache import getxattr, setxattr
-from selfdrive.loggerd.config import ROOT
+from system.loggerd.xattr_cache import getxattr, setxattr
+from system.loggerd.config import ROOT
 from system.swaglog import cloudlog
 
 NetworkType = log.DeviceState.NetworkType
diff --git a/selfdrive/loggerd/video_writer.cc b/system/loggerd/video_writer.cc
similarity index 98%
rename from selfdrive/loggerd/video_writer.cc
rename to system/loggerd/video_writer.cc
index 4f79ccafc8..91bf09355f 100644
--- a/selfdrive/loggerd/video_writer.cc
+++ b/system/loggerd/video_writer.cc
@@ -2,7 +2,7 @@
 #include <cassert>
 #include <cstdlib>
 
-#include "selfdrive/loggerd/video_writer.h"
+#include "system/loggerd/video_writer.h"
 #include "common/swaglog.h"
 #include "common/util.h"
 
diff --git a/selfdrive/loggerd/video_writer.h b/system/loggerd/video_writer.h
similarity index 100%
rename from selfdrive/loggerd/video_writer.h
rename to system/loggerd/video_writer.h
diff --git a/selfdrive/loggerd/xattr_cache.py b/system/loggerd/xattr_cache.py
similarity index 100%
rename from selfdrive/loggerd/xattr_cache.py
rename to system/loggerd/xattr_cache.py
diff --git a/system/sensord/.gitignore b/system/sensord/.gitignore
new file mode 100644
index 0000000000..e9b8071b4b
--- /dev/null
+++ b/system/sensord/.gitignore
@@ -0,0 +1 @@
+_sensord
diff --git a/selfdrive/sensord/SConscript b/system/sensord/SConscript
similarity index 100%
rename from selfdrive/sensord/SConscript
rename to system/sensord/SConscript
diff --git a/system/sensord/__init__.py b/system/sensord/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/sensord/pigeond.py b/system/sensord/pigeond.py
similarity index 99%
rename from selfdrive/sensord/pigeond.py
rename to system/sensord/pigeond.py
index 9d0a62bd3b..c9ad7ff22a 100755
--- a/selfdrive/sensord/pigeond.py
+++ b/system/sensord/pigeond.py
@@ -183,6 +183,7 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool:
       pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C")
       pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x09\x01\x1E\x70")
       pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x01\x35\x01\x41\xAD")
       cloudlog.debug("pigeon configured")
 
       # try restoring almanac backup
diff --git a/selfdrive/sensord/rawgps/compare.py b/system/sensord/rawgps/compare.py
similarity index 100%
rename from selfdrive/sensord/rawgps/compare.py
rename to system/sensord/rawgps/compare.py
diff --git a/selfdrive/sensord/rawgps/modemdiag.py b/system/sensord/rawgps/modemdiag.py
similarity index 100%
rename from selfdrive/sensord/rawgps/modemdiag.py
rename to system/sensord/rawgps/modemdiag.py
diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/system/sensord/rawgps/rawgpsd.py
similarity index 98%
rename from selfdrive/sensord/rawgps/rawgpsd.py
rename to system/sensord/rawgps/rawgpsd.py
index 3fa5e927a2..f75ceee7ed 100755
--- a/selfdrive/sensord/rawgps/rawgpsd.py
+++ b/system/sensord/rawgps/rawgpsd.py
@@ -15,8 +15,8 @@ from common.gpio import gpio_init, gpio_set
 from laika.gps_time import GPSTime
 from system.hardware.tici.pins import GPIO
 from system.swaglog import cloudlog
-from selfdrive.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
-from selfdrive.sensord.rawgps.structs import (dict_unpacker, position_report, relist,
+from system.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
+from system.sensord.rawgps.structs import (dict_unpacker, position_report, relist,
                                               gps_measurement_report, gps_measurement_report_sv,
                                               glonass_measurement_report, glonass_measurement_report_sv,
                                               oemdre_measurement_report, oemdre_measurement_report_sv, oemdre_svpoly_report,
diff --git a/selfdrive/sensord/rawgps/structs.py b/system/sensord/rawgps/structs.py
similarity index 100%
rename from selfdrive/sensord/rawgps/structs.py
rename to system/sensord/rawgps/structs.py
diff --git a/selfdrive/sensord/rawgps/test_rawgps.py b/system/sensord/rawgps/test_rawgps.py
similarity index 100%
rename from selfdrive/sensord/rawgps/test_rawgps.py
rename to system/sensord/rawgps/test_rawgps.py
diff --git a/selfdrive/sensord/sensord b/system/sensord/sensord
similarity index 100%
rename from selfdrive/sensord/sensord
rename to system/sensord/sensord
diff --git a/selfdrive/sensord/sensors/bmx055_accel.cc b/system/sensord/sensors/bmx055_accel.cc
similarity index 100%
rename from selfdrive/sensord/sensors/bmx055_accel.cc
rename to system/sensord/sensors/bmx055_accel.cc
diff --git a/selfdrive/sensord/sensors/bmx055_accel.h b/system/sensord/sensors/bmx055_accel.h
similarity index 96%
rename from selfdrive/sensord/sensors/bmx055_accel.h
rename to system/sensord/sensors/bmx055_accel.h
index 8ef660a99f..2cc316e992 100644
--- a/selfdrive/sensord/sensors/bmx055_accel.h
+++ b/system/sensord/sensors/bmx055_accel.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "selfdrive/sensord/sensors/i2c_sensor.h"
+#include "system/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define BMX055_ACCEL_I2C_ADDR       0x18
diff --git a/selfdrive/sensord/sensors/bmx055_gyro.cc b/system/sensord/sensors/bmx055_gyro.cc
similarity index 100%
rename from selfdrive/sensord/sensors/bmx055_gyro.cc
rename to system/sensord/sensors/bmx055_gyro.cc
diff --git a/selfdrive/sensord/sensors/bmx055_gyro.h b/system/sensord/sensors/bmx055_gyro.h
similarity index 95%
rename from selfdrive/sensord/sensors/bmx055_gyro.h
rename to system/sensord/sensors/bmx055_gyro.h
index 80b93f128c..7be3e56563 100644
--- a/selfdrive/sensord/sensors/bmx055_gyro.h
+++ b/system/sensord/sensors/bmx055_gyro.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "selfdrive/sensord/sensors/i2c_sensor.h"
+#include "system/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define BMX055_GYRO_I2C_ADDR        0x68
diff --git a/selfdrive/sensord/sensors/bmx055_magn.cc b/system/sensord/sensors/bmx055_magn.cc
similarity index 100%
rename from selfdrive/sensord/sensors/bmx055_magn.cc
rename to system/sensord/sensors/bmx055_magn.cc
diff --git a/selfdrive/sensord/sensors/bmx055_magn.h b/system/sensord/sensors/bmx055_magn.h
similarity index 97%
rename from selfdrive/sensord/sensors/bmx055_magn.h
rename to system/sensord/sensors/bmx055_magn.h
index e4a79bc7e0..15c4e734b9 100644
--- a/selfdrive/sensord/sensors/bmx055_magn.h
+++ b/system/sensord/sensors/bmx055_magn.h
@@ -1,7 +1,7 @@
 #pragma once
 #include <tuple>
 
-#include "selfdrive/sensord/sensors/i2c_sensor.h"
+#include "system/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define BMX055_MAGN_I2C_ADDR        0x10
diff --git a/selfdrive/sensord/sensors/bmx055_temp.cc b/system/sensord/sensors/bmx055_temp.cc
similarity index 94%
rename from selfdrive/sensord/sensors/bmx055_temp.cc
rename to system/sensord/sensors/bmx055_temp.cc
index 95b8068ac1..68ee0da1d6 100644
--- a/selfdrive/sensord/sensors/bmx055_temp.cc
+++ b/system/sensord/sensors/bmx055_temp.cc
@@ -2,7 +2,7 @@
 
 #include <cassert>
 
-#include "selfdrive/sensord/sensors/bmx055_accel.h"
+#include "system/sensord/sensors/bmx055_accel.h"
 #include "common/swaglog.h"
 #include "common/timing.h"
 
diff --git a/selfdrive/sensord/sensors/bmx055_temp.h b/system/sensord/sensors/bmx055_temp.h
similarity index 71%
rename from selfdrive/sensord/sensors/bmx055_temp.h
rename to system/sensord/sensors/bmx055_temp.h
index 0b6802deaa..a2eabae395 100644
--- a/selfdrive/sensord/sensors/bmx055_temp.h
+++ b/system/sensord/sensors/bmx055_temp.h
@@ -1,7 +1,7 @@
 #pragma once
 
-#include "selfdrive/sensord/sensors/bmx055_accel.h"
-#include "selfdrive/sensord/sensors/i2c_sensor.h"
+#include "system/sensord/sensors/bmx055_accel.h"
+#include "system/sensord/sensors/i2c_sensor.h"
 
 class BMX055_Temp : public I2CSensor {
   uint8_t get_device_address() {return BMX055_ACCEL_I2C_ADDR;}
diff --git a/selfdrive/sensord/sensors/constants.h b/system/sensord/sensors/constants.h
similarity index 100%
rename from selfdrive/sensord/sensors/constants.h
rename to system/sensord/sensors/constants.h
diff --git a/selfdrive/sensord/sensors/file_sensor.cc b/system/sensord/sensors/file_sensor.cc
similarity index 100%
rename from selfdrive/sensord/sensors/file_sensor.cc
rename to system/sensord/sensors/file_sensor.cc
diff --git a/selfdrive/sensord/sensors/file_sensor.h b/system/sensord/sensors/file_sensor.h
similarity index 88%
rename from selfdrive/sensord/sensors/file_sensor.h
rename to system/sensord/sensors/file_sensor.h
index 39d695167d..07d7e8f946 100644
--- a/selfdrive/sensord/sensors/file_sensor.h
+++ b/system/sensord/sensors/file_sensor.h
@@ -4,7 +4,7 @@
 #include <string>
 
 #include "cereal/gen/cpp/log.capnp.h"
-#include "selfdrive/sensord/sensors/sensor.h"
+#include "system/sensord/sensors/sensor.h"
 
 class FileSensor : public Sensor {
 protected:
diff --git a/selfdrive/sensord/sensors/i2c_sensor.cc b/system/sensord/sensors/i2c_sensor.cc
similarity index 100%
rename from selfdrive/sensord/sensors/i2c_sensor.cc
rename to system/sensord/sensors/i2c_sensor.cc
diff --git a/selfdrive/sensord/sensors/i2c_sensor.h b/system/sensord/sensors/i2c_sensor.h
similarity index 93%
rename from selfdrive/sensord/sensors/i2c_sensor.h
rename to system/sensord/sensors/i2c_sensor.h
index 08ca6f09cd..ccac526c12 100644
--- a/selfdrive/sensord/sensors/i2c_sensor.h
+++ b/system/sensord/sensors/i2c_sensor.h
@@ -8,8 +8,8 @@
 #include "common/gpio.h"
 
 #include "common/swaglog.h"
-#include "selfdrive/sensord/sensors/constants.h"
-#include "selfdrive/sensord/sensors/sensor.h"
+#include "system/sensord/sensors/constants.h"
+#include "system/sensord/sensors/sensor.h"
 
 int16_t read_12_bit(uint8_t lsb, uint8_t msb);
 int16_t read_16_bit(uint8_t lsb, uint8_t msb);
diff --git a/selfdrive/sensord/sensors/light_sensor.cc b/system/sensord/sensors/light_sensor.cc
similarity index 92%
rename from selfdrive/sensord/sensors/light_sensor.cc
rename to system/sensord/sensors/light_sensor.cc
index 58c602ea39..99e321b47d 100644
--- a/selfdrive/sensord/sensors/light_sensor.cc
+++ b/system/sensord/sensors/light_sensor.cc
@@ -3,7 +3,7 @@
 #include <string>
 
 #include "common/timing.h"
-#include "selfdrive/sensord/sensors/constants.h"
+#include "system/sensord/sensors/constants.h"
 
 LightSensor::LightSensor(std::string filename) : FileSensor(filename) {}
 
diff --git a/selfdrive/sensord/sensors/light_sensor.h b/system/sensord/sensors/light_sensor.h
similarity index 100%
rename from selfdrive/sensord/sensors/light_sensor.h
rename to system/sensord/sensors/light_sensor.h
diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.cc b/system/sensord/sensors/lsm6ds3_accel.cc
similarity index 100%
rename from selfdrive/sensord/sensors/lsm6ds3_accel.cc
rename to system/sensord/sensors/lsm6ds3_accel.cc
diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.h b/system/sensord/sensors/lsm6ds3_accel.h
similarity index 97%
rename from selfdrive/sensord/sensors/lsm6ds3_accel.h
rename to system/sensord/sensors/lsm6ds3_accel.h
index c3f66f5803..69667cb759 100644
--- a/selfdrive/sensord/sensors/lsm6ds3_accel.h
+++ b/system/sensord/sensors/lsm6ds3_accel.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "selfdrive/sensord/sensors/i2c_sensor.h"
+#include "system/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define LSM6DS3_ACCEL_I2C_ADDR       0x6A
diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc b/system/sensord/sensors/lsm6ds3_gyro.cc
similarity index 100%
rename from selfdrive/sensord/sensors/lsm6ds3_gyro.cc
rename to system/sensord/sensors/lsm6ds3_gyro.cc
diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.h b/system/sensord/sensors/lsm6ds3_gyro.h
similarity index 96%
rename from selfdrive/sensord/sensors/lsm6ds3_gyro.h
rename to system/sensord/sensors/lsm6ds3_gyro.h
index 220e6b0cec..adaae62dd2 100644
--- a/selfdrive/sensord/sensors/lsm6ds3_gyro.h
+++ b/system/sensord/sensors/lsm6ds3_gyro.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "selfdrive/sensord/sensors/i2c_sensor.h"
+#include "system/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define LSM6DS3_GYRO_I2C_ADDR       0x6A
diff --git a/selfdrive/sensord/sensors/lsm6ds3_temp.cc b/system/sensord/sensors/lsm6ds3_temp.cc
similarity index 100%
rename from selfdrive/sensord/sensors/lsm6ds3_temp.cc
rename to system/sensord/sensors/lsm6ds3_temp.cc
diff --git a/selfdrive/sensord/sensors/lsm6ds3_temp.h b/system/sensord/sensors/lsm6ds3_temp.h
similarity index 92%
rename from selfdrive/sensord/sensors/lsm6ds3_temp.h
rename to system/sensord/sensors/lsm6ds3_temp.h
index 1d6bcc228a..1b5b621814 100644
--- a/selfdrive/sensord/sensors/lsm6ds3_temp.h
+++ b/system/sensord/sensors/lsm6ds3_temp.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "selfdrive/sensord/sensors/i2c_sensor.h"
+#include "system/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define LSM6DS3_TEMP_I2C_ADDR       0x6A
diff --git a/selfdrive/sensord/sensors/mmc5603nj_magn.cc b/system/sensord/sensors/mmc5603nj_magn.cc
similarity index 100%
rename from selfdrive/sensord/sensors/mmc5603nj_magn.cc
rename to system/sensord/sensors/mmc5603nj_magn.cc
diff --git a/selfdrive/sensord/sensors/mmc5603nj_magn.h b/system/sensord/sensors/mmc5603nj_magn.h
similarity index 94%
rename from selfdrive/sensord/sensors/mmc5603nj_magn.h
rename to system/sensord/sensors/mmc5603nj_magn.h
index a364c7c37a..fce3f3fecb 100644
--- a/selfdrive/sensord/sensors/mmc5603nj_magn.h
+++ b/system/sensord/sensors/mmc5603nj_magn.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "selfdrive/sensord/sensors/i2c_sensor.h"
+#include "system/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define MMC5603NJ_I2C_ADDR       0x30
diff --git a/selfdrive/sensord/sensors/sensor.h b/system/sensord/sensors/sensor.h
similarity index 100%
rename from selfdrive/sensord/sensors/sensor.h
rename to system/sensord/sensors/sensor.h
diff --git a/selfdrive/sensord/sensors_qcom2.cc b/system/sensord/sensors_qcom2.cc
similarity index 90%
rename from selfdrive/sensord/sensors_qcom2.cc
rename to system/sensord/sensors_qcom2.cc
index fc8dc8620b..349c67f498 100644
--- a/selfdrive/sensord/sensors_qcom2.cc
+++ b/system/sensord/sensors_qcom2.cc
@@ -12,17 +12,17 @@
 #include "common/swaglog.h"
 #include "common/timing.h"
 #include "common/util.h"
-#include "selfdrive/sensord/sensors/bmx055_accel.h"
-#include "selfdrive/sensord/sensors/bmx055_gyro.h"
-#include "selfdrive/sensord/sensors/bmx055_magn.h"
-#include "selfdrive/sensord/sensors/bmx055_temp.h"
-#include "selfdrive/sensord/sensors/constants.h"
-#include "selfdrive/sensord/sensors/light_sensor.h"
-#include "selfdrive/sensord/sensors/lsm6ds3_accel.h"
-#include "selfdrive/sensord/sensors/lsm6ds3_gyro.h"
-#include "selfdrive/sensord/sensors/lsm6ds3_temp.h"
-#include "selfdrive/sensord/sensors/mmc5603nj_magn.h"
-#include "selfdrive/sensord/sensors/sensor.h"
+#include "system/sensord/sensors/bmx055_accel.h"
+#include "system/sensord/sensors/bmx055_gyro.h"
+#include "system/sensord/sensors/bmx055_magn.h"
+#include "system/sensord/sensors/bmx055_temp.h"
+#include "system/sensord/sensors/constants.h"
+#include "system/sensord/sensors/light_sensor.h"
+#include "system/sensord/sensors/lsm6ds3_accel.h"
+#include "system/sensord/sensors/lsm6ds3_gyro.h"
+#include "system/sensord/sensors/lsm6ds3_temp.h"
+#include "system/sensord/sensors/mmc5603nj_magn.h"
+#include "system/sensord/sensors/sensor.h"
 
 #define I2C_BUS_IMU 1
 
diff --git a/system/sensord/tests/__init__.py b/system/sensord/tests/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/sensord/tests/test_pigeond.py b/system/sensord/tests/test_pigeond.py
similarity index 100%
rename from selfdrive/sensord/tests/test_pigeond.py
rename to system/sensord/tests/test_pigeond.py
diff --git a/selfdrive/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py
similarity index 100%
rename from selfdrive/sensord/tests/test_sensord.py
rename to system/sensord/tests/test_sensord.py
diff --git a/selfdrive/sensord/tests/ttff_test.py b/system/sensord/tests/ttff_test.py
similarity index 100%
rename from selfdrive/sensord/tests/ttff_test.py
rename to system/sensord/tests/ttff_test.py
diff --git a/system/ubloxd/.gitignore b/system/ubloxd/.gitignore
new file mode 100644
index 0000000000..05263ff67c
--- /dev/null
+++ b/system/ubloxd/.gitignore
@@ -0,0 +1,2 @@
+ubloxd
+tests/test_glonass_runner
diff --git a/system/ubloxd/SConscript b/system/ubloxd/SConscript
new file mode 100644
index 0000000000..fff0986efd
--- /dev/null
+++ b/system/ubloxd/SConscript
@@ -0,0 +1,20 @@
+Import('env', 'common', 'cereal', 'messaging')
+
+loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'kaitai', 'pthread']
+
+if GetOption('kaitai'):
+  generated = Dir('generated').srcnode().abspath
+  cmd = f"kaitai-struct-compiler --target cpp_stl --outdir {generated} $SOURCES"
+  env.Command(['generated/ubx.cpp', 'generated/ubx.h'], 'ubx.ksy', cmd)
+  env.Command(['generated/gps.cpp', 'generated/gps.h'], 'gps.ksy', cmd)
+  glonass = env.Command(['generated/glonass.cpp', 'generated/glonass.h'], 'glonass.ksy', cmd)
+
+  # kaitai issue: https://github.com/kaitai-io/kaitai_struct/issues/910
+  patch = env.Command(None, 'glonass_fix.patch', 'git apply $SOURCES')
+  env.Depends(patch, glonass)
+
+glonass_obj = env.Object('generated/glonass.cpp')
+env.Program("ubloxd", ["ubloxd.cc", "ublox_msg.cc", "generated/ubx.cpp", "generated/gps.cpp",  glonass_obj], LIBS=loc_libs)
+
+if GetOption('test'):
+  env.Program("tests/test_glonass_runner", ['tests/test_glonass_runner.cc', 'tests/test_glonass_kaitai.cc', glonass_obj], LIBS=[loc_libs])
\ No newline at end of file
diff --git a/selfdrive/locationd/generated/glonass.cpp b/system/ubloxd/generated/glonass.cpp
similarity index 100%
rename from selfdrive/locationd/generated/glonass.cpp
rename to system/ubloxd/generated/glonass.cpp
diff --git a/selfdrive/locationd/generated/glonass.h b/system/ubloxd/generated/glonass.h
similarity index 100%
rename from selfdrive/locationd/generated/glonass.h
rename to system/ubloxd/generated/glonass.h
diff --git a/selfdrive/locationd/generated/gps.cpp b/system/ubloxd/generated/gps.cpp
similarity index 100%
rename from selfdrive/locationd/generated/gps.cpp
rename to system/ubloxd/generated/gps.cpp
diff --git a/selfdrive/locationd/generated/gps.h b/system/ubloxd/generated/gps.h
similarity index 100%
rename from selfdrive/locationd/generated/gps.h
rename to system/ubloxd/generated/gps.h
diff --git a/selfdrive/locationd/generated/ubx.cpp b/system/ubloxd/generated/ubx.cpp
similarity index 67%
rename from selfdrive/locationd/generated/ubx.cpp
rename to system/ubloxd/generated/ubx.cpp
index 34fe1e52ca..81b82ccafc 100644
--- a/selfdrive/locationd/generated/ubx.cpp
+++ b/system/ubloxd/generated/ubx.cpp
@@ -40,6 +40,11 @@ void ubx_t::_read() {
         m_body = new rxm_sfrbx_t(m__io, this, m__root);
         break;
     }
+    case 309: {
+        n_body = false;
+        m_body = new nav_sat_t(m__io, this, m__root);
+        break;
+    }
     case 2571: {
         n_body = false;
         m_body = new mon_hw2_t(m__io, this, m__root);
@@ -70,9 +75,9 @@ void ubx_t::_clean_up() {
 ubx_t::rxm_rawx_t::rxm_rawx_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
     m__parent = p__parent;
     m__root = p__root;
-    m_measurements = 0;
-    m__raw_measurements = 0;
-    m__io__raw_measurements = 0;
+    m_meas = 0;
+    m__raw_meas = 0;
+    m__io__raw_meas = 0;
 
     try {
         _read();
@@ -89,15 +94,15 @@ void ubx_t::rxm_rawx_t::_read() {
     m_num_meas = m__io->read_u1();
     m_rec_stat = m__io->read_u1();
     m_reserved1 = m__io->read_bytes(3);
-    m__raw_measurements = new std::vector<std::string>();
-    m__io__raw_measurements = new std::vector<kaitai::kstream*>();
-    m_measurements = new std::vector<meas_t*>();
-    const int l_measurements = num_meas();
-    for (int i = 0; i < l_measurements; i++) {
-        m__raw_measurements->push_back(m__io->read_bytes(32));
-        kaitai::kstream* io__raw_measurements = new kaitai::kstream(m__raw_measurements->at(m__raw_measurements->size() - 1));
-        m__io__raw_measurements->push_back(io__raw_measurements);
-        m_measurements->push_back(new meas_t(io__raw_measurements, this, m__root));
+    m__raw_meas = new std::vector<std::string>();
+    m__io__raw_meas = new std::vector<kaitai::kstream*>();
+    m_meas = new std::vector<measurement_t*>();
+    const int l_meas = num_meas();
+    for (int i = 0; i < l_meas; i++) {
+        m__raw_meas->push_back(m__io->read_bytes(32));
+        kaitai::kstream* io__raw_meas = new kaitai::kstream(m__raw_meas->at(m__raw_meas->size() - 1));
+        m__io__raw_meas->push_back(io__raw_meas);
+        m_meas->push_back(new measurement_t(io__raw_meas, this, m__root));
     }
 }
 
@@ -106,24 +111,24 @@ ubx_t::rxm_rawx_t::~rxm_rawx_t() {
 }
 
 void ubx_t::rxm_rawx_t::_clean_up() {
-    if (m__raw_measurements) {
-        delete m__raw_measurements; m__raw_measurements = 0;
+    if (m__raw_meas) {
+        delete m__raw_meas; m__raw_meas = 0;
     }
-    if (m__io__raw_measurements) {
-        for (std::vector<kaitai::kstream*>::iterator it = m__io__raw_measurements->begin(); it != m__io__raw_measurements->end(); ++it) {
+    if (m__io__raw_meas) {
+        for (std::vector<kaitai::kstream*>::iterator it = m__io__raw_meas->begin(); it != m__io__raw_meas->end(); ++it) {
             delete *it;
         }
-        delete m__io__raw_measurements; m__io__raw_measurements = 0;
+        delete m__io__raw_meas; m__io__raw_meas = 0;
     }
-    if (m_measurements) {
-        for (std::vector<meas_t*>::iterator it = m_measurements->begin(); it != m_measurements->end(); ++it) {
+    if (m_meas) {
+        for (std::vector<measurement_t*>::iterator it = m_meas->begin(); it != m_meas->end(); ++it) {
             delete *it;
         }
-        delete m_measurements; m_measurements = 0;
+        delete m_meas; m_meas = 0;
     }
 }
 
-ubx_t::rxm_rawx_t::meas_t::meas_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
+ubx_t::rxm_rawx_t::measurement_t::measurement_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
     m__parent = p__parent;
     m__root = p__root;
 
@@ -135,7 +140,7 @@ ubx_t::rxm_rawx_t::meas_t::meas_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__
     }
 }
 
-void ubx_t::rxm_rawx_t::meas_t::_read() {
+void ubx_t::rxm_rawx_t::measurement_t::_read() {
     m_pr_mes = m__io->read_f8le();
     m_cp_mes = m__io->read_f8le();
     m_do_mes = m__io->read_f4le();
@@ -152,11 +157,11 @@ void ubx_t::rxm_rawx_t::meas_t::_read() {
     m_reserved3 = m__io->read_bytes(1);
 }
 
-ubx_t::rxm_rawx_t::meas_t::~meas_t() {
+ubx_t::rxm_rawx_t::measurement_t::~measurement_t() {
     _clean_up();
 }
 
-void ubx_t::rxm_rawx_t::meas_t::_clean_up() {
+void ubx_t::rxm_rawx_t::measurement_t::_clean_up() {
 }
 
 ubx_t::rxm_sfrbx_t::rxm_sfrbx_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
@@ -198,6 +203,89 @@ void ubx_t::rxm_sfrbx_t::_clean_up() {
     }
 }
 
+ubx_t::nav_sat_t::nav_sat_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
+    m__parent = p__parent;
+    m__root = p__root;
+    m_svs = 0;
+    m__raw_svs = 0;
+    m__io__raw_svs = 0;
+
+    try {
+        _read();
+    } catch(...) {
+        _clean_up();
+        throw;
+    }
+}
+
+void ubx_t::nav_sat_t::_read() {
+    m_itow = m__io->read_u4le();
+    m_version = m__io->read_u1();
+    m_num_svs = m__io->read_u1();
+    m_reserved = m__io->read_bytes(2);
+    m__raw_svs = new std::vector<std::string>();
+    m__io__raw_svs = new std::vector<kaitai::kstream*>();
+    m_svs = new std::vector<nav_t*>();
+    const int l_svs = num_svs();
+    for (int i = 0; i < l_svs; i++) {
+        m__raw_svs->push_back(m__io->read_bytes(12));
+        kaitai::kstream* io__raw_svs = new kaitai::kstream(m__raw_svs->at(m__raw_svs->size() - 1));
+        m__io__raw_svs->push_back(io__raw_svs);
+        m_svs->push_back(new nav_t(io__raw_svs, this, m__root));
+    }
+}
+
+ubx_t::nav_sat_t::~nav_sat_t() {
+    _clean_up();
+}
+
+void ubx_t::nav_sat_t::_clean_up() {
+    if (m__raw_svs) {
+        delete m__raw_svs; m__raw_svs = 0;
+    }
+    if (m__io__raw_svs) {
+        for (std::vector<kaitai::kstream*>::iterator it = m__io__raw_svs->begin(); it != m__io__raw_svs->end(); ++it) {
+            delete *it;
+        }
+        delete m__io__raw_svs; m__io__raw_svs = 0;
+    }
+    if (m_svs) {
+        for (std::vector<nav_t*>::iterator it = m_svs->begin(); it != m_svs->end(); ++it) {
+            delete *it;
+        }
+        delete m_svs; m_svs = 0;
+    }
+}
+
+ubx_t::nav_sat_t::nav_t::nav_t(kaitai::kstream* p__io, ubx_t::nav_sat_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
+    m__parent = p__parent;
+    m__root = p__root;
+
+    try {
+        _read();
+    } catch(...) {
+        _clean_up();
+        throw;
+    }
+}
+
+void ubx_t::nav_sat_t::nav_t::_read() {
+    m_gnss_id = static_cast<ubx_t::gnss_type_t>(m__io->read_u1());
+    m_sv_id = m__io->read_u1();
+    m_cno = m__io->read_u1();
+    m_elev = m__io->read_s1();
+    m_azim = m__io->read_s2le();
+    m_pr_res = m__io->read_s2le();
+    m_flags = m__io->read_u4le();
+}
+
+ubx_t::nav_sat_t::nav_t::~nav_t() {
+    _clean_up();
+}
+
+void ubx_t::nav_sat_t::nav_t::_clean_up() {
+}
+
 ubx_t::nav_pvt_t::nav_pvt_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
     m__parent = p__parent;
     m__root = p__root;
diff --git a/selfdrive/locationd/generated/ubx.h b/system/ubloxd/generated/ubx.h
similarity index 80%
rename from selfdrive/locationd/generated/ubx.h
rename to system/ubloxd/generated/ubx.h
index 6be4ce8c4b..022108489f 100644
--- a/selfdrive/locationd/generated/ubx.h
+++ b/system/ubloxd/generated/ubx.h
@@ -16,6 +16,7 @@ class ubx_t : public kaitai::kstruct {
 public:
     class rxm_rawx_t;
     class rxm_sfrbx_t;
+    class nav_sat_t;
     class nav_pvt_t;
     class mon_hw2_t;
     class mon_hw_t;
@@ -42,7 +43,7 @@ public:
     class rxm_rawx_t : public kaitai::kstruct {
 
     public:
-        class meas_t;
+        class measurement_t;
 
         rxm_rawx_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0);
 
@@ -53,18 +54,18 @@ public:
     public:
         ~rxm_rawx_t();
 
-        class meas_t : public kaitai::kstruct {
+        class measurement_t : public kaitai::kstruct {
 
         public:
 
-            meas_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent = 0, ubx_t* p__root = 0);
+            measurement_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent = 0, ubx_t* p__root = 0);
 
         private:
             void _read();
             void _clean_up();
 
         public:
-            ~meas_t();
+            ~measurement_t();
 
         private:
             double m_pr_mes;
@@ -110,11 +111,11 @@ public:
         uint8_t m_num_meas;
         uint8_t m_rec_stat;
         std::string m_reserved1;
-        std::vector<meas_t*>* m_measurements;
+        std::vector<measurement_t*>* m_meas;
         ubx_t* m__root;
         ubx_t* m__parent;
-        std::vector<std::string>* m__raw_measurements;
-        std::vector<kaitai::kstream*>* m__io__raw_measurements;
+        std::vector<std::string>* m__raw_meas;
+        std::vector<kaitai::kstream*>* m__io__raw_meas;
 
     public:
         double rcv_tow() const { return m_rcv_tow; }
@@ -123,11 +124,11 @@ public:
         uint8_t num_meas() const { return m_num_meas; }
         uint8_t rec_stat() const { return m_rec_stat; }
         std::string reserved1() const { return m_reserved1; }
-        std::vector<meas_t*>* measurements() const { return m_measurements; }
+        std::vector<measurement_t*>* meas() const { return m_meas; }
         ubx_t* _root() const { return m__root; }
         ubx_t* _parent() const { return m__parent; }
-        std::vector<std::string>* _raw_measurements() const { return m__raw_measurements; }
-        std::vector<kaitai::kstream*>* _io__raw_measurements() const { return m__io__raw_measurements; }
+        std::vector<std::string>* _raw_meas() const { return m__raw_meas; }
+        std::vector<kaitai::kstream*>* _io__raw_meas() const { return m__io__raw_meas; }
     };
 
     class rxm_sfrbx_t : public kaitai::kstruct {
@@ -170,6 +171,79 @@ public:
         ubx_t* _parent() const { return m__parent; }
     };
 
+    class nav_sat_t : public kaitai::kstruct {
+
+    public:
+        class nav_t;
+
+        nav_sat_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0);
+
+    private:
+        void _read();
+        void _clean_up();
+
+    public:
+        ~nav_sat_t();
+
+        class nav_t : public kaitai::kstruct {
+
+        public:
+
+            nav_t(kaitai::kstream* p__io, ubx_t::nav_sat_t* p__parent = 0, ubx_t* p__root = 0);
+
+        private:
+            void _read();
+            void _clean_up();
+
+        public:
+            ~nav_t();
+
+        private:
+            gnss_type_t m_gnss_id;
+            uint8_t m_sv_id;
+            uint8_t m_cno;
+            int8_t m_elev;
+            int16_t m_azim;
+            int16_t m_pr_res;
+            uint32_t m_flags;
+            ubx_t* m__root;
+            ubx_t::nav_sat_t* m__parent;
+
+        public:
+            gnss_type_t gnss_id() const { return m_gnss_id; }
+            uint8_t sv_id() const { return m_sv_id; }
+            uint8_t cno() const { return m_cno; }
+            int8_t elev() const { return m_elev; }
+            int16_t azim() const { return m_azim; }
+            int16_t pr_res() const { return m_pr_res; }
+            uint32_t flags() const { return m_flags; }
+            ubx_t* _root() const { return m__root; }
+            ubx_t::nav_sat_t* _parent() const { return m__parent; }
+        };
+
+    private:
+        uint32_t m_itow;
+        uint8_t m_version;
+        uint8_t m_num_svs;
+        std::string m_reserved;
+        std::vector<nav_t*>* m_svs;
+        ubx_t* m__root;
+        ubx_t* m__parent;
+        std::vector<std::string>* m__raw_svs;
+        std::vector<kaitai::kstream*>* m__io__raw_svs;
+
+    public:
+        uint32_t itow() const { return m_itow; }
+        uint8_t version() const { return m_version; }
+        uint8_t num_svs() const { return m_num_svs; }
+        std::string reserved() const { return m_reserved; }
+        std::vector<nav_t*>* svs() const { return m_svs; }
+        ubx_t* _root() const { return m__root; }
+        ubx_t* _parent() const { return m__parent; }
+        std::vector<std::string>* _raw_svs() const { return m__raw_svs; }
+        std::vector<kaitai::kstream*>* _io__raw_svs() const { return m__io__raw_svs; }
+    };
+
     class nav_pvt_t : public kaitai::kstruct {
 
     public:
diff --git a/selfdrive/locationd/glonass.ksy b/system/ubloxd/glonass.ksy
similarity index 100%
rename from selfdrive/locationd/glonass.ksy
rename to system/ubloxd/glonass.ksy
diff --git a/selfdrive/locationd/glonass_fix.patch b/system/ubloxd/glonass_fix.patch
similarity index 68%
rename from selfdrive/locationd/glonass_fix.patch
rename to system/ubloxd/glonass_fix.patch
index fa34a8ef15..7eb973a348 100644
--- a/selfdrive/locationd/glonass_fix.patch
+++ b/system/ubloxd/glonass_fix.patch
@@ -1,7 +1,7 @@
-diff --git a/selfdrive/locationd/generated/glonass.cpp b/selfdrive/locationd/generated/glonass.cpp
+diff --git a/system/ubloxd/generated/glonass.cpp b/system/ubloxd/generated/glonass.cpp
 index 5b17bc327..b5c6aa610 100644
---- a/selfdrive/locationd/generated/glonass.cpp
-+++ b/selfdrive/locationd/generated/glonass.cpp
+--- a/system/ubloxd/generated/glonass.cpp
++++ b/system/ubloxd/generated/glonass.cpp
 @@ -17,7 +17,7 @@ glonass_t::glonass_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent, glonass
  void glonass_t::_read() {
      m_idle_chip = m__io->read_bits_int_be(1);
diff --git a/selfdrive/locationd/gps.ksy b/system/ubloxd/gps.ksy
similarity index 100%
rename from selfdrive/locationd/gps.ksy
rename to system/ubloxd/gps.ksy
diff --git a/selfdrive/locationd/test/print_gps_stats.py b/system/ubloxd/tests/print_gps_stats.py
similarity index 100%
rename from selfdrive/locationd/test/print_gps_stats.py
rename to system/ubloxd/tests/print_gps_stats.py
diff --git a/selfdrive/locationd/test/test_glonass_kaitai.cc b/system/ubloxd/tests/test_glonass_kaitai.cc
similarity index 99%
rename from selfdrive/locationd/test/test_glonass_kaitai.cc
rename to system/ubloxd/tests/test_glonass_kaitai.cc
index 22f5202a3d..5ad274142a 100644
--- a/selfdrive/locationd/test/test_glonass_kaitai.cc
+++ b/system/ubloxd/tests/test_glonass_kaitai.cc
@@ -6,7 +6,7 @@
 #include <ctime>
 
 #include "catch2/catch.hpp"
-#include "selfdrive/locationd/generated/glonass.h"
+#include "system/ubloxd/generated/glonass.h"
 
 typedef std::vector<std::pair<int, int64_t>> string_data;
 
diff --git a/selfdrive/locationd/test/test_glonass_runner.cc b/system/ubloxd/tests/test_glonass_runner.cc
similarity index 100%
rename from selfdrive/locationd/test/test_glonass_runner.cc
rename to system/ubloxd/tests/test_glonass_runner.cc
diff --git a/selfdrive/locationd/test/test_ublox_processing.py b/system/ubloxd/tests/test_ublox_processing.py
similarity index 100%
rename from selfdrive/locationd/test/test_ublox_processing.py
rename to system/ubloxd/tests/test_ublox_processing.py
diff --git a/selfdrive/locationd/test/ublox.py b/system/ubloxd/tests/ublox.py
similarity index 99%
rename from selfdrive/locationd/test/ublox.py
rename to system/ubloxd/tests/ublox.py
index 9cffbeac40..0d271ad785 100644
--- a/selfdrive/locationd/test/ublox.py
+++ b/system/ubloxd/tests/ublox.py
@@ -48,12 +48,14 @@ MSG_NAV_TIMEGPS = 0x20
 MSG_NAV_TIMEUTC = 0x21
 MSG_NAV_CLOCK = 0x22
 MSG_NAV_SVINFO = 0x30
+MSG_NAV_SAT = 0x35
 MSG_NAV_AOPSTATUS = 0x60
 MSG_NAV_DGPS = 0x31
 MSG_NAV_DOP = 0x04
 MSG_NAV_EKFSTATUS = 0x40
 MSG_NAV_SBAS = 0x32
 MSG_NAV_SOL = 0x06
+MSG_NAV_SAT = 0x35
 
 # RXM messages
 MSG_RXM_RAW = 0x15
diff --git a/selfdrive/locationd/test/ubloxd.py b/system/ubloxd/tests/ubloxd.py
similarity index 98%
rename from selfdrive/locationd/test/ubloxd.py
rename to system/ubloxd/tests/ubloxd.py
index 82aa502ceb..7c7e68b23b 100755
--- a/selfdrive/locationd/test/ubloxd.py
+++ b/system/ubloxd/tests/ubloxd.py
@@ -60,6 +60,7 @@ def configure_ublox(dev):
   dev.configure_message_rate(ublox.CLASS_RXM, ublox.MSG_RXM_SFRBX, 1)
   dev.configure_message_rate(ublox.CLASS_MON, ublox.MSG_MON_HW, 1)
   dev.configure_message_rate(ublox.CLASS_MON, ublox.MSG_MON_HW2, 1)
+  dev.configure_message_rate(ublox.CLASS_NAV, ublox.MSG_NAV_SAT, 1)
 
   # Query the backup restore status
   print("backup restore polling message (implement custom response handler!):")
diff --git a/selfdrive/locationd/ublox_msg.cc b/system/ubloxd/ublox_msg.cc
similarity index 79%
rename from selfdrive/locationd/ublox_msg.cc
rename to system/ubloxd/ublox_msg.cc
index b746989466..a01187d560 100644
--- a/selfdrive/locationd/ublox_msg.cc
+++ b/system/ubloxd/ublox_msg.cc
@@ -65,23 +65,8 @@ inline bool UbloxMsgParser::valid_so_far() {
   return true;
 }
 
-inline uint16_t UbloxMsgParser::get_glonass_year(uint8_t N4, uint16_t Nt) {
-  // convert time to year (conversion from A3.1.3)
-  int J = 0;
-  if (1 <= Nt && Nt <= 366) {
-    J = 1;
-  } else if (367 <= Nt && Nt <= 731) {
-    J = 2;
-  } else if (732 <= Nt && Nt <= 1096) {
-    J = 3;
-  } else if (1097 <= Nt && Nt <= 1461) {
-    J = 4;
-  }
-  uint16_t year = 1996 + 4*(N4 -1) + (J - 1);
-  return year;
-}
-
-bool UbloxMsgParser::add_data(const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed) {
+bool UbloxMsgParser::add_data(float log_time, const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed) {
+  last_log_time = log_time;
   int needed = needed_bytes();
   if(needed > 0) {
     bytes_consumed = std::min((uint32_t)needed, incoming_data_len );
@@ -126,6 +111,9 @@ std::pair<std::string, kj::Array<capnp::word>> UbloxMsgParser::gen_msg() {
     return {"ubloxGnss", gen_mon_hw(static_cast<ubx_t::mon_hw_t*>(body))};
   case 0x0a0b:
     return {"ubloxGnss", gen_mon_hw2(static_cast<ubx_t::mon_hw2_t*>(body))};
+  case 0x0135:
+    // TODO return {"ubloxGnss", gen_nav_sat(static_cast<ubx_t::nav_sat_t*>(body))};
+    return {"ubloxGnss", kj::Array<capnp::word>()};
   default:
     LOGE("Unknown message type %x", ubx_message.msg_type());
     return {"ubloxGnss", kj::Array<capnp::word>()};
@@ -183,7 +171,7 @@ kj::Array<capnp::word> UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m
     gps_t subframe(&stream);
 
     int subframe_id = subframe.how()->subframe_id();
-    if (subframe_id > 3) {
+    if (subframe_id > 3 || subframe_id < 1) {
       // dont parse almanac subframes
       return kj::Array<capnp::word>();
     }
@@ -199,6 +187,7 @@ kj::Array<capnp::word> UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m
     int iode_s2 = 0;
     int iode_s3 = 0;
     int iodc_lsb = 0;
+    int week;
 
     // Subframe 1
     {
@@ -206,7 +195,14 @@ kj::Array<capnp::word> UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m
       gps_t subframe(&stream);
       gps_t::subframe_1_t* subframe_1 = static_cast<gps_t::subframe_1_t*>(subframe.body());
 
-      eph.setGpsWeek(subframe_1->week_no());
+      // Each message is incremented to be greater or equal than week 1877 (2015-12-27).
+      //  To skip this use the current_time argument
+      week = subframe_1->week_no();
+      week += 1024;
+      if (week < 1877) {
+        week += 1024;
+      }
+      //eph.setGpsWeek(subframe_1->week_no());
       eph.setTgd(subframe_1->t_gd() * pow(2, -31));
       eph.setToc(subframe_1->t_oc() * pow(2, 4));
       eph.setAf2(subframe_1->af_2() * pow(2, -55));
@@ -223,6 +219,12 @@ kj::Array<capnp::word> UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m
       gps_t subframe(&stream);
       gps_t::subframe_2_t* subframe_2 = static_cast<gps_t::subframe_2_t*>(subframe.body());
 
+      // GPS week refers to current week, the ephemeris can be valid for the next
+      // if toe equals 0, this can be verified by the TOW count if it is within the
+      // last 2 hours of the week (gps ephemeris valid for 4hours)
+      if (subframe_2->t_oe() == 0 and subframe.how()->tow_count()*6 >= (SECS_IN_WEEK - 2*SECS_IN_HR)){
+        week += 1;
+      }
       eph.setCrs(subframe_2->c_rs() * pow(2, -5));
       eph.setDeltaN(subframe_2->delta_n() * pow(2, -43) * gpsPi);
       eph.setM0(subframe_2->m_0() * pow(2, -31) * gpsPi);
@@ -252,6 +254,9 @@ kj::Array<capnp::word> UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m
       iode_s3 = subframe_3->iode();
     }
 
+    eph.setToeWeek(week);
+    eph.setTocWeek(week);
+
     gps_subframes[msg->sv_id()].clear();
     if (iodc_lsb != iode_s2 || iodc_lsb != iode_s3) {
       // data set cutover, reject ephemeris
@@ -263,12 +268,8 @@ kj::Array<capnp::word> UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m
 }
 
 kj::Array<capnp::word> UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_t *msg) {
-  if (msg->sv_id() == 255) {
-    // data can be decoded before identifying the SV number, in this case 255
-    // is returned, which means "unknown"  (ublox p32)
-    return kj::Array<capnp::word>();
-  }
-
+  // This parser assumes that no 2 satellites of the same frequency
+  // can be in view at the same time
   auto body = *msg->body();
   assert(body.size() == 4);
   {
@@ -281,39 +282,68 @@ kj::Array<capnp::word> UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_
 
     kaitai::kstream stream(string_data);
     glonass_t gl_string(&stream);
-
     int string_number = gl_string.string_number();
-    if (string_number > 5 || gl_string.idle_chip()) {
+    if (string_number < 1 || string_number > 5 || gl_string.idle_chip()) {
       // dont parse non immediate data, idle_chip == 0
       return kj::Array<capnp::word>();
     }
 
-    // immediate data is the same within one superframe
-    if (glonass_superframes[msg->sv_id()] != gl_string.superframe_number()) {
-      glonass_strings[msg->sv_id()].clear();
-      glonass_superframes[msg->sv_id()] = gl_string.superframe_number();
+    // Check if new string either has same superframe_id or log transmission times make sense
+    bool superframe_unknown = false;
+    bool needs_clear = false;
+    for (int i = 1; i <= 5; i++) {
+      if (glonass_strings[msg->freq_id()].find(i) == glonass_strings[msg->freq_id()].end())
+        continue;
+      if (glonass_string_superframes[msg->freq_id()][i] == 0 || gl_string.superframe_number() == 0) {
+        superframe_unknown = true;
+      }
+      else if (glonass_string_superframes[msg->freq_id()][i] != gl_string.superframe_number()) {
+        needs_clear = true;
+      }
+      // Check if string times add up to being from the same frame
+      // If superframe is known this is redundant
+      // Strings are sent 2s apart and frames are 30s apart
+      if (superframe_unknown &&
+          std::abs((glonass_string_times[msg->freq_id()][i] - 2.0 * i) - (last_log_time - 2.0 * string_number)) > 10)
+        needs_clear = true;
     }
-    glonass_strings[msg->sv_id()][string_number] = string_data;
+    if (needs_clear) {
+      glonass_strings[msg->freq_id()].clear();
+      glonass_string_superframes[msg->freq_id()].clear();
+      glonass_string_times[msg->freq_id()].clear();
+    }
+    glonass_strings[msg->freq_id()][string_number] = string_data;
+    glonass_string_superframes[msg->freq_id()][string_number] = gl_string.superframe_number();
+    glonass_string_times[msg->freq_id()][string_number] = last_log_time;
+  }
+  if (msg->sv_id() == 255) {
+    // data can be decoded before identifying the SV number, in this case 255
+    // is returned, which means "unknown"  (ublox p32)
+    return kj::Array<capnp::word>();
   }
 
   // publish if strings 1-5 have been collected
-  if (glonass_strings[msg->sv_id()].size() != 5) {
+  if (glonass_strings[msg->freq_id()].size() != 5) {
     return kj::Array<capnp::word>();
   }
 
   MessageBuilder msg_builder;
   auto eph = msg_builder.initEvent().initUbloxGnss().initGlonassEphemeris();
   eph.setSvId(msg->sv_id());
+  eph.setFreqNum(msg->freq_id() - 7);
+
   uint16_t current_day = 0;
+  uint16_t tk = 0;
 
   // string number 1
   {
-    kaitai::kstream stream(glonass_strings[msg->sv_id()][1]);
+    kaitai::kstream stream(glonass_strings[msg->freq_id()][1]);
     glonass_t gl_stream(&stream);
     glonass_t::string_1_t* data = static_cast<glonass_t::string_1_t*>(gl_stream.data());
 
     eph.setP1(data->p1());
-    eph.setTk(data->t_k());
+    tk = data->t_k();
+    eph.setTkDEPRECATED(tk);
     eph.setXVel(data->x_vel() * pow(2, -20));
     eph.setXAccel(data->x_accel() * pow(2, -30));
     eph.setX(data->x() * pow(2, -11));
@@ -321,7 +351,7 @@ kj::Array<capnp::word> UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_
 
   // string number 2
   {
-    kaitai::kstream stream(glonass_strings[msg->sv_id()][2]);
+    kaitai::kstream stream(glonass_strings[msg->freq_id()][2]);
     glonass_t gl_stream(&stream);
     glonass_t::string_2_t* data = static_cast<glonass_t::string_2_t*>(gl_stream.data());
 
@@ -335,7 +365,7 @@ kj::Array<capnp::word> UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_
 
   // string number 3
   {
-    kaitai::kstream stream(glonass_strings[msg->sv_id()][3]);
+    kaitai::kstream stream(glonass_strings[msg->freq_id()][3]);
     glonass_t gl_stream(&stream);
     glonass_t::string_3_t* data = static_cast<glonass_t::string_3_t*>(gl_stream.data());
 
@@ -349,11 +379,12 @@ kj::Array<capnp::word> UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_
 
   // string number 4
   {
-    kaitai::kstream stream(glonass_strings[msg->sv_id()][4]);
+    kaitai::kstream stream(glonass_strings[msg->freq_id()][4]);
     glonass_t gl_stream(&stream);
     glonass_t::string_4_t* data = static_cast<glonass_t::string_4_t*>(gl_stream.data());
 
     current_day = data->n_t();
+    eph.setNt(current_day);
     eph.setTauN(data->tau_n() * pow(2, -30));
     eph.setDeltaTauN(data->delta_tau_n() * pow(2, -30));
     eph.setAge(data->e_n());
@@ -367,36 +398,18 @@ kj::Array<capnp::word> UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_
 
   // string number 5
   {
-    kaitai::kstream stream(glonass_strings[msg->sv_id()][5]);
+    kaitai::kstream stream(glonass_strings[msg->freq_id()][5]);
     glonass_t gl_stream(&stream);
     glonass_t::string_5_t* data = static_cast<glonass_t::string_5_t*>(gl_stream.data());
 
     // string5 parsing is only needed to get the year, this can be removed and
     // the year can be fetched later in laika (note rollovers and leap year)
-    uint8_t n_4 = data->n_4();
-    uint16_t year = get_glonass_year(n_4, current_day);
-    if (current_day > 1461) {
-      // impossible day within last 4 year, reject ephemeris
-      // TODO: check if this can be detected via hamming code
-      LOGE("INVALID DATA: current day out of range: %d, %d", current_day, n_4);
-      glonass_strings[msg->sv_id()].clear();
-      return kj::Array<capnp::word>();
-    }
-
-    uint16_t last_leap_year = 1996 + 4*(n_4-1);
-    uint16_t days_till_this_year = (year - last_leap_year)*365;
-    if (days_till_this_year != 0) {
-      days_till_this_year++;
-    }
-
-    eph.setYear(year);
-    eph.setDayInYear(current_day - days_till_this_year);
-    eph.setHour((eph.getTk()>>7) & 0x1F);
-    eph.setMinute((eph.getTk()>>1) & 0x3F);
-    eph.setSecond((eph.getTk() & 0x1) * 30);
+    eph.setN4(data->n_4());
+    int tk_seconds = SECS_IN_HR * ((tk>>7) & 0x1F) + SECS_IN_MIN * ((tk>>1) & 0x3F) + (tk & 0x1) * 30;
+    eph.setTkSeconds(tk_seconds);
   }
 
-  glonass_strings[msg->sv_id()].clear();
+  glonass_strings[msg->freq_id()].clear();
   return capnp::messageToFlatArray(msg_builder);
 }
 
@@ -421,7 +434,7 @@ kj::Array<capnp::word> UbloxMsgParser::gen_rxm_rawx(ubx_t::rxm_rawx_t *msg) {
   mr.setGpsWeek(msg->week());
 
   auto mb = mr.initMeasurements(msg->num_meas());
-  auto measurements = *msg->measurements();
+  auto measurements = *msg->meas();
   for(int8_t i = 0; i < msg->num_meas(); i++) {
     mb[i].setSvId(measurements[i]->sv_id());
     mb[i].setPseudorange(measurements[i]->pr_mes());
@@ -450,6 +463,22 @@ kj::Array<capnp::word> UbloxMsgParser::gen_rxm_rawx(ubx_t::rxm_rawx_t *msg) {
   return capnp::messageToFlatArray(msg_builder);
 }
 
+kj::Array<capnp::word> UbloxMsgParser::gen_nav_sat(ubx_t::nav_sat_t *msg) {
+  MessageBuilder msg_builder;
+  auto sr = msg_builder.initEvent().initUbloxGnss().initSatReport();
+  sr.setITow(msg->itow());
+
+  auto svs = sr.initSvs(msg->num_svs());
+  auto svs_data = *msg->svs();
+  for(int8_t i = 0; i < msg->num_svs(); i++) {
+    svs[i].setSvId(svs_data[i]->sv_id());
+    svs[i].setGnssId(svs_data[i]->gnss_id());
+    svs[i].setFlagsBitfield(svs_data[i]->flags());
+  }
+
+  return capnp::messageToFlatArray(msg_builder);
+}
+
 kj::Array<capnp::word> UbloxMsgParser::gen_mon_hw(ubx_t::mon_hw_t *msg) {
   MessageBuilder msg_builder;
   auto hwStatus = msg_builder.initEvent().initUbloxGnss().initHwStatus();
diff --git a/selfdrive/locationd/ublox_msg.h b/system/ubloxd/ublox_msg.h
similarity index 83%
rename from selfdrive/locationd/ublox_msg.h
rename to system/ubloxd/ublox_msg.h
index 6988f20b74..a52a7db3e5 100644
--- a/selfdrive/locationd/ublox_msg.h
+++ b/system/ubloxd/ublox_msg.h
@@ -9,12 +9,17 @@
 
 #include "cereal/messaging/messaging.h"
 #include "common/util.h"
-#include "selfdrive/locationd/generated/gps.h"
-#include "selfdrive/locationd/generated/glonass.h"
-#include "selfdrive/locationd/generated/ubx.h"
+#include "system/ubloxd/generated/gps.h"
+#include "system/ubloxd/generated/glonass.h"
+#include "system/ubloxd/generated/ubx.h"
 
 using namespace std::string_literals;
 
+const int SECS_IN_MIN = 60;
+const int SECS_IN_HR = 60 * SECS_IN_MIN;
+const int SECS_IN_DAY = 24 * SECS_IN_HR;
+const int SECS_IN_WEEK = 7 * SECS_IN_DAY;
+
 // protocol constants
 namespace ublox {
   const uint8_t PREAMBLE1 = 0xb5;
@@ -86,7 +91,7 @@ namespace ublox {
 
 class UbloxMsgParser {
   public:
-    bool add_data(const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed);
+    bool add_data(float log_time, const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed);
     inline void reset() {bytes_in_parse_buf = 0;}
     inline int needed_bytes();
     inline std::string data() {return std::string((const char*)msg_parse_buf, bytes_in_parse_buf);}
@@ -97,18 +102,19 @@ class UbloxMsgParser {
     kj::Array<capnp::word> gen_rxm_rawx(ubx_t::rxm_rawx_t *msg);
     kj::Array<capnp::word> gen_mon_hw(ubx_t::mon_hw_t *msg);
     kj::Array<capnp::word> gen_mon_hw2(ubx_t::mon_hw2_t *msg);
+    kj::Array<capnp::word> gen_nav_sat(ubx_t::nav_sat_t *msg);
 
   private:
     inline bool valid_cheksum();
     inline bool valid();
     inline bool valid_so_far();
-    inline uint16_t get_glonass_year(uint8_t N4, uint16_t Nt);
 
     kj::Array<capnp::word> parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *msg);
     kj::Array<capnp::word> parse_glonass_ephemeris(ubx_t::rxm_sfrbx_t *msg);
 
     std::unordered_map<int, std::unordered_map<int, std::string>> gps_subframes;
 
+    float last_log_time = 0.0;
     size_t bytes_in_parse_buf = 0;
     uint8_t msg_parse_buf[ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_MAX_MSG_SIZE];
 
@@ -119,5 +125,6 @@ class UbloxMsgParser {
        {11, 64}, {12, 128}, {13, 256}, {14, 512}, {15, 1024}};
 
     std::unordered_map<int, std::unordered_map<int, std::string>> glonass_strings;
-    std::unordered_map<int, int> glonass_superframes;
+    std::unordered_map<int, std::unordered_map<int, long>> glonass_string_times;
+    std::unordered_map<int, std::unordered_map<int, int>> glonass_string_superframes;
 };
diff --git a/selfdrive/locationd/ubloxd.cc b/system/ubloxd/ubloxd.cc
similarity index 88%
rename from selfdrive/locationd/ubloxd.cc
rename to system/ubloxd/ubloxd.cc
index d9b3e7647d..1dae6dc866 100644
--- a/selfdrive/locationd/ubloxd.cc
+++ b/system/ubloxd/ubloxd.cc
@@ -5,7 +5,7 @@
 #include "cereal/messaging/messaging.h"
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "selfdrive/locationd/ublox_msg.h"
+#include "system/ubloxd/ublox_msg.h"
 
 ExitHandler do_exit;
 using namespace ublox;
@@ -35,6 +35,7 @@ int main() {
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get()));
     cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
     auto ubloxRaw = event.getUbloxRaw();
+    float log_time = 1e-9 * event.getLogMonoTime();
 
     const uint8_t *data = ubloxRaw.begin();
     size_t len = ubloxRaw.size();
@@ -42,7 +43,7 @@ int main() {
 
     while(bytes_consumed < len && !do_exit) {
       size_t bytes_consumed_this_time = 0U;
-      if(parser.add_data(data + bytes_consumed, (uint32_t)(len - bytes_consumed), bytes_consumed_this_time)) {
+      if(parser.add_data(log_time, data + bytes_consumed, (uint32_t)(len - bytes_consumed), bytes_consumed_this_time)) {
 
         try {
           auto ublox_msg = parser.gen_msg();
diff --git a/selfdrive/locationd/ubx.ksy b/system/ubloxd/ubx.ksy
similarity index 86%
rename from selfdrive/locationd/ubx.ksy
rename to system/ubloxd/ubx.ksy
index 6945680d32..02c757fe71 100644
--- a/selfdrive/locationd/ubx.ksy
+++ b/system/ubloxd/ubx.ksy
@@ -17,6 +17,7 @@ seq:
         0x0215: rxm_rawx
         0x0a09: mon_hw
         0x0a0b: mon_hw2
+        0x0135: nav_sat
 instances:
   checksum:
     pos: length + 6
@@ -142,13 +143,13 @@ types:
         type: u1
       - id: reserved1
         size: 3
-      - id: measurements
-        type: meas
+      - id: meas
+        type: measurement
         size: 32
         repeat: expr
         repeat-expr: num_meas
     types:
-      meas:
+      measurement:
         seq:
           - id: pr_mes
             type: f8
@@ -179,6 +180,39 @@ types:
             type: u1
           - id: reserved3
             size: 1
+  nav_sat:
+    seq:
+      - id: itow
+        type: u4
+      - id: version
+        type: u1
+      - id: num_svs
+        type: u1
+      - id: reserved
+        size: 2
+      - id: svs
+        type: nav
+        size: 12
+        repeat: expr
+        repeat-expr: num_svs
+    types:
+      nav:
+        seq:
+          - id: gnss_id
+            type: u1
+            enum: gnss_type
+          - id: sv_id
+            type: u1
+          - id: cno
+            type: u1
+          - id: elev
+            type: s1
+          - id: azim
+            type: s2
+          - id: pr_res
+            type: s2
+          - id: flags
+            type: u4
 
   nav_pvt:
     seq:
diff --git a/tools/cabana/.gitignore b/tools/cabana/.gitignore
index 73879ab05d..c74ab7483c 100644
--- a/tools/cabana/.gitignore
+++ b/tools/cabana/.gitignore
@@ -3,5 +3,5 @@ moc_*
 
 _cabana
 settings
-car_fingerprint_to_dbc.json
+dbc/car_fingerprint_to_dbc.json
 tests/_test_cabana
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index ddd6208c07..d9156f229a 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -28,7 +28,8 @@ cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "asset
 
 prev_moc_path = cabana_env['QT_MOCHPREFIX']
 cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_'
-cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc',
+cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 
+                                               'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc',
                                                'commands.cc', 'messageswidget.cc', 'route.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 
@@ -39,5 +40,5 @@ if GetOption('test'):
   cabana_env.Program('tests/_test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs])
 
 def generate_dbc_json(target, source, env):
-  env.Execute('tools/cabana/generate_dbc_json.py --out tools/cabana/car_fingerprint_to_dbc.json')
+  env.Execute('tools/cabana/dbc/generate_dbc_json.py --out tools/cabana/dbc/car_fingerprint_to_dbc.json')
 cabana_env.Command('generate_dbc_json', [], generate_dbc_json)
diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc
index 120a85a330..0a4f6fc999 100644
--- a/tools/cabana/binaryview.cc
+++ b/tools/cabana/binaryview.cc
@@ -75,8 +75,8 @@ void BinaryView::addShortcuts() {
   QShortcut *shortcut_endian = new QShortcut(QKeySequence(Qt::Key_E), this);
   QObject::connect(shortcut_endian, &QShortcut::activated, [=]{
     if (hovered_sig != nullptr) {
-      const Signal *hovered_sig_prev = hovered_sig;
-      Signal s = *hovered_sig;
+      const cabana::Signal *hovered_sig_prev = hovered_sig;
+      cabana::Signal s = *hovered_sig;
       s.is_little_endian = !s.is_little_endian;
       emit editSignal(hovered_sig, s);
 
@@ -89,8 +89,8 @@ void BinaryView::addShortcuts() {
   QShortcut *shortcut_sign = new QShortcut(QKeySequence(Qt::Key_S), this);
   QObject::connect(shortcut_sign, &QShortcut::activated, [=]{
     if (hovered_sig != nullptr) {
-      const Signal *hovered_sig_prev = hovered_sig;
-      Signal s = *hovered_sig;
+      const cabana::Signal *hovered_sig_prev = hovered_sig;
+      cabana::Signal s = *hovered_sig;
       s.is_signed = !s.is_signed;
       emit editSignal(hovered_sig, s);
 
@@ -117,7 +117,7 @@ QSize BinaryView::minimumSizeHint() const {
           CELL_HEIGHT * std::min(model->rowCount(), 10) + 2};
 }
 
-void BinaryView::highlight(const Signal *sig) {
+void BinaryView::highlight(const cabana::Signal *sig) {
   if (sig != hovered_sig) {
     for (int i = 0; i < model->items.size(); ++i) {
       auto &item_sigs = model->items[i].sigs;
@@ -176,7 +176,7 @@ void BinaryView::mousePressEvent(QMouseEvent *event) {
 void BinaryView::highlightPosition(const QPoint &pos) {
   if (auto index = indexAt(viewport()->mapFromGlobal(pos)); index.isValid()) {
     auto item = (BinaryViewModel::Item *)index.internalPointer();
-    const Signal *sig = item->sigs.isEmpty() ? nullptr : item->sigs.back();
+    const cabana::Signal *sig = item->sigs.isEmpty() ? nullptr : item->sigs.back();
     highlight(sig);
   }
 }
@@ -226,8 +226,8 @@ void BinaryView::refresh() {
   highlightPosition(QCursor::pos());
 }
 
-QSet<const Signal *> BinaryView::getOverlappingSignals() const {
-  QSet<const Signal *> overlapping;
+QSet<const cabana::Signal *> BinaryView::getOverlappingSignals() const {
+  QSet<const cabana::Signal *> overlapping;
   for (auto &item : model->items) {
     if (item.sigs.size() > 1)
       for (auto s : item.sigs) overlapping += s;
@@ -422,7 +422,7 @@ void BinaryItemDelegate::drawBorder(QPainter* painter, const QStyleOptionViewIte
   painter->setClipRegion(QRegion(rc).subtracted(subtract));
   if (!subtract.isEmpty()) {
     // fill gaps inside corners.
-    painter->setPen(QPen(border_color, 2));
+    painter->setPen(QPen(border_color, 2, Qt::SolidLine, Qt::SquareCap, Qt::MiterJoin));
     for (auto &r : subtract) {
       painter->drawRect(r);
     }
diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h
index 681ac1fbf3..8598fe490b 100644
--- a/tools/cabana/binaryview.h
+++ b/tools/cabana/binaryview.h
@@ -6,9 +6,8 @@
 #include <QStyledItemDelegate>
 #include <QTableView>
 
-#include "tools/cabana/dbcmanager.h"
+#include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/streams/abstractstream.h"
-using namespace dbcmanager;
 
 class BinaryItemDelegate : public QStyledItemDelegate {
 public:
@@ -44,7 +43,7 @@ public:
     bool is_msb = false;
     bool is_lsb = false;
     QString val = "-";
-    QList<const Signal *> sigs;
+    QList<const cabana::Signal *> sigs;
   };
   std::vector<Item> items;
 
@@ -59,19 +58,19 @@ class BinaryView : public QTableView {
 public:
   BinaryView(QWidget *parent = nullptr);
   void setMessage(const MessageId &message_id);
-  void highlight(const Signal *sig);
-  QSet<const Signal*> getOverlappingSignals() const;
+  void highlight(const cabana::Signal *sig);
+  QSet<const cabana::Signal*> getOverlappingSignals() const;
   inline void updateState() { model->updateState(); }
   QSize minimumSizeHint() const override;
 
 signals:
-  void signalClicked(const Signal *sig);
-  void signalHovered(const Signal *sig);
+  void signalClicked(const cabana::Signal *sig);
+  void signalHovered(const cabana::Signal *sig);
   void addSignal(int start_bit, int size, bool little_endian);
-  void resizeSignal(const Signal *sig, int from, int size);
-  void removeSignal(const Signal *sig);
-  void editSignal(const Signal *origin_s, Signal &s);
-  void showChart(const MessageId &id, const Signal *sig, bool show, bool merge);
+  void resizeSignal(const cabana::Signal *sig, int from, int size);
+  void removeSignal(const cabana::Signal *sig);
+  void editSignal(const cabana::Signal *origin_s, cabana::Signal &s);
+  void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge);
 
 private:
   void addShortcuts();
@@ -87,7 +86,7 @@ private:
   QModelIndex anchor_index;
   BinaryViewModel *model;
   BinaryItemDelegate *delegate;
-  const Signal *resize_sig = nullptr;
-  const Signal *hovered_sig = nullptr;
+  const cabana::Signal *resize_sig = nullptr;
+  const cabana::Signal *hovered_sig = nullptr;
   friend class BinaryItemDelegate;
 };
diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc
index 54966be578..ef8524be37 100644
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chartswidget.cc
@@ -9,16 +9,19 @@
 #include <QGraphicsLayout>
 #include <QLineEdit>
 #include <QMenu>
-#include <QRubberBand>
+#include <QOpenGLWidget>
 #include <QPushButton>
+#include <QRubberBand>
 #include <QToolBar>
 #include <QToolTip>
 #include <QtConcurrent>
 
 const int MAX_COLUMN_COUNT = 4;
+static inline bool xLessThan(const QPointF &p, float x) { return p.x() < x; }
+
 // ChartsWidget
 
-ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
+ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), QFrame(parent) {
   setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(0, 0, 0, 0);
@@ -45,7 +48,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   toolbar->addWidget(stretch_label);
 
   range_lb_action = toolbar->addWidget(range_lb = new QLabel(this));
-  range_slider = new QSlider(Qt::Horizontal, this);
+  range_slider = new LogSlider(1000, Qt::Horizontal, this);
   range_slider->setMaximumWidth(200);
   range_slider->setToolTip(tr("Set the chart range"));
   range_slider->setRange(1, settings.max_cached_minutes * 60);
@@ -53,6 +56,9 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   range_slider->setPageStep(60);  // 1 min
   range_slider_action = toolbar->addWidget(range_slider);
 
+  undo_zoom_action = toolbar->addAction(utils::icon("arrow-counterclockwise"), tr("Previous zoom"));
+  qobject_cast<QToolButton*>(toolbar->widgetForAction(undo_zoom_action))->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
+
   reset_zoom_action = toolbar->addAction(utils::icon("zoom-out"), tr("Reset Zoom"));
   qobject_cast<QToolButton*>(toolbar->widgetForAction(reset_zoom_action))->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
 
@@ -86,12 +92,15 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   range_slider->setValue(max_chart_range);
   updateToolBar();
 
+  align_timer.setSingleShot(true);
+  QObject::connect(&align_timer, &QTimer::timeout, this, &ChartsWidget::alignCharts);
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll);
   QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::eventsMerged);
   QObject::connect(can, &AbstractStream::updated, this, &ChartsWidget::updateState);
   QObject::connect(range_slider, &QSlider::valueChanged, this, &ChartsWidget::setMaxChartRange);
   QObject::connect(new_plot_btn, &QAction::triggered, this, &ChartsWidget::newChart);
   QObject::connect(remove_all_btn, &QAction::triggered, this, &ChartsWidget::removeAll);
+  QObject::connect(undo_zoom_action, &QAction::triggered, this, &ChartsWidget::zoomUndo);
   QObject::connect(reset_zoom_action, &QAction::triggered, this, &ChartsWidget::zoomReset);
   QObject::connect(&settings, &Settings::changed, this, &ChartsWidget::settingChanged);
   QObject::connect(dock_btn, &QAction::triggered, [this]() {
@@ -108,17 +117,17 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
 
 void ChartsWidget::eventsMerged() {
   {
-    assert(!can->liveStreaming());
     QFutureSynchronizer<void> future_synchronizer;
-    const auto events = can->events();
     for (auto c : charts) {
-      future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr, events, true));
+      future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr));
     }
   }
-  updateState();
+  if (can->isPaused()) {
+    updateState();
+  }
 }
 
-void ChartsWidget::zoomIn(double min, double max) {
+void ChartsWidget::setZoom(double min, double max) {
   zoomed_range = {min, max};
   is_zoomed = zoomed_range != display_range;
   updateToolBar();
@@ -126,33 +135,42 @@ void ChartsWidget::zoomIn(double min, double max) {
   emit rangeChanged(min, max, is_zoomed);
 }
 
+void ChartsWidget::zoomIn(double min, double max) {
+  // Save previous zoom on undo stack
+  if (is_zoomed) {
+    zoom_stack.push({zoomed_range.first, zoomed_range.second});
+  }
+  setZoom(min, max);
+}
+
 void ChartsWidget::zoomReset() {
-  zoomIn(display_range.first, display_range.second);
+  setZoom(display_range.first, display_range.second);
+  zoom_stack.clear();
+}
+
+void ChartsWidget::zoomUndo() {
+  if (!zoom_stack.isEmpty()) {
+    auto r = zoom_stack.pop();
+    setZoom(r.first, r.second);
+  } else {
+    zoomReset();
+  }
 }
 
 void ChartsWidget::updateState() {
   if (charts.isEmpty()) return;
 
-  const auto events = can->events();
-  if (can->liveStreaming()) {
-    // appends incoming events to the end of series
-    for (auto c : charts) {
-      c->updateSeries(nullptr, events, false);
-    }
-  }
-
   const double cur_sec = can->currentSec();
   if (!is_zoomed) {
-    double pos = (cur_sec - display_range.first) / std::max(1.0, (display_range.second - display_range.first));
+    double pos = (cur_sec - display_range.first) / std::max<float>(1.0, max_chart_range);
     if (pos < 0 || pos > 0.8) {
       display_range.first = std::max(0.0, cur_sec - max_chart_range * 0.1);
     }
-    double max_event_sec = events->empty() ? 0 : (events->back()->mono_time / 1e9 - can->routeStartTime());
-    double max_sec = std::min(std::floor(display_range.first + max_chart_range), max_event_sec);
+    double max_sec = std::min(std::floor(display_range.first + max_chart_range), can->lastEventSecond());
     display_range.first = std::max(0.0, max_sec - max_chart_range);
     display_range.second = display_range.first + max_chart_range;
   } else if (cur_sec < zoomed_range.first || cur_sec >= zoomed_range.second) {
-    // loop in zoommed range
+    // loop in zoomed range
     can->seekTo(zoomed_range.first);
   }
 
@@ -163,7 +181,7 @@ void ChartsWidget::updateState() {
 }
 
 void ChartsWidget::setMaxChartRange(int value) {
-  max_chart_range = settings.chart_range = value;
+  max_chart_range = settings.chart_range = range_slider->value();
   updateToolBar();
   updateState();
 }
@@ -174,6 +192,7 @@ void ChartsWidget::updateToolBar() {
   range_lb->setText(QString("Range: %1:%2 ").arg(max_chart_range / 60, 2, 10, QLatin1Char('0')).arg(max_chart_range % 60, 2, 10, QLatin1Char('0')));
   range_lb_action->setVisible(!is_zoomed);
   range_slider_action->setVisible(!is_zoomed);
+  undo_zoom_action->setVisible(is_zoomed);
   reset_zoom_action->setVisible(is_zoomed);
   reset_zoom_action->setText(is_zoomed ? tr("Zoomin: %1-%2").arg(zoomed_range.first, 0, 'f', 1).arg(zoomed_range.second, 0, 'f', 1) : "");
   remove_all_btn->setEnabled(!charts.isEmpty());
@@ -189,7 +208,7 @@ void ChartsWidget::settingChanged() {
   }
 }
 
-ChartView *ChartsWidget::findChart(const MessageId &id, const Signal *sig) {
+ChartView *ChartsWidget::findChart(const MessageId &id, const cabana::Signal *sig) {
   for (auto c : charts)
     if (c->hasSeries(id, sig)) return c;
   return nullptr;
@@ -203,16 +222,16 @@ ChartView *ChartsWidget::createChart() {
   chart->chart()->setTheme(use_dark_theme ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight);
   QObject::connect(chart, &ChartView::remove, [=]() { removeChart(chart); });
   QObject::connect(chart, &ChartView::zoomIn, this, &ChartsWidget::zoomIn);
-  QObject::connect(chart, &ChartView::zoomReset, this, &ChartsWidget::zoomReset);
+  QObject::connect(chart, &ChartView::zoomUndo, this, &ChartsWidget::zoomUndo);
   QObject::connect(chart, &ChartView::seriesRemoved, this, &ChartsWidget::seriesChanged);
   QObject::connect(chart, &ChartView::seriesAdded, this, &ChartsWidget::seriesChanged);
-  QObject::connect(chart, &ChartView::axisYLabelWidthChanged, this, &ChartsWidget::alignCharts);
+  QObject::connect(chart, &ChartView::axisYLabelWidthChanged, &align_timer, qOverload<>(&QTimer::start));
   charts.push_back(chart);
   updateLayout();
   return chart;
 }
 
-void ChartsWidget::showChart(const MessageId &id, const Signal *sig, bool show, bool merge) {
+void ChartsWidget::showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge) {
   ChartView *chart = findChart(id, sig);
   if (show && !chart) {
     chart = merge && charts.size() > 0 ? charts.back() : createChart();
@@ -308,6 +327,23 @@ bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) {
   return false;
 }
 
+bool ChartsWidget::event(QEvent *event) {
+  bool back_button = false;
+  if (event->type() == QEvent::MouseButtonPress) {
+    QMouseEvent *ev = static_cast<QMouseEvent *>(event);
+    back_button = ev->button() == Qt::BackButton;
+  } else if (event->type() == QEvent::NativeGesture) { // MacOS emulates a back swipe on pressing the mouse back button
+    QNativeGestureEvent *ev = static_cast<QNativeGestureEvent *>(event);
+    back_button = (ev->value() == 180);
+  }
+
+  if (back_button) {
+    zoomUndo();
+    return true;
+  }
+  return QFrame::event(event);
+}
+
 // ChartView
 
 ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) {
@@ -318,7 +354,7 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) {
   axis_y = new QValueAxis(this);
   chart->addAxis(axis_x, Qt::AlignBottom);
   chart->addAxis(axis_y, Qt::AlignLeft);
-  chart->legend()->layout()->setContentsMargins(16, 0, 40, 0);
+  chart->legend()->layout()->setContentsMargins(0, 0, 0, 0);
   chart->legend()->setShowToolTips(true);
   chart->setMargins({0, 0, 0, 0});
 
@@ -333,6 +369,7 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) {
   setRenderHint(QPainter::Antialiasing);
   // TODO: enable zoomIn/seekTo in live streaming mode.
   setRubberBand(can->liveStreaming() ? QChartView::NoRubberBand : QChartView::HorizontalRubberBand);
+  setMouseTracking(true);
 
   QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartView::signalRemoved);
   QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartView::signalUpdated);
@@ -377,7 +414,7 @@ void ChartView::createToolButtons() {
   });
 }
 
-void ChartView::addSeries(const MessageId &msg_id, const Signal *sig) {
+void ChartView::addSeries(const MessageId &msg_id, const cabana::Signal *sig) {
   if (hasSeries(msg_id, sig)) return;
 
   QXYSeries *series = createSeries(series_type, getColor(sig));
@@ -388,7 +425,7 @@ void ChartView::addSeries(const MessageId &msg_id, const Signal *sig) {
   emit seriesAdded(msg_id, sig);
 }
 
-bool ChartView::hasSeries(const MessageId &msg_id, const Signal *sig) const {
+bool ChartView::hasSeries(const MessageId &msg_id, const cabana::Signal *sig) const {
   return std::any_of(sigs.begin(), sigs.end(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; });
 }
 
@@ -413,7 +450,7 @@ void ChartView::removeIf(std::function<bool(const SigItem &s)> predicate) {
   }
 }
 
-void ChartView::signalUpdated(const Signal *sig) {
+void ChartView::signalUpdated(const cabana::Signal *sig) {
   if (std::any_of(sigs.begin(), sigs.end(), [=](auto &s) { return s.sig == sig; })) {
     updateTitle();
     // TODO: don't update series if only name changed.
@@ -421,8 +458,8 @@ void ChartView::signalUpdated(const Signal *sig) {
   }
 }
 
-void ChartView::msgUpdated(uint32_t address) {
-  if (std::any_of(sigs.begin(), sigs.end(), [=](auto &s) { return s.msg_id.address == address; }))
+void ChartView::msgUpdated(MessageId id) {
+  if (std::any_of(sigs.begin(), sigs.end(), [=](auto &s) { return s.msg_id == id; }))
     updateTitle();
 }
 
@@ -443,24 +480,34 @@ void ChartView::manageSeries() {
 }
 
 void ChartView::resizeEvent(QResizeEvent *event) {
-  updatePlotArea(align_to);
-  int top_margin = style()->pixelMetric(QStyle::PM_LayoutTopMargin);
-  int spacing = style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing);
-  int x = event->size().width() - close_btn_proxy->size().width() - style()->pixelMetric(QStyle::PM_LayoutRightMargin);
-  close_btn_proxy->setPos(x, top_margin);
-  manage_btn_proxy->setPos(x - manage_btn_proxy->size().width() - spacing, top_margin);
-  move_icon->setPos(style()->pixelMetric(QStyle::PM_LayoutLeftMargin), top_margin);
+  qreal left, top, right, bottom;
+  chart()->layout()->getContentsMargins(&left, &top, &right, &bottom);
+  move_icon->setPos(left, top);
+  close_btn_proxy->setPos(rect().right() - right - close_btn_proxy->size().width(), top);
+  int x = close_btn_proxy->pos().x() - manage_btn_proxy->size().width() - style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing);
+  manage_btn_proxy->setPos(x, top);
+  chart()->legend()->setGeometry({move_icon->sceneBoundingRect().topRight(), manage_btn_proxy->sceneBoundingRect().bottomLeft()});
+  if (align_to > 0) {
+    updatePlotArea(align_to);
+  }
   QChartView::resizeEvent(event);
 }
 
-void ChartView::updatePlotArea(int left) {
-  QRect r = rect();
-  if (align_to != left || r != background->rect()) {
-    align_to = left;
-    background->setRect(r);
-    chart()->legend()->setGeometry(QRect(r.left(), r.top(), r.width(), 45));
-    chart()->setPlotArea(QRect(align_to, r.top() + 45, r.width() - align_to - 36, r.height() - 80));
+void ChartView::updatePlotArea(int left_pos) {
+  if (align_to != left_pos || rect() != background->rect()) {
+    align_to = left_pos;
+    background->setRect(rect());
+
+    qreal left, top, right, bottom;
+    chart()->layout()->getContentsMargins(&left, &top, &right, &bottom);
+    QSizeF x_label_size = QFontMetrics(axis_x->labelsFont()).size(Qt::TextSingleLine, QString::number(axis_x->max(), 'f', 2));
+    x_label_size += QSizeF{5 * devicePixelRatioF(), 5 * devicePixelRatioF()};
+    int adjust_top = chart()->legend()->geometry().height() + style()->pixelMetric(QStyle::PM_LayoutTopMargin);
+    chart()->setPlotArea(rect().adjusted(align_to + left, adjust_top + top, -x_label_size.width() / 2 - right, -x_label_size.height() - bottom));
     chart()->layout()->invalidate();
+    if (can->isPaused()) {
+      update();
+    }
   }
 }
 
@@ -481,86 +528,54 @@ void ChartView::updatePlot(double cur, double min, double max) {
     updateAxisY();
     updateSeriesPoints();
   }
-
   scene()->invalidate({}, QGraphicsScene::ForegroundLayer);
 }
 
 void ChartView::updateSeriesPoints() {
   // Show points when zoomed in enough
   for (auto &s : sigs) {
-    auto begin = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; });
-    auto end = std::lower_bound(begin, s.vals.end(), axis_x->max(), [](auto &p, double x) { return p.x() < x; });
+    auto begin = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), xLessThan);
+    auto end = std::lower_bound(begin, s.vals.end(), axis_x->max(), xLessThan);
 
     int num_points = std::max<int>(end - begin, 1);
     int pixels_per_point = width() / num_points;
 
     if (series_type == SeriesType::Scatter) {
-      ((QScatterSeries *)s.series)->setMarkerSize(std::clamp(pixels_per_point / 3, 2, 8));
+      ((QScatterSeries *)s.series)->setMarkerSize(std::clamp(pixels_per_point / 3, 2, 8) * devicePixelRatioF());
     } else {
       s.series->setPointsVisible(pixels_per_point > 20);
     }
   }
 }
 
-void ChartView::updateSeries(const Signal *sig, const std::vector<Event *> *events, bool clear) {
-  events = events ? events : can->events();
+void ChartView::updateSeries(const cabana::Signal *sig) {
   for (auto &s : sigs) {
     if (!sig || s.sig == sig) {
-      if (clear) {
+      if (!can->liveStreaming()) {
         s.vals.clear();
         s.step_vals.clear();
-        s.vals.reserve(settings.max_cached_minutes * 60 * 100);  // [n]seconds * 100hz
-        s.step_vals.reserve(settings.max_cached_minutes * 60 * 100 * 2);
         s.last_value_mono_time = 0;
       }
       s.series->setColor(getColor(s.sig));
 
-      struct Chunk {
-        std::vector<Event *>::const_iterator first, second;
-        QVector<QPointF> vals;
-        QVector<QPointF> step_vals;
-      };
-      // split into one minitue chunks
-      QVector<Chunk> chunks;
-      Event begin_event(cereal::Event::Which::INIT_DATA, s.last_value_mono_time);
-      auto begin = std::upper_bound(events->begin(), events->end(), &begin_event, Event::lessThan());
-      for (auto it = begin, second = begin; it != events->end(); it = second) {
-        second = std::lower_bound(it, events->end(), (*it)->mono_time + 1e9 * 60, [](auto &e, uint64_t ts) { return e->mono_time < ts; });
-        chunks.push_back({it, second});
+      const auto &msgs = can->events().at(s.msg_id);
+      auto first = std::upper_bound(msgs.cbegin(), msgs.cend(), CanEvent{.mono_time = s.last_value_mono_time});
+      int new_size = std::max<int>(s.vals.size() + std::distance(first, msgs.cend()), settings.max_cached_minutes * 60 * 100);
+      if (s.vals.capacity() <= new_size) {
+        s.vals.reserve(new_size * 2);
+        s.step_vals.reserve(new_size * 4);
       }
 
-      QtConcurrent::blockingMap(chunks, [&](Chunk &chunk) {
-        chunk.vals.reserve(60 * 100);  // 100 hz
-        chunk.step_vals.reserve(60 * 100 * 2);  // 100 hz
-        double route_start_time = can->routeStartTime();
-        for (auto it = chunk.first; it != chunk.second; ++it) {
-          if ((*it)->which == cereal::Event::Which::CAN) {
-            for (const auto &c : (*it)->event.getCan()) {
-              if (s.msg_id.address == c.getAddress() && s.msg_id.source == c.getSrc()) {
-                auto dat = c.getDat();
-                double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *s.sig);
-                double ts = ((*it)->mono_time / (double)1e9) - route_start_time;  // seconds
-                chunk.vals.push_back({ts, value});
-                if (!chunk.step_vals.empty()) {
-                  chunk.step_vals.push_back({ts, chunk.step_vals.back().y()});
-                }
-                chunk.step_vals.push_back({ts,value});
-              }
-            }
-          }
+      const double route_start_time = can->routeStartTime();
+      for (auto end = msgs.cend(); first != end; ++first) {
+        double value = get_raw_value(first->dat, first->size, *s.sig);
+        double ts = first->mono_time / 1e9 - route_start_time;  // seconds
+        s.vals.append({ts, value});
+        if (!s.step_vals.empty()) {
+          s.step_vals.append({ts, s.step_vals.back().y()});
         }
-      });
-      for (auto &c : chunks) {
-        s.vals.append(c.vals);
-        if (!c.step_vals.empty()) {
-          if (!s.step_vals.empty()) {
-            s.step_vals.append({c.step_vals.first().x(), s.step_vals.back().y()});
-          }
-          s.step_vals.append(c.step_vals);
-        }
-      }
-      if (events->size()) {
-        s.last_value_mono_time = events->back()->mono_time;
+        s.step_vals.append({ts, value});
+        s.last_value_mono_time = first->mono_time;
       }
       if (!can->liveStreaming()) {
         s.segment_tree.build(s.vals);
@@ -587,8 +602,8 @@ void ChartView::updateAxisY() {
       unit.clear();
     }
 
-    auto first = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; });
-    auto last = std::lower_bound(first, s.vals.end(), axis_x->max(), [](auto &p, double x) { return p.x() < x; });
+    auto first = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), xLessThan);
+    auto last = std::lower_bound(first, s.vals.end(), axis_x->max(), xLessThan);
     if (can->liveStreaming()) {
       for (auto it = first; it != last; ++it) {
         if (it->y() < min) min = it->y();
@@ -605,7 +620,7 @@ void ChartView::updateAxisY() {
 
   if (axis_y->titleText() != unit) {
     axis_y->setTitleText(unit);
-    y_label_width = 0;// recalc width
+    y_label_width = 0;  // recalc width
   }
 
   double delta = std::abs(max - min) < 1e-3 ? 1 : (max - min) * 0.05;
@@ -614,10 +629,10 @@ void ChartView::updateAxisY() {
     axis_y->setRange(min_y, max_y);
     axis_y->setTickCount(tick_count);
 
+    int title_spacing = unit.isEmpty() ? 0 : QFontMetrics(axis_y->titleFont()).size(Qt::TextSingleLine, unit).height();
     QFontMetrics fm(axis_y->labelsFont());
     int n = qMax(int(-qFloor(std::log10((max_y - min_y) / (tick_count - 1)))), 0) + 1;
-    int title_spacing = axis_y->titleText().isEmpty() ? 0 : 20;
-    y_label_width = title_spacing + qMax(fm.width(QString::number(min_y, 'f', n)), fm.width(QString::number(max_y, 'f', n))) + 15;  // left margin 15
+    y_label_width = title_spacing + qMax(fm.width(QString::number(min_y, 'f', n)), fm.width(QString::number(max_y, 'f', n))) + 15;
     axis_y->setLabelFormat(QString("%.%1f").arg(n));
     emit axisYLabelWidthChanged(y_label_width);
   }
@@ -664,9 +679,15 @@ void ChartView::mousePressEvent(QMouseEvent *event) {
     drag->setMimeData(mimeData);
     drag->setPixmap(grab());
     drag->setHotSpot(event->pos());
-    Qt::DropAction dropAction = drag->exec(Qt::CopyAction | Qt::MoveAction, Qt::MoveAction);
-    if (dropAction == Qt::MoveAction) {
-      return;
+    drag->exec(Qt::CopyAction | Qt::MoveAction, Qt::MoveAction);
+  } else if (event->button() == Qt::LeftButton && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) {
+    if (!can->liveStreaming()) {
+      // Save current playback state when scrubbing
+      resume_after_scrub = !can->isPaused();
+      if (resume_after_scrub) {
+        can->pause(true);
+      }
+      is_scrubbing = true;
     }
   } else {
     QChartView::mousePressEvent(event);
@@ -693,20 +714,38 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) {
     } else if ((max_rounded - min_rounded) >= 0.5) {
       // zoom in if selected range is greater than 0.5s
       emit zoomIn(min_rounded, max_rounded);
+    } else {
+      scene()->invalidate({}, QGraphicsScene::ForegroundLayer);
     }
     event->accept();
   } else if (!can->liveStreaming() && event->button() == Qt::RightButton) {
-    emit zoomReset();
+    emit zoomUndo();
     event->accept();
   } else {
     QGraphicsView::mouseReleaseEvent(event);
   }
+
+  // Resume playback if we were scrubbing
+  is_scrubbing = false;
+  if (resume_after_scrub) {
+    can->pause(false);
+    resume_after_scrub = false;
+  }
 }
 
 void ChartView::mouseMoveEvent(QMouseEvent *ev) {
+  const auto plot_area = chart()->plotArea();
+  // Scrubbing
+  if (is_scrubbing && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) {
+    if (plot_area.contains(ev->pos())) {
+      can->seekTo(std::clamp(chart()->mapToValue(ev->pos()).x(), 0., can->totalSeconds()));
+    }
+    return;
+  }
+
   auto rubber = findChild<QRubberBand *>();
   bool is_zooming = rubber && rubber->isVisible();
-  const auto plot_area = chart()->plotArea();
+  is_scrubbing = false;
   clearTrackPoints();
 
   if (!is_zooming && plot_area.contains(ev->pos())) {
@@ -747,6 +786,7 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
     if (rubber_rect != rubber->geometry()) {
       rubber->setGeometry(rubber_rect);
     }
+    scene()->invalidate({}, QGraphicsScene::ForegroundLayer);
   }
 }
 
@@ -805,14 +845,29 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {
   painter->setPen(Qt::NoPen);
   for (auto &s : sigs) {
     if (s.series->useOpenGL() && s.series->isVisible() && s.series->pointsVisible()) {
-      auto first = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; });
-      auto last = std::lower_bound(first, s.vals.end(), axis_x->max(), [](auto &p, double x) { return p.x() < x; });
+      auto first = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), xLessThan);
+      auto last = std::lower_bound(first, s.vals.end(), axis_x->max(), xLessThan);
       for (auto it = first; it != last; ++it) {
         painter->setBrush(s.series->color());
         painter->drawEllipse(chart()->mapToPosition(*it), 4, 4);
       }
     }
   }
+
+  // paint zoom range
+  auto rubber = findChild<QRubberBand *>();
+  if (rubber && rubber->isVisible() && rubber->width() > 1) {
+    painter->setPen(Qt::white);
+    auto rubber_rect = rubber->geometry().normalized();
+    for (const auto &pt : {rubber_rect.bottomLeft(), rubber_rect.bottomRight()}) {
+      QString sec = QString::number(chart()->mapToValue(pt).x(), 'f', 1);
+      // ChartAxisElement's padding is 4 (https://codebrowser.dev/qt5/qtcharts/src/charts/axis/chartaxiselement_p.h.html)
+      auto r = painter->fontMetrics().boundingRect(sec).adjusted(-6, -4, 6, 4);
+      pt == rubber_rect.bottomLeft() ? r.moveTopRight(pt + QPoint{0, 2}) : r.moveTopLeft(pt + QPoint{0, 2});
+      painter->fillRect(r, Qt::gray);
+      painter->drawText(r, Qt::AlignCenter, sec);
+    }
+  }
 }
 
 QXYSeries *ChartView::createSeries(SeriesType type, QColor color) {
@@ -828,18 +883,25 @@ QXYSeries *ChartView::createSeries(SeriesType type, QColor color) {
     chart()->legend()->setMarkerShape(QLegend::MarkerShapeCircle);
   }
   series->setColor(color);
-    // TODO: Due to a bug in CameraWidget the camera frames
-    // are drawn instead of the graphs on MacOS. Re-enable OpenGL when fixed
+  // TODO: Due to a bug in CameraWidget the camera frames
+  // are drawn instead of the graphs on MacOS. Re-enable OpenGL when fixed
 #ifndef __APPLE__
   series->setUseOpenGL(true);
   // Qt doesn't properly apply device pixel ratio in OpenGL mode
   QPen pen = series->pen();
-  pen.setWidth(2.0 * qApp->devicePixelRatio());
+  pen.setWidthF(2.0 * devicePixelRatioF());
   series->setPen(pen);
 #endif
   chart()->addSeries(series);
   series->attachAxis(axis_x);
   series->attachAxis(axis_y);
+
+  // disables the delivery of mouse events to the opengl widget.
+  // this enables the user to select the zoom area when the mouse press on the data point.
+  auto glwidget = findChild<QOpenGLWidget *>();
+  if (glwidget && !glwidget->testAttribute(Qt::WA_TransparentForMouseEvents)) {
+    glwidget->setAttribute(Qt::WA_TransparentForMouseEvents);
+  }
   return series;
 }
 
@@ -908,7 +970,7 @@ SeriesSelector::SeriesSelector(QString title, QWidget *parent) : QDialog(parent)
   auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
   main_layout->addWidget(buttonBox, 3, 2);
 
-  for (auto it = can->can_msgs.cbegin(); it != can->can_msgs.cend(); ++it) {
+  for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) {
     if (auto m = dbc()->msg(it.key())) {
       msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(it.key().toString()), QVariant::fromValue(it.key()));
     }
@@ -922,7 +984,7 @@ SeriesSelector::SeriesSelector(QString title, QWidget *parent) : QDialog(parent)
   QObject::connect(available_list, &QListWidget::itemDoubleClicked, this, &SeriesSelector::add);
   QObject::connect(selected_list, &QListWidget::itemDoubleClicked, this, &SeriesSelector::remove);
   QObject::connect(add_btn, &QPushButton::clicked, [this]() { if (auto item = available_list->currentItem()) add(item); });
-  QObject::connect(remove_btn, &QPushButton::clicked, [this]() { if (auto item = selected_list->currentItem()) remove(item);});
+  QObject::connect(remove_btn, &QPushButton::clicked, [this]() { if (auto item = selected_list->currentItem()) remove(item); });
   QObject::connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept);
   QObject::connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
 }
@@ -954,7 +1016,7 @@ void SeriesSelector::updateAvailableList(int index) {
   }
 }
 
-void SeriesSelector::addItemToList(QListWidget *parent, const MessageId id, const Signal *sig, bool show_msg_name) {
+void SeriesSelector::addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name) {
   QString text = QString("<span style=\"color:%0;\">■ </span> %1").arg(getColor(sig).name(), sig->name);
   if (show_msg_name) text += QString(" <font color=\"gray\">%0 %1</font>").arg(msgName(id), id.toString());
 
diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h
index c86c19a04e..7f757f0211 100644
--- a/tools/cabana/chartswidget.h
+++ b/tools/cabana/chartswidget.h
@@ -1,21 +1,20 @@
 #pragma once
 
-#include <QDragEnterEvent>
 #include <QGridLayout>
 #include <QLabel>
 #include <QListWidget>
 #include <QGraphicsPixmapItem>
 #include <QGraphicsProxyWidget>
-#include <QSlider>
+#include <QStack>
+#include <QTimer>
 #include <QtCharts/QChartView>
 #include <QtCharts/QLegendMarker>
 #include <QtCharts/QLineSeries>
 #include <QtCharts/QScatterSeries>
 #include <QtCharts/QValueAxis>
 
-#include "tools/cabana/dbcmanager.h"
+#include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/streams/abstractstream.h"
-using namespace dbcmanager;
 using namespace QtCharts;
 
 const int CHART_MIN_WIDTH = 300;
@@ -31,16 +30,16 @@ class ChartView : public QChartView {
 
 public:
   ChartView(QWidget *parent = nullptr);
-  void addSeries(const MessageId &msg_id, const Signal *sig);
-  bool hasSeries(const MessageId &msg_id, const Signal *sig) const;
-  void updateSeries(const Signal *sig = nullptr, const std::vector<Event*> *events = nullptr, bool clear = true);
+  void addSeries(const MessageId &msg_id, const cabana::Signal *sig);
+  bool hasSeries(const MessageId &msg_id, const cabana::Signal *sig) const;
+  void updateSeries(const cabana::Signal *sig = nullptr);
   void updatePlot(double cur, double min, double max);
   void setSeriesType(SeriesType type);
   void updatePlotArea(int left);
 
   struct SigItem {
     MessageId msg_id;
-    const Signal *sig = nullptr;
+    const cabana::Signal *sig = nullptr;
     QXYSeries *series = nullptr;
     QVector<QPointF> vals;
     QVector<QPointF> step_vals;
@@ -50,20 +49,20 @@ public:
   };
 
 signals:
-  void seriesRemoved(const MessageId &id, const Signal *sig);
-  void seriesAdded(const MessageId &id, const Signal *sig);
+  void seriesRemoved(const MessageId &id, const cabana::Signal *sig);
+  void seriesAdded(const MessageId &id, const cabana::Signal *sig);
   void zoomIn(double min, double max);
-  void zoomReset();
+  void zoomUndo();
   void remove();
   void axisYLabelWidthChanged(int w);
 
 private slots:
-  void msgUpdated(uint32_t address);
-  void signalUpdated(const Signal *sig);
+  void signalUpdated(const cabana::Signal *sig);
   void manageSeries();
   void handleMarkerClicked();
-  void msgRemoved(uint32_t address) { removeIf([=](auto &s) { return s.msg_id.address == address; }); }
-  void signalRemoved(const Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); }
+  void msgUpdated(MessageId id);
+  void msgRemoved(MessageId id) { removeIf([=](auto &s) { return s.msg_id == id; }); }
+  void signalRemoved(const cabana::Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); }
 
 private:
   void createToolButtons();
@@ -97,6 +96,8 @@ private:
   double cur_sec = 0;
   const QString mime_type = "application/x-cabanachartview";
   SeriesType series_type = SeriesType::Line;
+  bool is_scrubbing = false;
+  bool resume_after_scrub = false;
   friend class ChartsWidget;
  };
 
@@ -105,8 +106,8 @@ class ChartsWidget : public QFrame {
 
 public:
   ChartsWidget(QWidget *parent = nullptr);
-  void showChart(const MessageId &id, const Signal *sig, bool show, bool merge);
-  inline bool hasSignal(const MessageId &id, const Signal *sig) { return findChart(id, sig) != nullptr; }
+  void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge);
+  inline bool hasSignal(const MessageId &id, const cabana::Signal *sig) { return findChart(id, sig) != nullptr; }
 
 public slots:
   void setColumnCount(int n);
@@ -119,28 +120,32 @@ signals:
 
 private:
   void resizeEvent(QResizeEvent *event) override;
+  bool event(QEvent *event) override;
   void alignCharts();
   void newChart();
-  ChartView * createChart();
+  ChartView *createChart();
   void removeChart(ChartView *chart);
   void eventsMerged();
   void updateState();
   void zoomIn(double min, double max);
   void zoomReset();
+  void zoomUndo();
+  void setZoom(double min, double max);
   void updateToolBar();
   void setMaxChartRange(int value);
   void updateLayout();
   void settingChanged();
   bool eventFilter(QObject *obj, QEvent *event) override;
-  ChartView *findChart(const MessageId &id, const Signal *sig);
+  ChartView *findChart(const MessageId &id, const cabana::Signal *sig);
 
   QLabel *title_label;
   QLabel *range_lb;
-  QSlider *range_slider;
+  LogSlider *range_slider;
   QAction *range_lb_action;
   QAction *range_slider_action;
   bool docking = true;
   QAction *dock_btn;
+  QAction *undo_zoom_action;
   QAction *reset_zoom_action;
   QAction *remove_all_btn;
   QGridLayout *charts_layout;
@@ -149,27 +154,29 @@ private:
   bool is_zoomed = false;
   std::pair<double, double> display_range;
   std::pair<double, double> zoomed_range;
+  QStack<QPair<double, double>> zoom_stack;
   bool use_dark_theme = false;
   QAction *columns_action;
   int column_count = 1;
   int current_column_count = 0;
+  QTimer align_timer;
 };
 
 class SeriesSelector : public QDialog {
 public:
   struct ListItem : public QListWidgetItem {
-    ListItem(const MessageId &msg_id, const Signal *sig, QListWidget *parent) : msg_id(msg_id), sig(sig), QListWidgetItem(parent) {}
+    ListItem(const MessageId &msg_id, const cabana::Signal *sig, QListWidget *parent) : msg_id(msg_id), sig(sig), QListWidgetItem(parent) {}
     MessageId msg_id;
-    const Signal *sig;
+    const cabana::Signal *sig;
   };
 
   SeriesSelector(QString title, QWidget *parent);
   QList<ListItem *> seletedItems();
-  inline void addSelected(const MessageId &id, const Signal *sig) { addItemToList(selected_list, id, sig, true); }
+  inline void addSelected(const MessageId &id, const cabana::Signal *sig) { addItemToList(selected_list, id, sig, true); }
 
 private:
   void updateAvailableList(int index);
-  void addItemToList(QListWidget *parent, const MessageId id, const Signal *sig, bool show_msg_name = false);
+  void addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name = false);
   void add(QListWidgetItem *item);
   void remove(QListWidgetItem *item);
 
diff --git a/tools/cabana/commands.cc b/tools/cabana/commands.cc
index 9b9724aada..337de1c702 100644
--- a/tools/cabana/commands.cc
+++ b/tools/cabana/commands.cc
@@ -50,7 +50,7 @@ void RemoveMsgCommand::redo() {
 
 // AddSigCommand
 
-AddSigCommand::AddSigCommand(const MessageId &id, const Signal &sig, QUndoCommand *parent)
+AddSigCommand::AddSigCommand(const MessageId &id, const cabana::Signal &sig, QUndoCommand *parent)
     : id(id), signal(sig), QUndoCommand(parent) {
   setText(QObject::tr("add signal %1 to %2:%3").arg(sig.name).arg(msgName(id)).arg(id.address));
 }
@@ -60,7 +60,7 @@ void AddSigCommand::redo() { dbc()->addSignal(id, signal); }
 
 // RemoveSigCommand
 
-RemoveSigCommand::RemoveSigCommand(const MessageId &id, const Signal *sig, QUndoCommand *parent)
+RemoveSigCommand::RemoveSigCommand(const MessageId &id, const cabana::Signal *sig, QUndoCommand *parent)
     : id(id), signal(*sig), QUndoCommand(parent) {
   setText(QObject::tr("remove signal %1 from %2:%3").arg(signal.name).arg(msgName(id)).arg(id.address));
 }
@@ -70,7 +70,7 @@ void RemoveSigCommand::redo() { dbc()->removeSignal(id, signal.name); }
 
 // EditSignalCommand
 
-EditSignalCommand::EditSignalCommand(const MessageId &id, const Signal *sig, const Signal &new_sig, QUndoCommand *parent)
+EditSignalCommand::EditSignalCommand(const MessageId &id, const cabana::Signal *sig, const cabana::Signal &new_sig, QUndoCommand *parent)
     : id(id), old_signal(*sig), new_signal(new_sig), QUndoCommand(parent) {
   setText(QObject::tr("edit signal %1 in %2:%3").arg(old_signal.name).arg(msgName(id)).arg(id.address));
 }
diff --git a/tools/cabana/commands.h b/tools/cabana/commands.h
index 3565211eb9..84d1a6e2a1 100644
--- a/tools/cabana/commands.h
+++ b/tools/cabana/commands.h
@@ -3,9 +3,8 @@
 #include <QUndoCommand>
 #include <QUndoStack>
 
-#include "tools/cabana/dbcmanager.h"
+#include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/streams/abstractstream.h"
-using namespace dbcmanager;
 
 class EditMsgCommand : public QUndoCommand {
 public:
@@ -27,41 +26,41 @@ public:
 
 private:
   const MessageId id;
-  Msg message;
+  cabana::Msg message;
 };
 
 class AddSigCommand : public QUndoCommand {
 public:
-  AddSigCommand(const MessageId &id, const Signal &sig, QUndoCommand *parent = nullptr);
+  AddSigCommand(const MessageId &id, const cabana::Signal &sig, QUndoCommand *parent = nullptr);
   void undo() override;
   void redo() override;
 
 private:
   const MessageId id;
-  Signal signal = {};
+  cabana::Signal signal = {};
 };
 
 class RemoveSigCommand : public QUndoCommand {
 public:
-  RemoveSigCommand(const MessageId &id, const Signal *sig, QUndoCommand *parent = nullptr);
+  RemoveSigCommand(const MessageId &id, const cabana::Signal *sig, QUndoCommand *parent = nullptr);
   void undo() override;
   void redo() override;
 
 private:
   const MessageId id;
-  Signal signal = {};
+  cabana::Signal signal = {};
 };
 
 class EditSignalCommand : public QUndoCommand {
 public:
-  EditSignalCommand(const MessageId &id, const Signal *sig, const Signal &new_sig, QUndoCommand *parent = nullptr);
+  EditSignalCommand(const MessageId &id, const cabana::Signal *sig, const cabana::Signal &new_sig, QUndoCommand *parent = nullptr);
   void undo() override;
   void redo() override;
 
 private:
   const MessageId id;
-  Signal old_signal = {};
-  Signal new_signal = {};
+  cabana::Signal old_signal = {};
+  cabana::Signal new_signal = {};
 };
 
 namespace UndoStack {
diff --git a/tools/cabana/dbc/dbc.cc b/tools/cabana/dbc/dbc.cc
new file mode 100644
index 0000000000..46302ad789
--- /dev/null
+++ b/tools/cabana/dbc/dbc.cc
@@ -0,0 +1,82 @@
+#include "tools/cabana/dbc/dbc.h"
+#include "tools/cabana/util.h"
+
+uint qHash(const MessageId &item) {
+  return qHash(item.source) ^ qHash(item.address);
+}
+
+std::vector<const cabana::Signal*> cabana::Msg::getSignals() const {
+  std::vector<const Signal*> ret;
+  ret.reserve(sigs.size());
+  for (auto &sig : sigs) ret.push_back(&sig);
+  std::sort(ret.begin(), ret.end(), [](auto l, auto r) { return l->start_bit < r->start_bit; });
+  return ret;
+}
+
+void cabana::Signal::updatePrecision() {
+  precision = std::max(num_decimals(factor), num_decimals(offset));
+}
+
+// helper functions
+
+static QVector<int> BIG_ENDIAN_START_BITS = []() {
+  QVector<int> ret;
+  for (int i = 0; i < 64; i++)
+    for (int j = 7; j >= 0; j--)
+      ret.push_back(j + i * 8);
+  return ret;
+}();
+
+double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig) {
+  int64_t val = 0;
+
+  int i = sig.msb / 8;
+  int bits = sig.size;
+  while (i >= 0 && i < data_size && bits > 0) {
+    int lsb = (int)(sig.lsb / 8) == i ? sig.lsb : i * 8;
+    int msb = (int)(sig.msb / 8) == i ? sig.msb : (i + 1) * 8 - 1;
+    int size = msb - lsb + 1;
+
+    uint64_t d = (data[i] >> (lsb - (i * 8))) & ((1ULL << size) - 1);
+    val |= d << (bits - size);
+
+    bits -= size;
+    i = sig.is_little_endian ? i - 1 : i + 1;
+  }
+  if (sig.is_signed) {
+    val -= ((val >> (sig.size - 1)) & 0x1) ? (1ULL << sig.size) : 0;
+  }
+  return val * sig.factor + sig.offset;
+}
+
+bool cabana::operator==(const cabana::Signal &l, const cabana::Signal &r) {
+  return l.name == r.name && l.size == r.size &&
+         l.start_bit == r.start_bit &&
+         l.msb == r.msb && l.lsb == r.lsb &&
+         l.is_signed == r.is_signed && l.is_little_endian == r.is_little_endian &&
+         l.factor == r.factor && l.offset == r.offset &&
+         l.min == r.min && l.max == r.max && l.comment == r.comment && l.unit == r.unit && l.val_desc == r.val_desc;
+}
+
+int bigEndianStartBitsIndex(int start_bit) { return BIG_ENDIAN_START_BITS[start_bit]; }
+int bigEndianBitIndex(int index) { return BIG_ENDIAN_START_BITS.indexOf(index); }
+
+void updateSigSizeParamsFromRange(cabana::Signal &s, int start_bit, int size) {
+  s.start_bit = s.is_little_endian ? start_bit : bigEndianBitIndex(start_bit);
+  s.size = size;
+  if (s.is_little_endian) {
+    s.lsb = s.start_bit;
+    s.msb = s.start_bit + s.size - 1;
+  } else {
+    s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1);
+    s.msb = s.start_bit;
+  }
+}
+
+std::pair<int, int> getSignalRange(const cabana::Signal *s) {
+  int from = s->is_little_endian ? s->start_bit : bigEndianBitIndex(s->start_bit);
+  int to = from + s->size - 1;
+  return {from, to};
+}
+
+std::vector<std::string> allDBCNames() { return get_dbc_names(); }
diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h
new file mode 100644
index 0000000000..701908112f
--- /dev/null
+++ b/tools/cabana/dbc/dbc.h
@@ -0,0 +1,84 @@
+#pragma once
+
+#include <map>
+#include <QList>
+#include <QMetaType>
+#include <QObject>
+#include <QString>
+
+#include "opendbc/can/common_dbc.h"
+
+const QString UNTITLED = "untitled";
+
+struct MessageId {
+  uint8_t source;
+  uint32_t address;
+
+  QString toString() const {
+    return QString("%1:%2").arg(source).arg(address, 1, 16);
+  }
+
+  bool operator==(const MessageId &other) const {
+    return source == other.source && address == other.address;
+  }
+
+  bool operator!=(const MessageId &other) const {
+    return !(*this == other);
+  }
+
+  bool operator<(const MessageId &other) const {
+    return std::pair{source, address} < std::pair{other.source, other.address};
+  }
+
+  bool operator>(const MessageId &other) const {
+    return std::pair{source, address} > std::pair{other.source, other.address};
+  }
+};
+
+uint qHash(const MessageId &item);
+Q_DECLARE_METATYPE(MessageId);
+
+template <>
+struct std::hash<MessageId> {
+  std::size_t operator()(const MessageId &k) const noexcept { return qHash(k); }
+};
+
+typedef QList<std::pair<QString, QString>> ValueDescription;
+
+namespace cabana {
+  struct Signal {
+    QString name;
+    int start_bit, msb, lsb, size;
+    bool is_signed;
+    double factor, offset;
+    bool is_little_endian;
+    QString min, max, unit;
+    QString comment;
+    ValueDescription val_desc;
+    int precision = 0;
+    void updatePrecision();
+  };
+
+  struct Msg {
+    QString name;
+    uint32_t size;
+    QList<cabana::Signal> sigs;
+
+    std::vector<const cabana::Signal*> getSignals() const;
+    const cabana::Signal *sig(const QString &sig_name) const {
+        auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s.name == sig_name; });
+        return it != sigs.end() ? &(*it) : nullptr;
+    }
+  };
+
+  bool operator==(const cabana::Signal &l, const cabana::Signal &r);
+  inline bool operator!=(const cabana::Signal &l, const cabana::Signal &r) { return !(l == r); }
+}
+
+// Helper functions
+double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig);
+int bigEndianStartBitsIndex(int start_bit);
+int bigEndianBitIndex(int index);
+void updateSigSizeParamsFromRange(cabana::Signal &s, int start_bit, int size);
+std::pair<int, int> getSignalRange(const cabana::Signal *s);
+std::vector<std::string> allDBCNames();
diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc
new file mode 100644
index 0000000000..8b4f98508c
--- /dev/null
+++ b/tools/cabana/dbc/dbcfile.cc
@@ -0,0 +1,283 @@
+#include "tools/cabana/dbc/dbcfile.h"
+
+#include <QDebug>
+
+#include <QFile>
+#include <QFileInfo>
+#include <QRegularExpression>
+#include <QTextStream>
+#include <QVector>
+#include <limits>
+#include <sstream>
+
+
+DBCFile::DBCFile(const QString &dbc_file_name, QObject *parent) : QObject(parent) {
+  QFile file(dbc_file_name);
+  if (file.open(QIODevice::ReadOnly)) {
+    name_ = QFileInfo(dbc_file_name).baseName();
+
+    // Remove auto save file extension
+    if (dbc_file_name.endsWith(AUTO_SAVE_EXTENSION)) {
+      filename = dbc_file_name.left(dbc_file_name.length() - AUTO_SAVE_EXTENSION.length());
+    } else {
+      filename = dbc_file_name;
+    }
+    open(file.readAll());
+  } else {
+    throw std::runtime_error("Failed to open file.");
+  }
+}
+
+DBCFile::DBCFile(const QString &name, const QString &content, QObject *parent) : QObject(parent), name_(name), filename("") {
+  // Open from clipboard
+  open(content);
+}
+
+void DBCFile::open(const QString &content) {
+  std::istringstream stream(content.toStdString());
+  auto dbc = const_cast<DBC *>(dbc_parse_from_stream(name_.toStdString(), stream));
+  msgs.clear();
+  for (auto &msg : dbc->msgs) {
+    auto &m = msgs[msg.address];
+    m.name = msg.name.c_str();
+    m.size = msg.size;
+    for (auto &s : msg.sigs) {
+      m.sigs.push_back({});
+      auto &sig = m.sigs.last();
+      sig.name = s.name.c_str();
+      sig.start_bit = s.start_bit;
+      sig.msb = s.msb;
+      sig.lsb = s.lsb;
+      sig.size = s.size;
+      sig.is_signed = s.is_signed;
+      sig.factor = s.factor;
+      sig.offset = s.offset;
+      sig.is_little_endian = s.is_little_endian;
+      sig.updatePrecision();
+    }
+  }
+  parseExtraInfo(content);
+
+  delete dbc;
+}
+
+bool DBCFile::save() {
+  assert (!filename.isEmpty());
+  if (writeContents(filename)) {
+    cleanupAutoSaveFile();
+    return true;
+  } else {
+    return false;
+  }
+}
+
+bool DBCFile::saveAs(const QString &new_filename) {
+  filename = new_filename;
+  return save();
+}
+
+bool DBCFile::autoSave() {
+  if (!filename.isEmpty()) {
+    return writeContents(filename + AUTO_SAVE_EXTENSION);
+  } else {
+    return false;
+  }
+}
+
+void DBCFile::cleanupAutoSaveFile() {
+  if (!filename.isEmpty()) {
+    QFile::remove(filename + AUTO_SAVE_EXTENSION);
+  }
+}
+
+bool DBCFile::writeContents(const QString &fn) {
+  QFile file(fn);
+  if (file.open(QIODevice::WriteOnly)) {
+    file.write(generateDBC().toUtf8());
+    return true;
+  } else {
+    return false;
+  }
+}
+
+cabana::Signal *DBCFile::addSignal(const MessageId &id, const cabana::Signal &sig) {
+  if (auto m = const_cast<cabana::Msg *>(msg(id.address))) {
+    m->sigs.push_back(sig);
+    return &m->sigs.last();
+  }
+
+  return nullptr;
+}
+
+ cabana::Signal *DBCFile::updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig) {
+  if (auto m = const_cast<cabana::Msg *>(msg(id))) {
+    if (auto s = (cabana::Signal *)m->sig(sig_name)) {
+      *s = sig;
+      return s;
+    }
+  }
+
+  return nullptr;
+}
+
+cabana::Signal *DBCFile::getSignal(const MessageId &id, const QString &sig_name) {
+  if (auto m = const_cast<cabana::Msg *>(msg(id))) {
+    auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [&](auto &s) { return s.name == sig_name; });
+    if (it != m->sigs.end()) {
+     return &(*it);
+    }
+  }
+  return nullptr;
+ }
+
+void DBCFile::removeSignal(const MessageId &id, const QString &sig_name) {
+  if (auto m = const_cast<cabana::Msg *>(msg(id))) {
+    auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [&](auto &s) { return s.name == sig_name; });
+    if (it != m->sigs.end()) {
+      m->sigs.erase(it);
+    }
+  }
+}
+
+void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size) {
+  auto &m = msgs[id.address];
+  m.name = name;
+  m.size = size;
+}
+
+void DBCFile::removeMsg(const MessageId &id) {
+  msgs.erase(id.address);
+}
+
+std::map<uint32_t, cabana::Msg> DBCFile::getMessages() {
+  return msgs;
+}
+
+const cabana::Msg *DBCFile::msg(const MessageId &id) const {
+  return msg(id.address);
+}
+
+const cabana::Msg *DBCFile::msg(uint32_t address) const {
+  auto it = msgs.find(address);
+  return it != msgs.end() ? &it->second : nullptr;
+}
+
+const cabana::Msg* DBCFile::msg(const QString &name) {
+  for (auto &[_, msg] : msgs) {
+    if (msg.name == name) {
+      return &msg;
+    }
+  }
+
+  return nullptr;
+}
+
+
+QStringList DBCFile::signalNames() const {
+  // Used for autocompletion
+  QStringList ret;
+  for (auto const& [_, msg] : msgs) {
+    for (auto sig: msg.getSignals()) {
+      ret << sig->name;
+    }
+  }
+  ret.sort();
+  ret.removeDuplicates();
+  return ret;
+}
+
+int DBCFile::msgCount() const {
+  return msgs.size();
+}
+
+QString DBCFile::name() const {
+  return name_;
+}
+
+void DBCFile::parseExtraInfo(const QString &content) {
+  static QRegularExpression bo_regexp(R"(^BO_ (\w+) (\w+) *: (\w+) (\w+))");
+  static QRegularExpression sg_regexp(R"(^SG_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
+  static QRegularExpression sgm_regexp(R"(^SG_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
+  static QRegularExpression sg_comment_regexp(R"(^CM_ SG_ *(\w+) *(\w+) *\"(.*)\";)");
+  static QRegularExpression val_regexp(R"(VAL_ (\w+) (\w+) (.*);)");
+  auto get_sig = [this](uint32_t address, const QString &name) -> cabana::Signal * {
+    auto m = (cabana::Msg *)msg(address);
+    return m ? (cabana::Signal *)m->sig(name) : nullptr;
+  };
+
+  QTextStream stream((QString *)&content);
+  uint32_t address = 0;
+  while (!stream.atEnd()) {
+    QString line = stream.readLine().trimmed();
+    if (line.startsWith("BO_ ")) {
+      if (auto match = bo_regexp.match(line); match.hasMatch()) {
+        address = match.captured(1).toUInt();
+      }
+    } else if (line.startsWith("SG_ ")) {
+      int offset = 0;
+      auto match = sg_regexp.match(line);
+      if (!match.hasMatch()) {
+        match = sgm_regexp.match(line);
+        offset = 1;
+      }
+      if (match.hasMatch()) {
+        if (auto s = get_sig(address, match.captured(1))) {
+          s->min = match.captured(8 + offset);
+          s->max = match.captured(9 + offset);
+          s->unit = match.captured(10 + offset);
+        }
+      }
+    } else if (line.startsWith("VAL_ ")) {
+      if (auto match = val_regexp.match(line); match.hasMatch()) {
+        if (auto s = get_sig(match.captured(1).toUInt(), match.captured(2))) {
+          QStringList desc_list = match.captured(3).trimmed().split('"');
+          for (int i = 0; i < desc_list.size(); i += 2) {
+            auto val = desc_list[i].trimmed();
+            if (!val.isEmpty() && (i + 1) < desc_list.size()) {
+              auto desc = desc_list[i+1].trimmed();
+              s->val_desc.push_back({val, desc});
+            }
+          }
+        }
+      }
+    } else if (line.startsWith("CM_ SG_ ")) {
+      if (auto match = sg_comment_regexp.match(line); match.hasMatch()) {
+        if (auto s = get_sig(match.captured(1).toUInt(), match.captured(2))) {
+          s->comment = match.captured(3).trimmed();
+        }
+      }
+    }
+  }
+}
+
+QString DBCFile::generateDBC() {
+  QString dbc_string, signal_comment, val_desc;
+  for (auto &[address, m] : msgs) {
+    dbc_string += QString("BO_ %1 %2: %3 XXX\n").arg(address).arg(m.name).arg(m.size);
+    for (auto sig : m.getSignals()) {
+      dbc_string += QString(" SG_ %1 : %2|%3@%4%5 (%6,%7) [%8|%9] \"%10\" XXX\n")
+                        .arg(sig->name)
+                        .arg(sig->start_bit)
+                        .arg(sig->size)
+                        .arg(sig->is_little_endian ? '1' : '0')
+                        .arg(sig->is_signed ? '-' : '+')
+                        .arg(sig->factor, 0, 'g', std::numeric_limits<double>::digits10)
+                        .arg(sig->offset, 0, 'g', std::numeric_limits<double>::digits10)
+                        .arg(sig->min)
+                        .arg(sig->max)
+                        .arg(sig->unit);
+      if (!sig->comment.isEmpty()) {
+        signal_comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(sig->comment);
+      }
+      if (!sig->val_desc.isEmpty()) {
+        QStringList text;
+        for (auto &[val, desc] : sig->val_desc) {
+          text << QString("%1 \"%2\"").arg(val, desc);
+        }
+        val_desc += QString("VAL_ %1 %2 %3;\n").arg(address).arg(sig->name).arg(text.join(" "));
+      }
+    }
+    dbc_string += "\n";
+  }
+  return dbc_string + signal_comment + val_desc;
+}
diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h
new file mode 100644
index 0000000000..082ee773b1
--- /dev/null
+++ b/tools/cabana/dbc/dbcfile.h
@@ -0,0 +1,55 @@
+#pragma once
+
+#include <map>
+#include <QList>
+#include <QMetaType>
+#include <QObject>
+#include <QString>
+#include <QSet>
+#include <QDebug>
+
+#include "tools/cabana/dbc/dbc.h"
+
+const QString AUTO_SAVE_EXTENSION = ".tmp";
+
+
+class DBCFile : public QObject {
+  Q_OBJECT
+
+public:
+  DBCFile(const QString &dbc_file_name, QObject *parent=nullptr);
+  DBCFile(const QString &name, const QString &content, QObject *parent=nullptr);
+  ~DBCFile() {}
+
+  void open(const QString &content);
+
+  bool save();
+  bool saveAs(const QString &new_filename);
+  bool autoSave();
+  bool writeContents(const QString &fn);
+  void cleanupAutoSaveFile();
+  QString generateDBC();
+
+  cabana::Signal *addSignal(const MessageId &id, const cabana::Signal &sig);
+  cabana::Signal *updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig);
+  cabana::Signal *getSignal(const MessageId &id, const QString &sig_name);
+  void removeSignal(const MessageId &id, const QString &sig_name);
+
+  void updateMsg(const MessageId &id, const QString &name, uint32_t size);
+  void removeMsg(const MessageId &id);
+
+  std::map<uint32_t, cabana::Msg> getMessages();
+  const cabana::Msg *msg(const MessageId &id) const;
+  const cabana::Msg *msg(uint32_t address) const;
+  const cabana::Msg* msg(const QString &name);
+  QStringList signalNames() const;
+  int msgCount() const;
+  QString name() const;
+
+  QString filename;
+
+private:
+  void parseExtraInfo(const QString &content);
+  std::map<uint32_t, cabana::Msg> msgs;
+  QString name_;
+};
diff --git a/tools/cabana/dbc/dbcmanager.cc b/tools/cabana/dbc/dbcmanager.cc
new file mode 100644
index 0000000000..0cc51989cd
--- /dev/null
+++ b/tools/cabana/dbc/dbcmanager.cc
@@ -0,0 +1,217 @@
+#include "tools/cabana/dbc/dbcmanager.h"
+
+#include <QFile>
+#include <QRegularExpression>
+#include <QTextStream>
+#include <QVector>
+#include <limits>
+#include <sstream>
+
+
+bool DBCManager::open(SourceSet s, const QString &dbc_file_name, QString *error) {
+  for (int i = 0; i < dbc_files.size(); i++) {
+    auto [ss, dbc_file] = dbc_files[i];
+
+    // Check if file is already open, and merge sources
+    if (dbc_file->filename == dbc_file_name) {
+      ss |= s;
+      emit DBCFileChanged();
+      return true;
+    }
+
+    // Check if there is already a file for this sourceset, then replace it
+    if (ss == s) {
+      try {
+        dbc_files[i] = {s, new DBCFile(dbc_file_name, this)};
+        delete dbc_file;
+
+        emit DBCFileChanged();
+        return true;
+      } catch (std::exception &e) {
+        if (error) *error = e.what();
+        return false;
+      }
+    }
+  }
+
+  try {
+    dbc_files.push_back({s, new DBCFile(dbc_file_name, this)});
+  } catch (std::exception &e) {
+    if (error) *error = e.what();
+    return false;
+  }
+
+  emit DBCFileChanged();
+  return true;
+}
+
+bool DBCManager::open(SourceSet s, const QString &name, const QString &content, QString *error) {
+  try {
+    dbc_files.push_back({s, new DBCFile(name, content, this)});
+  } catch (std::exception &e) {
+    if (error) *error = e.what();
+    return false;
+  }
+
+  emit DBCFileChanged();
+  return true;
+}
+
+void DBCManager::closeAll() {
+  while (dbc_files.size()) {
+    DBCFile *dbc_file = dbc_files.back().second;
+    dbc_files.pop_back();
+    delete dbc_file;
+  }
+  emit DBCFileChanged();
+}
+
+
+void DBCManager::addSignal(const MessageId &id, const cabana::Signal &sig) {
+  auto sources_dbc_file = findDBCFile(id);
+  assert(sources_dbc_file); // Create new DBC?
+  auto [dbc_sources, dbc_file] = *sources_dbc_file;
+
+  cabana::Signal *s = dbc_file->addSignal(id, sig);
+
+  if (s != nullptr) {
+    for (uint8_t source : dbc_sources) {
+      emit signalAdded({.source = source, .address = id.address}, s);
+    }
+  }
+}
+
+void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig) {
+  auto sources_dbc_file = findDBCFile(id);
+  assert(sources_dbc_file); // This should be impossible
+  auto [_, dbc_file] = *sources_dbc_file;
+
+  cabana::Signal *s = dbc_file->updateSignal(id, sig_name, sig);
+
+  if (s != nullptr) {
+    emit signalUpdated(s);
+  }
+}
+
+void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) {
+  auto sources_dbc_file = findDBCFile(id);
+  assert(sources_dbc_file); // This should be impossible
+  auto [_, dbc_file] = *sources_dbc_file;
+
+  cabana::Signal *s = dbc_file->getSignal(id, sig_name);
+
+  if (s != nullptr) {
+    emit signalRemoved(s);
+    dbc_file->removeSignal(id, sig_name);
+  }
+}
+
+void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size) {
+  auto sources_dbc_file = findDBCFile(id);
+  assert(sources_dbc_file); // This should be impossible
+  auto [dbc_sources, dbc_file] = *sources_dbc_file;
+
+  dbc_file->updateMsg(id, name, size);
+
+  for (uint8_t source : dbc_sources) {
+    emit msgUpdated({.source = source, .address = id.address});
+  }
+}
+
+void DBCManager::removeMsg(const MessageId &id) {
+  auto sources_dbc_file = findDBCFile(id);
+  assert(sources_dbc_file); // This should be impossible
+  auto [dbc_sources, dbc_file] = *sources_dbc_file;
+
+  dbc_file->removeMsg(id);
+
+  for (uint8_t source : dbc_sources) {
+    emit msgRemoved({.source = source, .address = id.address});
+  }
+}
+
+std::map<MessageId, cabana::Msg> DBCManager::getMessages(uint8_t source) {
+  std::map<MessageId, cabana::Msg> ret;
+
+  auto sources_dbc_file = findDBCFile({.source = source, .address = 0});
+  if (!sources_dbc_file) {
+    return ret;
+  }
+
+  auto [_, dbc_file] = *sources_dbc_file;
+
+  for (auto &[address, msg] : dbc_file->getMessages()) {
+    MessageId id = {.source = source, .address = address};
+    ret[id] = msg;
+  }
+  return ret;
+}
+
+const cabana::Msg *DBCManager::msg(const MessageId &id) const {
+  auto sources_dbc_file = findDBCFile(id);
+  if (!sources_dbc_file) {
+    return nullptr;
+  }
+  auto [_, dbc_file] = *sources_dbc_file;
+  return dbc_file->msg(id);
+}
+
+const cabana::Msg* DBCManager::msg(uint8_t source, const QString &name) {
+  auto sources_dbc_file = findDBCFile({.source = source, .address = 0});
+  if (!sources_dbc_file) {
+    return nullptr;
+  }
+  auto [_, dbc_file] = *sources_dbc_file;
+  return dbc_file->msg(name);
+}
+
+QStringList DBCManager::signalNames() const {
+  QStringList ret;
+
+  for (auto &[_, dbc_file] : dbc_files) {
+    ret << dbc_file->signalNames();
+  }
+
+  ret.sort();
+  ret.removeDuplicates();
+  return ret;
+}
+
+int DBCManager::msgCount() const {
+  int ret = 0;
+
+  for (auto &[_, dbc_file] : dbc_files) {
+    ret += dbc_file->msgCount();
+  }
+
+  return ret;
+}
+
+int DBCManager::dbcCount() const {
+  return dbc_files.size();
+}
+
+void DBCManager::updateSources(const SourceSet &s) {
+  sources = s;
+}
+
+std::optional<std::pair<SourceSet, DBCFile*>> DBCManager::findDBCFile(const uint8_t source) const {
+  // Find DBC file that matches id.source, fall back to SOURCE_ALL if no specific DBC is found
+
+  for (auto &[source_set, dbc_file] : dbc_files) {
+    if (source_set.contains(source)) return {{source_set, dbc_file}};
+  }
+  for (auto &[source_set, dbc_file] : dbc_files) {
+    if (source_set == SOURCE_ALL) return {{sources, dbc_file}};
+  }
+  return {};
+}
+
+std::optional<std::pair<SourceSet, DBCFile*>> DBCManager::findDBCFile(const MessageId &id) const {
+  return findDBCFile(id.source);
+}
+
+DBCManager *dbc() {
+  static DBCManager dbc_manager(nullptr);
+  return &dbc_manager;
+}
diff --git a/tools/cabana/dbc/dbcmanager.h b/tools/cabana/dbc/dbcmanager.h
new file mode 100644
index 0000000000..31183e8199
--- /dev/null
+++ b/tools/cabana/dbc/dbcmanager.h
@@ -0,0 +1,67 @@
+#pragma once
+
+#include <map>
+#include <QList>
+#include <QMetaType>
+#include <QObject>
+#include <QString>
+#include <QSet>
+#include <QDebug>
+
+#include "tools/cabana/dbc/dbc.h"
+#include "tools/cabana/dbc/dbcfile.h"
+
+typedef QSet<uint8_t> SourceSet;
+const SourceSet SOURCE_ALL = {};
+
+class DBCManager : public QObject {
+  Q_OBJECT
+
+public:
+  DBCManager(QObject *parent) {}
+  ~DBCManager() {}
+  bool open(SourceSet s, const QString &dbc_file_name, QString *error = nullptr);
+  bool open(SourceSet s, const QString &name, const QString &content, QString *error = nullptr);
+  void closeAll();
+
+  void addSignal(const MessageId &id, const cabana::Signal &sig);
+  void updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig);
+  void removeSignal(const MessageId &id, const QString &sig_name);
+
+  void updateMsg(const MessageId &id, const QString &name, uint32_t size);
+  void removeMsg(const MessageId &id);
+
+  std::map<MessageId, cabana::Msg> getMessages(uint8_t source);
+  const cabana::Msg *msg(const MessageId &id) const;
+  const cabana::Msg* msg(uint8_t source, const QString &name);
+
+  QStringList signalNames() const;
+  int msgCount() const;
+  int dbcCount() const;
+
+  std::optional<std::pair<SourceSet, DBCFile*>> findDBCFile(const uint8_t source) const;
+  std::optional<std::pair<SourceSet, DBCFile*>> findDBCFile(const MessageId &id) const;
+
+  QList<std::pair<SourceSet, DBCFile*>> dbc_files;
+
+private:
+  SourceSet sources;
+
+public slots:
+  void updateSources(const SourceSet &s);
+
+signals:
+  void signalAdded(MessageId id, const cabana::Signal *sig);
+  void signalRemoved(const cabana::Signal *sig);
+  void signalUpdated(const cabana::Signal *sig);
+  void msgUpdated(MessageId id);
+  void msgRemoved(MessageId id);
+  void DBCFileChanged();
+};
+
+DBCManager *dbc();
+
+inline QString msgName(const MessageId &id) {
+  auto msg = dbc()->msg(id);
+  return msg ? msg->name : UNTITLED;
+}
diff --git a/tools/cabana/generate_dbc_json.py b/tools/cabana/dbc/generate_dbc_json.py
similarity index 100%
rename from tools/cabana/generate_dbc_json.py
rename to tools/cabana/dbc/generate_dbc_json.py
diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc
deleted file mode 100644
index 32113c2f22..0000000000
--- a/tools/cabana/dbcmanager.cc
+++ /dev/null
@@ -1,267 +0,0 @@
-#include "tools/cabana/dbcmanager.h"
-#include <QDebug>
-
-#include <QFile>
-#include <QRegularExpression>
-#include <QTextStream>
-#include <QVector>
-#include <limits>
-#include <sstream>
-
-namespace dbcmanager {
-
-bool DBCManager::open(const QString &dbc_file_name, QString *error) {
-  QString opendbc_file_path = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, dbc_file_name);
-  QFile file(opendbc_file_path);
-  if (file.open(QIODevice::ReadOnly)) {
-    return open(dbc_file_name, file.readAll(), error);
-  }
-  return false;
-}
-
-void DBCManager::parseExtraInfo(const QString &content) {
-  static QRegularExpression bo_regexp(R"(^BO_ (\w+) (\w+) *: (\w+) (\w+))");
-  static QRegularExpression sg_regexp(R"(^SG_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
-  static QRegularExpression sgm_regexp(R"(^SG_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
-  static QRegularExpression sg_comment_regexp(R"(^CM_ SG_ *(\w+) *(\w+) *\"(.*)\";)");
-  static QRegularExpression val_regexp(R"(VAL_ (\w+) (\w+) (.*);)");
-  auto get_sig = [this](uint32_t address, const QString &name) -> Signal * {
-    auto m = (Msg *)msg(address);
-    return m ? (Signal *)m->sig(name) : nullptr;
-  };
-
-  QTextStream stream((QString *)&content);
-  uint32_t address = 0;
-  while (!stream.atEnd()) {
-    QString line = stream.readLine().trimmed();
-    if (line.startsWith("BO_ ")) {
-      if (auto match = bo_regexp.match(line); match.hasMatch()) {
-        address = match.captured(1).toUInt();
-      }
-    } else if (line.startsWith("SG_ ")) {
-      int offset = 0;
-      auto match = sg_regexp.match(line);
-      if (!match.hasMatch()) {
-        match = sgm_regexp.match(line);
-        offset = 1;
-      }
-      if (match.hasMatch()) {
-        if (auto s = get_sig(address, match.captured(1))) {
-          s->min = match.captured(8 + offset);
-          s->max = match.captured(9 + offset);
-          s->unit = match.captured(10 + offset);
-        }
-      }
-    } else if (line.startsWith("VAL_ ")) {
-      if (auto match = val_regexp.match(line); match.hasMatch()) {
-        if (auto s = get_sig(match.captured(1).toUInt(), match.captured(2))) {
-          QStringList desc_list = match.captured(3).trimmed().split('"');
-          for (int i = 0; i < desc_list.size(); i += 2) {
-            auto val = desc_list[i].trimmed();
-            if (!val.isEmpty() && (i + 1) < desc_list.size()) {
-              auto desc = desc_list[i+1].trimmed();
-              s->val_desc.push_back({val, desc});
-            }
-          }
-        }
-      }
-    } else if (line.startsWith("CM_ SG_ ")) {
-      if (auto match = sg_comment_regexp.match(line); match.hasMatch()) {
-        if (auto s = get_sig(match.captured(1).toUInt(), match.captured(2))) {
-          s->comment = match.captured(3).trimmed();
-        }
-      }
-    }
-  }
-}
-
-QString DBCManager::generateDBC() {
-  QString dbc_string, signal_comment, val_desc;
-  for (auto &[address, m] : msgs) {
-    dbc_string += QString("BO_ %1 %2: %3 XXX\n").arg(address).arg(m.name).arg(m.size);
-    for (auto sig : m.getSignals()) {
-      dbc_string += QString(" SG_ %1 : %2|%3@%4%5 (%6,%7) [%8|%9] \"%10\" XXX\n")
-                        .arg(sig->name)
-                        .arg(sig->start_bit)
-                        .arg(sig->size)
-                        .arg(sig->is_little_endian ? '1' : '0')
-                        .arg(sig->is_signed ? '-' : '+')
-                        .arg(sig->factor, 0, 'g', std::numeric_limits<double>::digits10)
-                        .arg(sig->offset, 0, 'g', std::numeric_limits<double>::digits10)
-                        .arg(sig->min)
-                        .arg(sig->max)
-                        .arg(sig->unit);
-      if (!sig->comment.isEmpty()) {
-        signal_comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(sig->comment);
-      }
-      if (!sig->val_desc.isEmpty()) {
-        QStringList text;
-        for (auto &[val, desc] : sig->val_desc) {
-          text << QString("%1 \"%2\"").arg(val, desc);
-        }
-        val_desc += QString("VAL_ %1 %2 %3;\n").arg(address).arg(sig->name).arg(text.join(" "));
-      }
-    }
-    dbc_string += "\n";
-  }
-  return dbc_string + signal_comment + val_desc;
-}
-
-void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size) {
-  auto &m = msgs[id.address];
-  m.name = name;
-  m.size = size;
-  emit msgUpdated(id.address);
-}
-
-void DBCManager::removeMsg(const MessageId &id) {
-  msgs.erase(id.address);
-  emit msgRemoved(id.address);
-}
-
-void DBCManager::addSignal(const MessageId &id, const Signal &sig) {
-  if (auto m = const_cast<Msg *>(msg(id.address))) {
-    m->sigs.push_back(sig);
-    auto s = &m->sigs.last();
-    emit signalAdded(id.address, s);
-  }
-}
-
-void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, const Signal &sig) {
-  if (auto m = const_cast<Msg *>(msg(id))) {
-    if (auto s = (Signal *)m->sig(sig_name)) {
-      *s = sig;
-      emit signalUpdated(s);
-    }
-  }
-}
-
-void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) {
-  if (auto m = const_cast<Msg *>(msg(id))) {
-    auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [&](auto &s) { return s.name == sig_name; });
-    if (it != m->sigs.end()) {
-      emit signalRemoved(&(*it));
-      m->sigs.erase(it);
-    }
-  }
-}
-
-DBCManager *dbc() {
-  static DBCManager dbc_manager(nullptr);
-  return &dbc_manager;
-}
-
-// Msg
-
-std::vector<const Signal*> Msg::getSignals() const {
-  std::vector<const Signal*> ret;
-  ret.reserve(sigs.size());
-  for (auto &sig : sigs) ret.push_back(&sig);
-  std::sort(ret.begin(), ret.end(), [](auto l, auto r) { return l->start_bit < r->start_bit; });
-  return ret;
-}
-
-// helper functions
-
-static QVector<int> BIG_ENDIAN_START_BITS = []() {
-  QVector<int> ret;
-  for (int i = 0; i < 64; i++)
-    for (int j = 7; j >= 0; j--)
-      ret.push_back(j + i * 8);
-  return ret;
-}();
-
-int bigEndianStartBitsIndex(int start_bit) { return BIG_ENDIAN_START_BITS[start_bit]; }
-int bigEndianBitIndex(int index) { return BIG_ENDIAN_START_BITS.indexOf(index); }
-
-double get_raw_value(uint8_t *data, size_t data_size, const Signal &sig) {
-  int64_t val = 0;
-
-  int i = sig.msb / 8;
-  int bits = sig.size;
-  while (i >= 0 && i < data_size && bits > 0) {
-    int lsb = (int)(sig.lsb / 8) == i ? sig.lsb : i * 8;
-    int msb = (int)(sig.msb / 8) == i ? sig.msb : (i + 1) * 8 - 1;
-    int size = msb - lsb + 1;
-
-    uint64_t d = (data[i] >> (lsb - (i * 8))) & ((1ULL << size) - 1);
-    val |= d << (bits - size);
-
-    bits -= size;
-    i = sig.is_little_endian ? i - 1 : i + 1;
-  }
-  if (sig.is_signed) {
-    val -= ((val >> (sig.size - 1)) & 0x1) ? (1ULL << sig.size) : 0;
-  }
-  return val * sig.factor + sig.offset;
-}
-
-void updateSigSizeParamsFromRange(Signal &s, int start_bit, int size) {
-  s.start_bit = s.is_little_endian ? start_bit : bigEndianBitIndex(start_bit);
-  s.size = size;
-  if (s.is_little_endian) {
-    s.lsb = s.start_bit;
-    s.msb = s.start_bit + s.size - 1;
-  } else {
-    s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1);
-    s.msb = s.start_bit;
-  }
-}
-
-std::pair<int, int> getSignalRange(const Signal *s) {
-  int from = s->is_little_endian ? s->start_bit : bigEndianBitIndex(s->start_bit);
-  int to = from + s->size - 1;
-  return {from, to};
-}
-
-bool operator==(const Signal &l, const Signal &r) {
-  return l.name == r.name && l.size == r.size &&
-         l.start_bit == r.start_bit &&
-         l.msb == r.msb && l.lsb == r.lsb &&
-         l.is_signed == r.is_signed && l.is_little_endian == r.is_little_endian &&
-         l.factor == r.factor && l.offset == r.offset &&
-         l.min == r.min && l.max == r.max && l.comment == r.comment && l.unit == r.unit && l.val_desc == r.val_desc;
-}
-
-}  // namespace dbcmanager
-
-#include "opendbc/can/common_dbc.h"
-std::vector<std::string> dbcmanager::DBCManager::allDBCNames() { return get_dbc_names(); }
-
-bool dbcmanager::DBCManager::open(const QString &name, const QString &content, QString *error) {
-  try {
-    std::istringstream stream(content.toStdString());
-    auto dbc = const_cast<DBC *>(dbc_parse_from_stream(name.toStdString(), stream));
-    msgs.clear();
-    for (auto &msg : dbc->msgs) {
-      auto &m = msgs[msg.address];
-      m.name = msg.name.c_str();
-      m.size = msg.size;
-      for (auto &s : msg.sigs) {
-        m.sigs.push_back({});
-        auto &sig = m.sigs.last();
-        sig.name = s.name.c_str();
-        sig.start_bit = s.start_bit;
-        sig.msb = s.msb;
-        sig.lsb = s.lsb;
-        sig.size = s.size;
-        sig.is_signed = s.is_signed;
-        sig.factor = s.factor;
-        sig.offset = s.offset;
-        sig.is_little_endian = s.is_little_endian;
-      }
-    }
-    parseExtraInfo(content);
-    name_ = name;
-    emit DBCFileChanged();
-    delete dbc;
-  } catch (std::exception &e) {
-    if (error) *error = e.what();
-    return false;
-  }
-  return true;
-}
-
-uint qHash(const MessageId &item) {
-  return qHash(item.source) ^ qHash(item.address);
-}
diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h
deleted file mode 100644
index d877347796..0000000000
--- a/tools/cabana/dbcmanager.h
+++ /dev/null
@@ -1,121 +0,0 @@
-#pragma once
-
-#include <map>
-#include <QList>
-#include <QMetaType>
-#include <QObject>
-#include <QString>
-
-struct MessageId {
-  uint8_t source;
-  uint32_t address;
-
-  QString toString() const {
-    return QString("%1:%2").arg(source).arg(address, 1, 16);
-  }
-
-  bool operator==(const MessageId &other) const {
-    return source == other.source && address == other.address;
-  }
-
-  bool operator!=(const MessageId &other) const {
-    return !(*this == other);
-  }
-
-  bool operator<(const MessageId &other) const {
-    return std::pair{source, address} < std::pair{other.source, other.address};
-  }
-
-  bool operator>(const MessageId &other) const {
-    return std::pair{source, address} > std::pair{other.source, other.address};
-  }
-};
-
-uint qHash(const MessageId &item);
-Q_DECLARE_METATYPE(MessageId);
-
-namespace dbcmanager {
-
-typedef QList<std::pair<QString, QString>> ValueDescription;
-
-struct Signal {
-  QString name;
-  int start_bit, msb, lsb, size;
-  bool is_signed;
-  double factor, offset;
-  bool is_little_endian;
-  QString min, max, unit;
-  QString comment;
-  ValueDescription val_desc;
-};
-
-struct Msg {
-  QString name;
-  uint32_t size;
-
-  std::vector<const Signal*> getSignals() const;
-  const Signal *sig(const QString &sig_name) const {
-    auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s.name == sig_name; });
-    return it != sigs.end() ? &(*it) : nullptr;
-  }
-
-private:
-  QList<Signal> sigs;
-  friend class DBCManager;
-};
-
-class DBCManager : public QObject {
-  Q_OBJECT
-
-public:
-  DBCManager(QObject *parent) {}
-  ~DBCManager() {}
-  bool open(const QString &dbc_file_name, QString *error = nullptr);
-  bool open(const QString &name, const QString &content, QString *error = nullptr);
-  QString generateDBC();
-  void addSignal(const MessageId &id, const Signal &sig);
-  void updateSignal(const MessageId &id, const QString &sig_name, const Signal &sig);
-  void removeSignal(const MessageId &id, const QString &sig_name);
-
-  static std::vector<std::string> allDBCNames();
-  inline QString name() const { return name_; }
-  void updateMsg(const MessageId &id, const QString &name, uint32_t size);
-  void removeMsg(const MessageId &id);
-  inline const std::map<uint32_t, Msg> &messages() const { return msgs; }
-  inline const Msg *msg(const MessageId &id) const { return msg(id.address); }
-  inline const Msg *msg(uint32_t address) const {
-    auto it = msgs.find(address);
-    return it != msgs.end() ? &it->second : nullptr;
-  }
-
-signals:
-  void signalAdded(uint32_t address, const Signal *sig);
-  void signalRemoved(const Signal *sig);
-  void signalUpdated(const Signal *sig);
-  void msgUpdated(uint32_t address);
-  void msgRemoved(uint32_t address);
-  void DBCFileChanged();
-
-private:
-  void parseExtraInfo(const QString &content);
-  std::map<uint32_t, Msg> msgs;
-  QString name_;
-};
-
-const QString UNTITLED = "untitled";
-
-// TODO: Add helper function in dbc.h
-double get_raw_value(uint8_t *data, size_t data_size, const Signal &sig);
-bool operator==(const Signal &l, const Signal &r);
-inline bool operator!=(const Signal &l, const Signal &r) { return !(l == r); }
-int bigEndianStartBitsIndex(int start_bit);
-int bigEndianBitIndex(int index);
-void updateSigSizeParamsFromRange(Signal &s, int start_bit, int size);
-std::pair<int, int> getSignalRange(const Signal *s);
-DBCManager *dbc();
-inline QString msgName(const MessageId &id) {
-  auto msg = dbc()->msg(id);
-  return msg ? msg->name : UNTITLED;
-}
-
-}  // namespace dbcmanager
diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc
index 01fbccf7db..ab723fa0e2 100644
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@@ -68,7 +68,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
   QObject::connect(binary_view, &BinaryView::resizeSignal, signal_view->model, &SignalModel::resizeSignal);
   QObject::connect(binary_view, &BinaryView::addSignal, signal_view->model, &SignalModel::addSignal);
   QObject::connect(binary_view, &BinaryView::signalHovered, signal_view, &SignalView::signalHovered);
-  QObject::connect(binary_view, &BinaryView::signalClicked, [this](const Signal *s) { signal_view->selectSignal(s, true); });
+  QObject::connect(binary_view, &BinaryView::signalClicked, [this](const cabana::Signal *s) { signal_view->selectSignal(s, true); });
   QObject::connect(binary_view, &BinaryView::editSignal, signal_view->model, &SignalModel::saveSignal);
   QObject::connect(binary_view, &BinaryView::removeSignal, signal_view->model, &SignalModel::removeSignal);
   QObject::connect(binary_view, &BinaryView::showChart, charts, &ChartsWidget::showChart);
@@ -177,7 +177,7 @@ void DetailWidget::removeMsg() {
 // EditMessageDialog
 
 EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &title, int size, QWidget *parent)
-    : original_name(title), QDialog(parent) {
+    : original_name(title), msg_id(msg_id), QDialog(parent) {
   setWindowTitle(tr("Edit message: %1").arg(msg_id.toString()));
   QFormLayout *form_layout = new QFormLayout(this);
 
@@ -194,7 +194,7 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit
   form_layout->addRow(tr("Size"), size_spin);
 
   btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
-  btn_box->button(QDialogButtonBox::Ok)->setEnabled(false);
+  validateName(name_edit->text());
   form_layout->addRow(btn_box);
 
   setFixedWidth(parent->width() * 0.9);
@@ -204,11 +204,10 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit
 }
 
 void EditMessageDialog::validateName(const QString &text) {
-  bool valid = false;
+  bool valid = text.compare(UNTITLED, Qt::CaseInsensitive) != 0;
   error_label->setVisible(false);
-  if (!text.isEmpty() && text != original_name && text.compare(UNTITLED, Qt::CaseInsensitive) != 0) {
-    valid = std::none_of(dbc()->messages().begin(), dbc()->messages().end(),
-                         [&text](auto &m) { return m.second.name == text; });
+  if (!text.isEmpty() && valid && text != original_name) {
+    valid = dbc()->msg(msg_id.source, text) == nullptr;
     if (!valid) {
       error_label->setText(tr("Name already exists"));
       error_label->setVisible(true);
diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h
index 0bfd8a74af..cc5bffd534 100644
--- a/tools/cabana/detailwidget.h
+++ b/tools/cabana/detailwidget.h
@@ -15,6 +15,7 @@ public:
   EditMessageDialog(const MessageId &msg_id, const QString &title, int size, QWidget *parent);
   void validateName(const QString &text);
 
+  MessageId msg_id;
   QString original_name;
   QDialogButtonBox *btn_box;
   QLineEdit *name_edit;
diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc
index 57f65b97d8..4ebe8e0473 100644
--- a/tools/cabana/historylog.cc
+++ b/tools/cabana/historylog.cc
@@ -14,11 +14,14 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
     if (index.column() == 0) {
       return QString::number((m.mono_time / (double)1e9) - can->routeStartTime(), 'f', 2);
     }
-    return show_signals ? QString::number(m.sig_values[index.column() - 1]) : toHex(m.data);
+    int i = index.column() - 1;
+    return show_signals ? QString::number(m.sig_values[i], 'f', sigs[i]->precision) : toHex(m.data);
   } else if (role == ColorsRole) {
     return QVariant::fromValue(m.colors);
   } else if (role == BytesRole) {
     return m.data;
+  } else if (role == Qt::TextAlignmentRole) {
+    return (uint32_t)(Qt::AlignRight | Qt::AlignVCenter);
   }
   return {};
 }
@@ -116,40 +119,31 @@ template <class InputIt>
 std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(InputIt first, InputIt last, uint64_t min_time) {
   std::deque<HistoryLogModel::Message> msgs;
   QVector<double> values(sigs.size());
-  for (auto it = first; it != last && (*it)->mono_time > min_time; ++it) {
-    if ((*it)->which == cereal::Event::Which::CAN) {
-      for (const auto &c : (*it)->event.getCan()) {
-        if (msg_id.address == c.getAddress() && msg_id.source == c.getSrc()) {
-          const auto dat = c.getDat();
-          for (int i = 0; i < sigs.size(); ++i) {
-            values[i] = get_raw_value((uint8_t *)dat.begin(), dat.size(), *sigs[i]);
-          }
-          if (!filter_cmp || filter_cmp(values[filter_sig_idx], filter_value)) {
-            auto &m = msgs.emplace_back();
-            m.mono_time = (*it)->mono_time;
-            m.data = QByteArray((char *)dat.begin(), dat.size());
-            m.sig_values = values;
-            if (msgs.size() >= batch_size && min_time == 0)
-              return msgs;
-          }
-        }
+  for (; first != last && first->mono_time > min_time; ++first) {
+    for (int i = 0; i < sigs.size(); ++i) {
+      values[i] = get_raw_value(first->dat, first->size, *sigs[i]);
+    }
+    if (!filter_cmp || filter_cmp(values[filter_sig_idx], filter_value)) {
+      auto &m = msgs.emplace_back();
+      m.mono_time = first->mono_time;
+      m.data = QByteArray((const char *)first->dat, first->size);
+      m.sig_values = values;
+      if (msgs.size() >= batch_size && min_time == 0) {
+        return msgs;
       }
     }
   }
   return msgs;
 }
 
-template std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData<>(std::vector<const Event*>::iterator first, std::vector<const Event*>::iterator last, uint64_t min_time);
-template std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData<>(std::vector<const Event*>::reverse_iterator first, std::vector<const Event*>::reverse_iterator last, uint64_t min_time);
-
 std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_time, uint64_t min_time) {
-  auto events = can->events();
+  const auto &events = can->events().at(msg_id);
   const auto freq = can->lastMessage(msg_id).freq;
   const bool update_colors = !display_signals_mode || sigs.empty();
 
   if (dynamic_mode) {
-    auto first = std::upper_bound(events->rbegin(), events->rend(), from_time, [=](uint64_t ts, auto &e) { return e->mono_time < ts; });
-    auto msgs = fetchData(first, events->rend(), min_time);
+    auto first = std::upper_bound(events.rbegin(), events.rend(), CanEvent{.mono_time=from_time}, std::greater<CanEvent>());
+    auto msgs = fetchData(first, events.rend(), min_time);
     if (update_colors && (min_time > 0 || messages.empty())) {
       for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) {
         hex_colors.compute(it->data, it->mono_time / (double)1e9, freq);
@@ -159,10 +153,10 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
     return msgs;
   } else {
     assert(min_time == 0);
-    auto first = std::upper_bound(events->begin(), events->end(), from_time, [=](uint64_t ts, auto &e) { return ts < e->mono_time; });
-    auto msgs = fetchData(first, events->end(), 0);
+    auto first = std::upper_bound(events.begin(), events.end(), CanEvent{.mono_time=from_time});
+    auto msgs = fetchData(first, events.end(), 0);
     if (update_colors) {
-      for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) {
+      for (auto it = msgs.begin(); it != msgs.end(); ++it) {
         hex_colors.compute(it->data, it->mono_time / (double)1e9, freq);
         it->colors = hex_colors.colors;
       }
@@ -235,7 +229,7 @@ LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) {
   delegate = new MessageBytesDelegate(this);
   logs->setItemDelegateForColumn(1, new MessageBytesDelegate(this));
   logs->setHorizontalHeader(new HeaderView(Qt::Horizontal, this));
-  logs->horizontalHeader()->setDefaultAlignment(Qt::AlignLeft | (Qt::Alignment)Qt::TextWordWrap);
+  logs->horizontalHeader()->setDefaultAlignment(Qt::AlignRight | (Qt::Alignment)Qt::TextWordWrap);
   logs->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents);
   logs->verticalHeader()->setVisible(false);
   logs->setFrameShape(QFrame::NoFrame);
diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h
index 206d53bc8d..8b8d1b06d2 100644
--- a/tools/cabana/historylog.h
+++ b/tools/cabana/historylog.h
@@ -7,12 +7,10 @@
 #include <QLineEdit>
 #include <QTableView>
 
-#include "tools/cabana/dbcmanager.h"
+#include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/streams/abstractstream.h"
 #include "tools/cabana/util.h"
 
-using namespace dbcmanager;
-
 class HeaderView : public QHeaderView {
 public:
   HeaderView(Qt::Orientation orientation, QWidget *parent = nullptr) : QHeaderView(orientation, parent) {}
@@ -64,7 +62,7 @@ public:
   uint64_t last_fetch_time = 0;
   std::function<bool(double, double)> filter_cmp = nullptr;
   std::deque<Message> messages;
-  std::vector<const Signal *> sigs;
+  std::vector<const cabana::Signal *> sigs;
   bool dynamic_mode = true;
   bool display_signals_mode = true;
 };
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index abcb4948a9..c979a20f16 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -42,6 +42,7 @@ MainWindow::MainWindow() : QMainWindow() {
   messages_widget->restoreHeaderState(settings.message_header_state);
 
   qRegisterMetaType<uint64_t>("uint64_t");
+  qRegisterMetaType<SourceSet>("SourceSet");
   qRegisterMetaType<ReplyMsgType>("ReplyMsgType");
   installMessageHandler([this](ReplyMsgType type, const std::string msg) {
     // use queued connection to recv the log messages from replay.
@@ -53,9 +54,13 @@ MainWindow::MainWindow() : QMainWindow() {
 
   main_win = this;
   qInstallMessageHandler(qLogMessageHandler);
-  QFile json_file("./car_fingerprint_to_dbc.json");
-  if (json_file.open(QIODevice::ReadOnly)) {
-    fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll());
+
+  for (const QString &fn : {"./dbc/car_fingerprint_to_dbc.json", "./tools/cabana/dbc/car_fingerprint_to_dbc.json"}) {
+    QFile json_file(fn);
+    if (json_file.open(QIODevice::ReadOnly)) {
+      fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll());
+      break;
+    }
   }
 
   setStyleSheet(QString(R"(QMainWindow::separator {
@@ -70,6 +75,8 @@ MainWindow::MainWindow() : QMainWindow() {
   QObject::connect(can, &AbstractStream::streamStarted, this, &MainWindow::loadDBCFromFingerprint);
   QObject::connect(can, &AbstractStream::eventsMerged, this, &MainWindow::updateStatus);
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MainWindow::DBCFileChanged);
+  QObject::connect(can, &AbstractStream::sourcesUpdated, dbc(), &DBCManager::updateSources);
+  QObject::connect(can, &AbstractStream::sourcesUpdated, this, &MainWindow::updateSources);
   QObject::connect(UndoStack::instance(), &QUndoStack::cleanChanged, this, &MainWindow::undoStackCleanChanged);
   QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &MainWindow::undoStackIndexChanged);
   QObject::connect(&settings, &Settings::changed, this, &MainWindow::updateStatus);
@@ -85,6 +92,9 @@ void MainWindow::createActions() {
   file_menu->addAction(tr("New DBC File"), this, &MainWindow::newFile)->setShortcuts(QKeySequence::New);
   file_menu->addAction(tr("Open DBC File..."), this, &MainWindow::openFile)->setShortcuts(QKeySequence::Open);
 
+  open_dbc_for_source = file_menu->addMenu(tr("Open &DBC File for Bus"));
+  open_dbc_for_source->setEnabled(false);
+
   open_recent_menu = file_menu->addMenu(tr("Open &Recent"));
   for (int i = 0; i < MAX_RECENT_FILES; ++i) {
     recent_files_acts[i] = new QAction(this);
@@ -97,7 +107,7 @@ void MainWindow::createActions() {
   file_menu->addSeparator();
   QMenu *load_opendbc_menu = file_menu->addMenu(tr("Load DBC from commaai/opendbc"));
   // load_opendbc_menu->setStyleSheet("QMenu { menu-scrollable: true; }");
-  auto dbc_names = dbc()->allDBCNames();
+  auto dbc_names = allDBCNames();
   std::sort(dbc_names.begin(), dbc_names.end());
   for (const auto &name : dbc_names) {
     load_opendbc_menu->addAction(QString::fromStdString(name), this, &MainWindow::openOpendbcFile);
@@ -106,9 +116,14 @@ void MainWindow::createActions() {
   file_menu->addAction(tr("Load DBC From Clipboard"), this, &MainWindow::loadDBCFromClipboard);
 
   file_menu->addSeparator();
-  file_menu->addAction(tr("Save DBC..."), this, &MainWindow::save)->setShortcuts(QKeySequence::Save);
-  file_menu->addAction(tr("Save DBC As..."), this, &MainWindow::saveAs)->setShortcuts(QKeySequence::SaveAs);
-  file_menu->addAction(tr("Copy DBC To Clipboard"), this, &MainWindow::saveDBCToClipboard);
+  save_dbc = file_menu->addAction(tr("Save DBC..."), this, &MainWindow::save);
+  save_dbc->setShortcuts(QKeySequence::Save);
+
+  save_dbc_as = file_menu->addAction(tr("Save DBC As..."), this, &MainWindow::saveAs);
+  save_dbc_as->setShortcuts(QKeySequence::SaveAs);
+
+  copy_dbc_to_clipboard = file_menu->addAction(tr("Copy DBC To Clipboard"), this, &MainWindow::saveDBCToClipboard);
+
   file_menu->addSeparator();
   file_menu->addAction(tr("Settings..."), this, &MainWindow::setOption)->setShortcuts(QKeySequence::Preferences);
 
@@ -131,8 +146,10 @@ void MainWindow::createActions() {
   commands_act->setDefaultWidget(undo_view);
   commands_menu->addAction(commands_act);
 
-  QMenu *tools_menu = menuBar()->addMenu(tr("&Tools"));
-  tools_menu->addAction(tr("Find &Similar Bits"), this, &MainWindow::findSimilarBits);
+  if (!can->liveStreaming()) {
+    QMenu *tools_menu = menuBar()->addMenu(tr("&Tools"));
+    tools_menu->addAction(tr("Find &Similar Bits"), this, &MainWindow::findSimilarBits);
+  }
 
   QMenu *help_menu = menuBar()->addMenu(tr("&Help"));
   help_menu->addAction(tr("Help"), this, &MainWindow::onlineHelp)->setShortcuts(QKeySequence::HelpContents);
@@ -214,6 +231,7 @@ void MainWindow::undoStackIndexChanged(int index) {
   }
   prev_undostack_index = index;
   prev_undostack_count = count;
+  autoSave();
 }
 
 void MainWindow::undoStackCleanChanged(bool clean) {
@@ -226,7 +244,7 @@ void MainWindow::undoStackCleanChanged(bool clean) {
 
 void MainWindow::DBCFileChanged() {
   UndoStack::instance()->clear();
-  setWindowFilePath(QString("%1").arg(dbc()->name()));
+  updateLoadSaveMenus();
 }
 
 void MainWindow::openRoute() {
@@ -242,7 +260,9 @@ void MainWindow::openRoute() {
 
 void MainWindow::newFile() {
   remindSaveChanges();
-  dbc()->open("untitled.dbc", "");
+  dbc()->closeAll();
+  dbc()->open(SOURCE_ALL, "", "");
+  updateLoadSaveMenus();
 }
 
 void MainWindow::openFile() {
@@ -253,22 +273,49 @@ void MainWindow::openFile() {
   }
 }
 
-void MainWindow::loadFile(const QString &fn) {
+void MainWindow::openFileForSource() {
+  if (auto action = qobject_cast<QAction *>(sender())) {
+    uint8_t source = action->data().value<uint8_t>();
+    assert(source < 64);
+
+    QString fn = QFileDialog::getOpenFileName(this, tr("Open File"), settings.last_dir, "DBC (*.dbc)");
+    if (!fn.isEmpty()) {
+      loadFile(fn, {source, uint8_t(source + 128), uint8_t(source + 192)}, false);
+    }
+  }
+}
+
+void MainWindow::loadFile(const QString &fn, SourceSet s, bool close_all) {
   if (!fn.isEmpty()) {
-    QFile file(fn);
-    if (file.open(QIODevice::ReadOnly)) {
-      auto dbc_name = QFileInfo(fn).baseName();
-      QString error;
-      bool ret = dbc()->open(dbc_name, file.readAll(), &error);
-      if (ret) {
-        setCurrentFile(fn);
-        statusBar()->showMessage(tr("DBC File %1 loaded").arg(fn), 2000);
-      } else {
-        QMessageBox msg_box(QMessageBox::Warning, tr("Failed to load DBC file"), tr("Failed to parse DBC file %1").arg(fn));
-        msg_box.setDetailedText(error);
-        msg_box.exec();
+    QString dbc_fn = fn;
+
+    // Prompt user to load auto saved file if it exists.
+    if (QFile::exists(fn + AUTO_SAVE_EXTENSION)) {
+      auto ret = QMessageBox::question(this, tr("Auto saved DBC found"), tr("Auto saved DBC file from previous session found. Do you want to load it instead?"));
+      if (ret == QMessageBox::Yes) {
+        dbc_fn += AUTO_SAVE_EXTENSION;
+        UndoStack::instance()->resetClean(); // Force user to save on close so the auto saved file is not lost
       }
     }
+
+    auto dbc_name = QFileInfo(fn).baseName();
+    QString error;
+
+    if (close_all) {
+      dbc()->closeAll();
+    }
+
+    bool ret = dbc()->open(s, dbc_fn, &error);
+    if (ret) {
+      updateRecentFiles(fn);
+      statusBar()->showMessage(tr("DBC File %1 loaded").arg(fn), 2000);
+    } else {
+      QMessageBox msg_box(QMessageBox::Warning, tr("Failed to load DBC file"), tr("Failed to parse DBC file %1").arg(fn));
+      msg_box.setDetailedText(error);
+      msg_box.exec();
+    }
+
+    updateLoadSaveMenus();
   }
 }
 
@@ -287,18 +334,24 @@ void MainWindow::openRecentFile() {
 }
 
 void MainWindow::loadDBCFromOpendbc(const QString &name) {
-  if (name != dbc()->name()) {
-    remindSaveChanges();
-    dbc()->open(name);
-  }
+  remindSaveChanges();
+
+  QString opendbc_file_path = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, name);
+
+  dbc()->closeAll();
+  dbc()->open(SOURCE_ALL, opendbc_file_path);
+
+  updateLoadSaveMenus();
 }
 
 void MainWindow::loadDBCFromClipboard() {
   remindSaveChanges();
   QString dbc_str = QGuiApplication::clipboard()->text();
   QString error;
-  bool ret = dbc()->open("clipboard", dbc_str, &error);
-  if (ret && dbc()->messages().size() > 0) {
+
+  dbc()->closeAll();
+  bool ret = dbc()->open(SOURCE_ALL, "", dbc_str, &error);
+  if (ret && dbc()->msgCount() > 0) {
     QMessageBox::information(this, tr("Load From Clipboard"), tr("DBC Successfully Loaded!"));
   } else {
     QMessageBox msg_box(QMessageBox::Warning, tr("Failed to load DBC from clipboard"), tr("Make sure that you paste the text with correct format."));
@@ -311,7 +364,7 @@ void MainWindow::loadDBCFromClipboard() {
 
 void MainWindow::loadDBCFromFingerprint() {
   // Don't overwrite already loaded DBC
-  if (!dbc()->name().isEmpty()) {
+  if (dbc()->msgCount()) {
     return;
   }
 
@@ -320,7 +373,7 @@ void MainWindow::loadDBCFromFingerprint() {
   if (can->liveStreaming()) {
     video_dock->setWindowTitle(can->routeName());
   } else {
-    video_dock->setWindowTitle(tr("ROUTE: %1  FINGERPINT: %2").arg(can->routeName()).arg(fingerprint.isEmpty() ? tr("Unknown Car") : fingerprint));
+    video_dock->setWindowTitle(tr("ROUTE: %1  FINGERPRINT: %2").arg(can->routeName()).arg(fingerprint.isEmpty() ? tr("Unknown Car") : fingerprint));
   }
   if (!fingerprint.isEmpty()) {
     auto dbc_name = fingerprint_to_dbc[fingerprint];
@@ -333,38 +386,110 @@ void MainWindow::loadDBCFromFingerprint() {
 }
 
 void MainWindow::save() {
-  if (current_file.isEmpty()) {
-    saveAs();
-  } else {
-    saveFile(current_file);
+  saveFile();
+}
+
+void MainWindow::autoSave() {
+  if (!UndoStack::instance()->isClean()) {
+    for (auto &[_, dbc_file] : dbc()->dbc_files) {
+      if (!dbc_file->filename.isEmpty()) {
+        dbc_file->autoSave();
+      }
+    }
+  }
+}
+
+void MainWindow::cleanupAutoSaveFile() {
+  for (auto &[_, dbc_file] : dbc()->dbc_files) {
+    dbc_file->cleanupAutoSaveFile();
   }
 }
 
-void MainWindow::saveFile(const QString &fn) {
-  QFile file(fn);
-  if (file.open(QIODevice::WriteOnly)) {
-    file.write(dbc()->generateDBC().toUtf8());
-    UndoStack::instance()->setClean();
-    setCurrentFile(fn);
-    statusBar()->showMessage(tr("File saved"), 2000);
+void MainWindow::saveFile() {
+  // Save all open DBC files
+  for (auto &[s, dbc_file] : dbc()->dbc_files) {
+    if (!dbc_file->filename.isEmpty()) {
+      dbc_file->save();
+      updateRecentFiles(dbc_file->filename);
+    } else {
+      QString fn = QFileDialog::getSaveFileName(this, tr("Save File"), QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)"));
+      if (!fn.isEmpty()) {
+        dbc_file->saveAs(fn);
+        updateRecentFiles(fn);
+      }
+    }
   }
+
+  UndoStack::instance()->setClean();
+  statusBar()->showMessage(tr("File saved"), 2000);
 }
 
 void MainWindow::saveAs() {
+  // Assume only one file is open
+  assert(dbc()->dbcCount() > 0);
+  auto &[_, dbc_file] = dbc()->dbc_files.first();
+
   QString fn = QFileDialog::getSaveFileName(this, tr("Save File"), QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)"));
   if (!fn.isEmpty()) {
-    saveFile(fn);
+    dbc_file->saveAs(fn);
   }
 }
 
 void MainWindow::saveDBCToClipboard() {
-  QGuiApplication::clipboard()->setText(dbc()->generateDBC());
+  // Assume only one file is open
+  assert(dbc()->dbcCount() > 0);
+
+  auto &[_, dbc_file] = dbc()->dbc_files.first();
+  QGuiApplication::clipboard()->setText(dbc_file->generateDBC());
   QMessageBox::information(this, tr("Copy To Clipboard"), tr("DBC Successfully copied!"));
 }
 
-void MainWindow::setCurrentFile(const QString &fn) {
-  current_file = fn;
-  setWindowFilePath(QString("%1").arg(fn));
+void MainWindow::updateSources(const SourceSet &s) {
+  sources = s;
+  updateLoadSaveMenus();
+}
+
+void MainWindow::updateLoadSaveMenus() {
+  if (dbc()->dbcCount() > 1) {
+    save_dbc->setText(tr("Save %1 DBCs...").arg(dbc()->dbcCount()));
+  } else {
+    save_dbc->setText(tr("Save DBC..."));
+  }
+
+  // TODO: Support save as for multiple files
+  save_dbc_as->setEnabled(dbc()->dbcCount() == 1);
+
+  // TODO: Support clipboard for multiple files
+  copy_dbc_to_clipboard->setEnabled(dbc()->dbcCount() == 1);
+
+
+  QList<uint8_t> sources_sorted = sources.toList();
+  std::sort(sources_sorted.begin(), sources_sorted.end());
+
+  open_dbc_for_source->setEnabled(sources.size() > 0);
+  open_dbc_for_source->clear();
+
+  for (uint8_t source : sources_sorted) {
+    if (source >= 64) continue; // Sent and blocked buses are handled implicitly
+    QAction *action = new QAction(this);
+
+    auto d = dbc()->findDBCFile(source);
+    QString name = tr("no DBC");
+    if (d && !d->second->name().isEmpty()) {
+      name = tr("%1").arg(d->second->name());
+    } else if (d) {
+      name = "untitled";
+    }
+
+    action->setText(tr("Bus %1 (current: %2)").arg(source).arg(name));
+    action->setData(source);
+
+    QObject::connect(action, &QAction::triggered, this, &MainWindow::openFileForSource);
+    open_dbc_for_source->addAction(action);
+  }
+}
+
+void MainWindow::updateRecentFiles(const QString &fn) {
   settings.recent_files.removeAll(fn);
   settings.recent_files.prepend(fn);
   while (settings.recent_files.size() > MAX_RECENT_FILES) {
@@ -402,7 +527,6 @@ void MainWindow::remindSaveChanges() {
     }
   }
   UndoStack::instance()->clear();
-  current_file = "";
 }
 
 void MainWindow::updateDownloadProgress(uint64_t cur, uint64_t total, bool success) {
@@ -416,15 +540,7 @@ void MainWindow::updateDownloadProgress(uint64_t cur, uint64_t total, bool succe
 }
 
 void MainWindow::updateStatus() {
-  float cached_minutes = 0;
-  if (!can->liveStreaming()) {
-    if (auto events = can->events(); !events->empty()) {
-      cached_minutes = (events->back()->mono_time - events->front()->mono_time) / (1e9 * 60);
-    }
-  } else {
-    settings.max_cached_minutes = settings.max_cached_minutes;
-  }
-  status_label->setText(tr("Cached Minutes:%1 FPS:%2").arg(cached_minutes, 0, 'f', 1).arg(settings.fps));
+  status_label->setText(tr("Cached Minutes:%1 FPS:%2").arg(settings.max_cached_minutes).arg(settings.fps));
 }
 
 void MainWindow::dockCharts(bool dock) {
@@ -445,6 +561,7 @@ void MainWindow::dockCharts(bool dock) {
 }
 
 void MainWindow::closeEvent(QCloseEvent *event) {
+  cleanupAutoSaveFile();
   remindSaveChanges();
 
   main_win = nullptr;
diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h
index 1c21d69370..991a34931d 100644
--- a/tools/cabana/mainwin.h
+++ b/tools/cabana/mainwin.h
@@ -8,6 +8,7 @@
 #include <QStatusBar>
 
 #include "tools/cabana/chartswidget.h"
+#include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/detailwidget.h"
 #include "tools/cabana/messageswidget.h"
 #include "tools/cabana/videowidget.h"
@@ -20,12 +21,13 @@ public:
   MainWindow();
   void dockCharts(bool dock);
   void showStatusMessage(const QString &msg, int timeout = 0) { statusBar()->showMessage(msg, timeout); }
-  void loadFile(const QString &fn);
+  void loadFile(const QString &fn, SourceSet s = SOURCE_ALL, bool close_all = true);
 
 public slots:
   void openRoute();
   void newFile();
   void openFile();
+  void openFileForSource();
   void openRecentFile();
   void openOpendbcFile();
   void loadDBCFromOpendbc(const QString &name);
@@ -34,6 +36,7 @@ public slots:
   void save();
   void saveAs();
   void saveDBCToClipboard();
+  void updateSources(const SourceSet &s);
 
 signals:
   void showMessage(const QString &msg, int timeout);
@@ -41,8 +44,10 @@ signals:
 
 protected:
   void remindSaveChanges();
-  void saveFile(const QString &fn);
-  void setCurrentFile(const QString &fn);
+  void saveFile();
+  void autoSave();
+  void cleanupAutoSaveFile();
+  void updateRecentFiles(const QString &fn);
   void updateRecentFileActions();
   void createActions();
   void createDockWindows();
@@ -58,6 +63,7 @@ protected:
   void onlineHelp();
   void toggleFullScreen();
   void updateStatus();
+  void updateLoadSaveMenus();
 
   VideoWidget *video_widget = nullptr;
   QDockWidget *video_dock;
@@ -70,12 +76,16 @@ protected:
   QLabel *status_label;
   QJsonDocument fingerprint_to_dbc;
   QSplitter *video_splitter;;
-  QString current_file = "";
   enum { MAX_RECENT_FILES = 15 };
   QAction *recent_files_acts[MAX_RECENT_FILES] = {};
   QMenu *open_recent_menu = nullptr;
+  QMenu *open_dbc_for_source = nullptr;
+  QAction *save_dbc = nullptr;
+  QAction *save_dbc_as = nullptr;
+  QAction *copy_dbc_to_clipboard = nullptr;
   int prev_undostack_index = 0;
   int prev_undostack_count = 0;
+  SourceSet sources;
   friend class OnlineHelp;
 };
 
diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index b4a7ed7b34..8dd0bac820 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -160,7 +160,7 @@ void MessageListModel::setFilterString(const QString &string) {
 
   filter_str = string;
   msgs.clear();
-  for (auto it = can->can_msgs.begin(); it != can->can_msgs.end(); ++it) {
+  for (auto it = can->last_msgs.begin(); it != can->last_msgs.end(); ++it) {
     if (filter_str.isEmpty() || contains(it.key(), filter_str)) {
       msgs.push_back(it.key());
     }
@@ -206,8 +206,8 @@ void MessageListModel::sortMessages() {
 
 void MessageListModel::msgsReceived(const QHash<MessageId, CanData> *new_msgs) {
   int prev_row_count = msgs.size();
-  if (filter_str.isEmpty() && msgs.size() != can->can_msgs.size()) {
-    msgs = can->can_msgs.keys();
+  if (filter_str.isEmpty() && msgs.size() != can->last_msgs.size()) {
+    msgs = can->last_msgs.keys();
   }
   if (msgs.size() != prev_row_count) {
     sortMessages();
diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h
index ed9e241b0c..d4ef896519 100644
--- a/tools/cabana/messageswidget.h
+++ b/tools/cabana/messageswidget.h
@@ -6,9 +6,8 @@
 #include <QSet>
 #include <QTableView>
 
-#include "tools/cabana/dbcmanager.h"
+#include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/streams/abstractstream.h"
-using namespace dbcmanager;
 
 class MessageListModel : public QAbstractTableModel {
 Q_OBJECT
diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc
index 23f001efff..00bbb94de5 100644
--- a/tools/cabana/settings.cc
+++ b/tools/cabana/settings.cc
@@ -32,7 +32,7 @@ void Settings::save() {
 void Settings::load() {
   QSettings s("settings", QSettings::IniFormat);
   fps = s.value("fps", 10).toInt();
-  max_cached_minutes = s.value("max_cached_minutes", 5).toInt();
+  max_cached_minutes = s.value("max_cached_minutes", 30).toInt();
   chart_height = s.value("chart_height", 200).toInt();
   chart_range = s.value("chart_range", 3 * 60).toInt();
   chart_column_count = s.value("chart_column_count", 1).toInt();
diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h
index a302d20077..c3ba906576 100644
--- a/tools/cabana/settings.h
+++ b/tools/cabana/settings.h
@@ -14,7 +14,7 @@ public:
   void load();
 
   int fps = 10;
-  int max_cached_minutes = 5;
+  int max_cached_minutes = 30;
   int chart_height = 200;
   int chart_column_count = 1;
   int chart_range = 3 * 60; // e minutes
diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc
index e425a13f82..a2455a0317 100644
--- a/tools/cabana/signaledit.cc
+++ b/tools/cabana/signaledit.cc
@@ -1,7 +1,8 @@
 #include "tools/cabana/signaledit.h"
 
+#include <QApplication>
+#include <QCompleter>
 #include <QDialogButtonBox>
-#include <QGuiApplication>
 #include <QHBoxLayout>
 #include <QHeaderView>
 #include <QMessageBox>
@@ -22,7 +23,7 @@ SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(p
   QObject::connect(can, &AbstractStream::msgsReceived, this, &SignalModel::updateState);
 }
 
-void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const Signal *sig) {
+void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig) {
   Item *item = new Item{.sig = sig, .parent = parent_item, .title = sig->name, .type = Item::Sig};
   parent_item->children.insert(pos, item);
   QString titles[]{"Name", "Size", "Little Endian", "Signed", "Offset", "Factor", "Extra Info", "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Descriptions"};
@@ -61,14 +62,11 @@ void SignalModel::updateState(const QHash<MessageId, CanData> *msgs) {
     auto &dat = can->lastMessage(msg_id).dat;
     int row = 0;
     for (auto item : root->children) {
-      QString value = QString::number(get_raw_value((uint8_t *)dat.begin(), dat.size(), *item->sig));
-      if (!item->sig->unit.isEmpty()){
-        value += " " + item->sig->unit;
-      }
-      if (value != item->sig_val) {
-        item->sig_val = value;
-        emit dataChanged(index(row, 1), index(row, 1), {Qt::DisplayRole});
+      item->sig_val = QString::number(get_raw_value((uint8_t *)dat.constData(), dat.size(), *item->sig), 'f', item->sig->precision);
+      if (!item->sig->unit.isEmpty()) {
+        item->sig_val += " " + item->sig->unit;
       }
+      emit dataChanged(index(row, 1), index(row, 1), {Qt::DisplayRole});
       ++row;
     }
   }
@@ -104,7 +102,7 @@ Qt::ItemFlags SignalModel::flags(const QModelIndex &index) const {
   return flags;
 }
 
-int SignalModel::signalRow(const Signal *sig) const {
+int SignalModel::signalRow(const cabana::Signal *sig) const {
   for (int i = 0; i < root->children.size(); ++i) {
     if (root->children[i]->sig == sig) return i;
   }
@@ -168,7 +166,7 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r
   if (role != Qt::EditRole && role != Qt::CheckStateRole) return false;
 
   Item *item = getItem(index);
-  Signal s = *item->sig;
+  cabana::Signal s = *item->sig;
   switch (item->type) {
     case Item::Name: s.name = value.toString(); break;
     case Item::Size: s.size = value.toInt(); break;
@@ -183,6 +181,7 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r
     case Item::Desc: s.val_desc = value.value<ValueDescription>(); break;
     default: return false;
   }
+  s.updatePrecision();
   bool ret = saveSignal(item->sig, s);
   emit dataChanged(index, index, {Qt::DisplayRole, Qt::EditRole, Qt::CheckStateRole});
   return ret;
@@ -203,7 +202,7 @@ void SignalModel::showExtraInfo(const QModelIndex &index) {
   }
 }
 
-bool SignalModel::saveSignal(const Signal *origin_s, Signal &s) {
+bool SignalModel::saveSignal(const cabana::Signal *origin_s, cabana::Signal &s) {
   auto msg = dbc()->msg(msg_id);
   if (s.name != origin_s->name && msg->sig(s.name) != nullptr) {
     QString text = tr("There is already a signal with the same name '%1'").arg(s.name);
@@ -235,15 +234,15 @@ bool SignalModel::saveSignal(const Signal *origin_s, Signal &s) {
 
 void SignalModel::addSignal(int start_bit, int size, bool little_endian) {
   auto msg = dbc()->msg(msg_id);
-  for (int i = 1; !msg; ++i) {
-    QString name = QString("NEW_MSG_%1").arg(i);
-    if (std::none_of(dbc()->messages().begin(), dbc()->messages().end(), [&](auto &m) { return m.second.name == name; })) {
+  for (int i = 0; !msg; ++i) {
+    QString name = QString("NEW_MSG_") + QString::number(msg_id.address, 16).toUpper();
+    if (!dbc()->msg(msg_id.source, name)) {
       UndoStack::push(new EditMsgCommand(msg_id, name, can->lastMessage(msg_id).dat.size()));
       msg = dbc()->msg(msg_id);
     }
   }
 
-  Signal sig = {.is_little_endian = little_endian, .factor = 1};
+  cabana::Signal sig = {.is_little_endian = little_endian, .factor = 1, .min = "0", .max = QString::number(std::pow(2, size) - 1)};
   for (int i = 1; /**/; ++i) {
     sig.name = QString("NEW_SIGNAL_%1").arg(i);
     if (msg->sig(sig.name) == nullptr) break;
@@ -252,24 +251,24 @@ void SignalModel::addSignal(int start_bit, int size, bool little_endian) {
   UndoStack::push(new AddSigCommand(msg_id, sig));
 }
 
-void SignalModel::resizeSignal(const Signal *sig, int start_bit, int size) {
-  Signal s = *sig;
+void SignalModel::resizeSignal(const cabana::Signal *sig, int start_bit, int size) {
+  cabana::Signal s = *sig;
   updateSigSizeParamsFromRange(s, start_bit, size);
   saveSignal(sig, s);
 }
 
-void SignalModel::removeSignal(const Signal *sig) {
+void SignalModel::removeSignal(const cabana::Signal *sig) {
   UndoStack::push(new RemoveSigCommand(msg_id, sig));
 }
 
-void SignalModel::handleMsgChanged(uint32_t address) {
-  if (address == msg_id.address) {
+void SignalModel::handleMsgChanged(MessageId id) {
+  if (id == msg_id) {
     refresh();
   }
 }
 
-void SignalModel::handleSignalAdded(uint32_t address, const Signal *sig) {
-  if (address == msg_id.address) {
+void SignalModel::handleSignalAdded(MessageId id, const cabana::Signal *sig) {
+  if (id == msg_id) {
     int i = 0;
     for (; i < root->children.size(); ++i) {
       if (sig->start_bit < root->children[i]->sig->start_bit) break;
@@ -277,16 +276,17 @@ void SignalModel::handleSignalAdded(uint32_t address, const Signal *sig) {
     beginInsertRows({}, i, i);
     insertItem(root.get(), i, sig);
     endInsertRows();
+    updateState(nullptr);
   }
 }
 
-void SignalModel::handleSignalUpdated(const Signal *sig) {
+void SignalModel::handleSignalUpdated(const cabana::Signal *sig) {
   if (int row = signalRow(sig); row != -1) {
     emit dataChanged(index(row, 0), index(row, 1), {Qt::DisplayRole, Qt::EditRole, Qt::CheckStateRole});
   }
 }
 
-void SignalModel::handleSignalRemoved(const Signal *sig) {
+void SignalModel::handleSignalRemoved(const cabana::Signal *sig) {
   if (int row = signalRow(sig); row != -1) {
     beginRemoveRows({}, row, row);
     delete root->children.takeAt(row);
@@ -304,14 +304,22 @@ SignalItemDelegate::SignalItemDelegate(QObject *parent) : QStyledItemDelegate(pa
 }
 
 QSize SignalItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const {
-  QSize size = QStyledItemDelegate::sizeHint(option, index);
-  if (index.column() == 0 && !index.parent().isValid()) {
-    size.rwidth() = std::min(option.widget->size().width() / 2, size.width() + color_label_width + 8);
+  int width = option.widget->size().width() / 2;
+  if (index.column() == 0) {
+    auto text = index.data(Qt::DisplayRole).toString();
+    auto it = width_cache.find(text);
+    if (it == width_cache.end()) {
+      int spacing = option.widget->style()->pixelMetric(QStyle::PM_TreeViewIndentation) + color_label_width + 8;
+      it = width_cache.insert(text, option.fontMetrics.width(text) + spacing);
+    }
+    width = std::min(width, it.value());
   }
-  return size;
+  return {width, QApplication::fontMetrics().height()};
 }
 
 void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
+  int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1;
+  int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin);
   auto item = (SignalModel::Item *)index.internalPointer();
   if (index.column() == 0 && item && item->type == SignalModel::Item::Sig) {
     painter->save();
@@ -322,8 +330,6 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
 
     // color label
     auto bg_color = getColor(item->sig);
-    int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1;
-    int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin);
     QRect rc{option.rect.left() + h_margin, option.rect.top(), color_label_width, option.rect.height()};
     painter->setPen(Qt::NoPen);
     painter->setBrush(item->highlight ? bg_color.darker(125) : bg_color);
@@ -342,19 +348,62 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
     painter->drawText(text_rect, option.displayAlignment, text);
     painter->restore();
   } else if (index.column() == 1 && item && item->type == SignalModel::Item::Sig) {
-    // draw signal value
     if (option.state & QStyle::State_Selected) {
       painter->fillRect(option.rect, option.palette.highlight());
     }
-    painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text));
-    QRect rc = option.rect.adjusted(0, 0, -70, 0);
+
+    drawSparkline(painter, option, index);
+    // draw signal value
+    int right_offset = ((SignalView *)parent())->tree->indexWidget(index)->sizeHint().width() + 2 * h_margin;
+    QRect rc = option.rect.adjusted(0, 0, -right_offset, 0);
     auto text = painter->fontMetrics().elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, rc.width());
+    painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text));
     painter->drawText(rc, Qt::AlignRight | Qt::AlignVCenter, text);
   } else {
     QStyledItemDelegate::paint(painter, option, index);
   }
 }
 
+void SignalItemDelegate::drawSparkline(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
+  static std::vector<QPointF> points;
+  // TODO: get seconds from settings.
+  const uint64_t chart_seconds = 15;  // seconds
+  const auto &msg_id = ((SignalView *)parent())->msg_id;
+  const auto &msgs = can->events().at(msg_id);
+  uint64_t ts = (can->lastMessage(msg_id).ts + can->routeStartTime()) * 1e9;
+  auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), CanEvent{.mono_time = (uint64_t)std::max<int64_t>(ts - chart_seconds * 1e9, 0)});
+  if (first != msgs.cend()) {
+    double min = std::numeric_limits<double>::max();
+    double max = std::numeric_limits<double>::lowest();
+    const auto sig = ((SignalModel::Item *)index.internalPointer())->sig;
+    auto last = std::lower_bound(first, msgs.cend(), CanEvent{.mono_time = ts});
+    points.clear();
+    for (auto it = first; it != last; ++it) {
+      double value = get_raw_value(it->dat, it->size, *sig);
+      points.emplace_back((it->mono_time - first->mono_time) / 1e9, value);
+      min = std::min(min, value);
+      max = std::max(max, value);
+    }
+    if (min == max) {
+      min -= 1;
+      max += 1;
+    }
+
+    int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin);
+    int v_margin = std::max(option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin) + 2, 4);
+    const double xscale = (option.rect.width() - 175.0 * option.widget->devicePixelRatioF() - h_margin * 2) / chart_seconds;
+    const double yscale = (option.rect.height() - v_margin * 2) / (max - min);
+    const int left = option.rect.left();
+    const int top = option.rect.top() + v_margin;
+    for (auto &pt : points) {
+      pt.rx() = left + pt.x() * xscale;
+      pt.ry() = top + std::abs(pt.y() - max) * yscale;
+    }
+    painter->setPen(getColor(sig));
+    painter->drawPolyline(points.data(), points.size());
+  }
+}
+
 QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const {
   auto item = (SignalModel::Item *)index.internalPointer();
   if (item->type == SignalModel::Item::Name || item->type == SignalModel::Item::Offset ||
@@ -362,6 +411,14 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie
     QLineEdit *e = new QLineEdit(parent);
     e->setFrame(false);
     e->setValidator(index.row() == 0 ? name_validator : double_validator);
+
+    if (item->type == SignalModel::Item::Name) {
+      QCompleter *completer = new QCompleter(dbc()->signalNames());
+      completer->setCaseSensitivity(Qt::CaseInsensitive);
+      completer->setFilterMode(Qt::MatchContains);
+      e->setCompleter(completer);
+    }
+
     return e;
   } else if (item->type == SignalModel::Item::Size) {
     QSpinBox *spin = new QSpinBox(parent);
@@ -399,7 +456,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
   hl->addWidget(collapse_btn);
 
   // tree view
-  tree = new QTreeView(this);
+  tree = new TreeView(this);
   tree->setModel(model = new SignalModel(this));
   tree->setItemDelegate(new SignalItemDelegate(this));
   tree->setFrameShape(QFrame::NoFrame);
@@ -423,9 +480,8 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
   QObject::connect(tree, &QTreeView::viewportEntered, [this]() { emit highlight(nullptr); });
   QObject::connect(tree, &QTreeView::entered, [this](const QModelIndex &index) { emit highlight(model->getItem(index)->sig); });
   QObject::connect(model, &QAbstractItemModel::modelReset, this, &SignalView::rowsChanged);
-  QObject::connect(model, &QAbstractItemModel::rowsInserted, this, &SignalView::rowsChanged);
   QObject::connect(model, &QAbstractItemModel::rowsRemoved, this, &SignalView::rowsChanged);
-  QObject::connect(dbc(), &DBCManager::signalAdded, [this](uint32_t address, const Signal *sig) { selectSignal(sig); });
+  QObject::connect(dbc(), &DBCManager::signalAdded, [this](MessageId id, const cabana::Signal *sig) { selectSignal(sig); });
 
   setWhatsThis(tr(R"(
     <b>Signal view</b><br />
@@ -479,7 +535,7 @@ void SignalView::rowClicked(const QModelIndex &index) {
   }
 }
 
-void SignalView::selectSignal(const Signal *sig, bool expand) {
+void SignalView::selectSignal(const cabana::Signal *sig, bool expand) {
   if (int row = model->signalRow(sig); row != -1) {
     auto idx = model->index(row, 0);
     if (expand) {
@@ -503,12 +559,12 @@ void SignalView::updateChartState() {
   }
 }
 
-void SignalView::signalHovered(const Signal *sig) {
+void SignalView::signalHovered(const cabana::Signal *sig) {
   auto &children = model->root->children;
   for (int i = 0; i < children.size(); ++i) {
     bool highlight = children[i]->sig == sig;
     if (std::exchange(children[i]->highlight, highlight) != highlight) {
-      emit model->dataChanged(model->index(i, 0), model->index(i, 0));
+      emit model->dataChanged(model->index(i, 0), model->index(i, 0), {Qt::DecorationRole});
     }
   }
 }
diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h
index 73a107f5c9..163edcad69 100644
--- a/tools/cabana/signaledit.h
+++ b/tools/cabana/signaledit.h
@@ -21,7 +21,7 @@ public:
     Item *parent = nullptr;
     QList<Item *> children;
 
-    const Signal *sig = nullptr;
+    const cabana::Signal *sig = nullptr;
     QString title;
     bool highlight = false;
     bool extra_expanded = false;
@@ -39,19 +39,19 @@ public:
   void setMessage(const MessageId &id);
   void setFilter(const QString &txt);
   void addSignal(int start_bit, int size, bool little_endian);
-  bool saveSignal(const Signal *origin_s, Signal &s);
-  void resizeSignal(const Signal *sig, int start_bit, int size);
-  void removeSignal(const Signal *sig);
+  bool saveSignal(const cabana::Signal *origin_s, cabana::Signal &s);
+  void resizeSignal(const cabana::Signal *sig, int start_bit, int size);
+  void removeSignal(const cabana::Signal *sig);
   Item *getItem(const QModelIndex &index) const;
-  int signalRow(const Signal *sig) const;
+  int signalRow(const cabana::Signal *sig) const;
   void showExtraInfo(const QModelIndex &index);
 
 private:
-  void insertItem(SignalModel::Item *parent_item, int pos, const Signal *sig);
-  void handleSignalAdded(uint32_t address, const Signal *sig);
-  void handleSignalUpdated(const Signal *sig);
-  void handleSignalRemoved(const Signal *sig);
-  void handleMsgChanged(uint32_t address);
+  void insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig);
+  void handleSignalAdded(MessageId id, const cabana::Signal *sig);
+  void handleSignalUpdated(const cabana::Signal *sig);
+  void handleSignalRemoved(const cabana::Signal *sig);
+  void handleMsgChanged(MessageId id);
   void refresh();
   void updateState(const QHash<MessageId, CanData> *msgs);
 
@@ -82,9 +82,11 @@ public:
   void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
   QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const;
   QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
+  void drawSparkline(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const;
   QValidator *name_validator, *double_validator;
   QFont small_font;
   const int color_label_width = 18;
+  mutable QHash<QString, int> width_cache;
 };
 
 class SignalView : public QFrame {
@@ -93,23 +95,33 @@ class SignalView : public QFrame {
 public:
   SignalView(ChartsWidget *charts, QWidget *parent);
   void setMessage(const MessageId &id);
-  void signalHovered(const Signal *sig);
+  void signalHovered(const cabana::Signal *sig);
   void updateChartState();
-  void selectSignal(const Signal *sig, bool expand = false);
+  void selectSignal(const cabana::Signal *sig, bool expand = false);
   void rowClicked(const QModelIndex &index);
   SignalModel *model = nullptr;
+  MessageId msg_id;
 
 signals:
-  void highlight(const Signal *sig);
-  void showChart(const MessageId &id, const Signal *sig, bool show, bool merge);
+  void highlight(const cabana::Signal *sig);
+  void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge);
 
 private:
   void rowsChanged();
   void leaveEvent(QEvent *event);
 
-  MessageId msg_id;
-  QTreeView *tree;
+  struct TreeView : public QTreeView {
+    TreeView(QWidget *parent) : QTreeView(parent) {}
+    void rowsInserted(const QModelIndex &parent, int start, int end) override {
+      ((SignalView *)parentWidget())->rowsChanged();
+      // update widget geometries in QTreeView::rowsInserted
+      QTreeView::rowsInserted(parent, start, end);
+    }
+  };
+
+  TreeView *tree;
   QLineEdit *filter_edit;
   ChartsWidget *charts;
   QLabel *signal_count_lb;
+  friend SignalItemDelegate;
 };
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index 3e631d3709..d60beed0c8 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -1,4 +1,5 @@
 #include "tools/cabana/streams/abstractstream.h"
+#include <QTimer>
 
 AbstractStream *can = nullptr;
 
@@ -11,7 +12,7 @@ AbstractStream::AbstractStream(QObject *parent, bool is_live_streaming) : is_liv
 
 void AbstractStream::process(QHash<MessageId, CanData> *messages) {
   for (auto it = messages->begin(); it != messages->end(); ++it) {
-    can_msgs[it.key()] = it.value();
+    last_msgs[it.key()] = it.value();
   }
   emit updated();
   emit msgsReceived(messages);
@@ -37,6 +38,11 @@ bool AbstractStream::updateEvent(const Event *event) {
       data.colors = tracker.colors;
       data.last_change_t = tracker.last_change_t;
       data.bit_change_counts = tracker.bit_change_counts;
+
+      if (!sources.contains(id.source)) {
+        sources.insert(id.source);
+        emit sourcesUpdated(sources);
+      }
     }
 
     double ts = millis_since_boot();
@@ -55,44 +61,68 @@ bool AbstractStream::updateEvent(const Event *event) {
 
 const CanData &AbstractStream::lastMessage(const MessageId &id) {
   static CanData empty_data;
-  auto it = can_msgs.find(id);
-  return it != can_msgs.end() ? it.value() : empty_data;
+  auto it = last_msgs.find(id);
+  return it != last_msgs.end() ? it.value() : empty_data;
 }
 
+// it is thread safe to update data in updateLastMsgsTo.
+// updateEvent will not be called before replayStream::seekedTo return.
 void AbstractStream::updateLastMsgsTo(double sec) {
-  QHash<MessageId, CanData> last_msgs;
-  last_msgs.reserve(can_msgs.size());
-  double route_start_time = routeStartTime();
-  uint64_t last_ts = (sec + route_start_time) * 1e9;
-  auto evs = events();
-  auto last = std::upper_bound(evs->rbegin(), evs->rend(), last_ts, [](uint64_t ts, auto &e) { return e->mono_time < ts; });
-  for (auto it = last; it != evs->rend(); ++it) {
-    if ((*it)->which == cereal::Event::Which::CAN) {
-      for (const auto &c : (*it)->event.getCan()) {
-        auto &m = last_msgs[{.source = c.getSrc(), .address = c.getAddress()}];
-        if (++m.count == 1) {
-          m.ts = ((*it)->mono_time / 1e9) - route_start_time;
-          m.dat = QByteArray((char *)c.getDat().begin(), c.getDat().size());
-          m.colors = QVector<QColor>(m.dat.size(), QColor(0, 0, 0, 0));
-          m.last_change_t = QVector<double>(m.dat.size(), m.ts);
-          m.bit_change_counts.resize(m.dat.size());
-        } else {
-          m.freq = m.count / std::max(1.0, m.ts);
-        }
+  new_msgs->clear();
+  change_trackers.clear();
+  last_msgs.clear();
+  counters.clear();
+
+  CanEvent last_event = {.mono_time = uint64_t((sec + routeStartTime()) * 1e9)};
+  for (auto &[id, e] : events_) {
+    auto it = std::lower_bound(e.crbegin(), e.crend(), last_event, std::greater<CanEvent>());
+    if (it != e.crend()) {
+      auto &m = last_msgs[id];
+      m.dat = QByteArray((const char *)it->dat, it->size);
+      m.ts = it->mono_time / 1e9 - routeStartTime();
+      m.count = std::distance(it, e.crend());
+      m.freq = m.count / std::max(1.0, m.ts);
+      m.last_change_t = QVector<double>(m.dat.size(), m.ts);
+      m.colors = QVector<QColor>(m.dat.size(), QColor(0, 0, 0, 0));
+      m.bit_change_counts = QVector<std::array<uint32_t, 8>>(m.dat.size());
+      counters[id] = m.count;
+    }
+  }
+  QTimer::singleShot(0, [this]() {
+    emit updated();
+    emit msgsReceived(&last_msgs);
+  });
+}
+
+void AbstractStream::parseEvents(std::unordered_map<MessageId, std::deque<CanEvent>> &msgs,
+                                 std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last) {
+  for (; first != last; ++first) {
+    if ((*first)->which == cereal::Event::Which::CAN) {
+      for (const auto &c : (*first)->event.getCan()) {
+        auto dat = c.getDat();
+        auto &m = msgs[{.source = c.getSrc(), .address = c.getAddress()}].emplace_back();
+        m.size = std::min(dat.size(), std::size(m.dat));
+        memcpy(m.dat, (uint8_t *)dat.begin(), m.size);
+        m.mono_time = (*first)->mono_time;
       }
+      last_event_ts = std::max(last_event_ts, (*first)->mono_time);
     }
   }
+}
 
-  // it is thread safe to update data here.
-  // updateEvent will not be called before replayStream::seekedTo return.
-  new_msgs->clear();
-  change_trackers.clear();
-  counters.clear();
-  can_msgs.clear();
-  for (auto it = last_msgs.cbegin(); it != last_msgs.cend(); ++it) {
-    can_msgs[it.key()] = it.value();
-    counters[it.key()] = it.value().count;
+void AbstractStream::mergeEvents(std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last, bool append) {
+  if (first == last) return;
+
+  if (append) {
+    parseEvents(events_, first, last);
+  } else {
+    std::unordered_map<MessageId, std::deque<CanEvent>> new_events;
+    parseEvents(new_events, first, last);
+    for (auto &[id, new_e] : new_events) {
+      auto &e = events_[id];
+      auto it = std::upper_bound(e.cbegin(), e.cend(), new_e.front());
+      e.insert(it, new_e.cbegin(), new_e.cend());
+    }
   }
-  emit updated();
-  emit msgsReceived(&can_msgs);
+  emit eventsMerged();
 }
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index e582682971..0515f7c7e8 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -1,11 +1,12 @@
 #pragma once
 
 #include <atomic>
-
+#include <deque>
+#include <unordered_map>
 #include <QColor>
 #include <QHash>
 
-#include "tools/cabana/dbcmanager.h"
+#include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/settings.h"
 #include "tools/cabana/util.h"
 #include "tools/replay/replay.h"
@@ -20,6 +21,14 @@ struct CanData {
   QVector<std::array<uint32_t, 8>> bit_change_counts;
 };
 
+struct CanEvent {
+  uint64_t mono_time;
+  uint8_t size;
+  uint8_t dat[64];
+  inline bool operator<(const CanEvent &r) const { return mono_time < r.mono_time; }
+  inline bool operator>(const CanEvent &r) const { return mono_time > r.mono_time; }
+};
+
 class AbstractStream : public QObject {
   Q_OBJECT
 
@@ -27,6 +36,7 @@ public:
   AbstractStream(QObject *parent, bool is_live_streaming);
   virtual ~AbstractStream() {};
   inline bool liveStreaming() const { return is_live_streaming; }
+  inline double lastEventSecond() const { return last_event_ts / 1e9 - routeStartTime(); }
   virtual void seekTo(double ts) {}
   virtual QString routeName() const = 0;
   virtual QString carFingerprint() const { return ""; }
@@ -37,11 +47,13 @@ public:
   virtual const CanData &lastMessage(const MessageId &id);
   virtual VisionStreamType visionStreamType() const { return VISION_STREAM_ROAD; }
   virtual const Route *route() const { return nullptr; }
-  virtual const std::vector<Event *> *events() const = 0;
   virtual void setSpeed(float speed) {}
   virtual bool isPaused() const { return false; }
   virtual void pause(bool pause) {}
+  virtual const std::vector<Event*> *rawEvents() const { return nullptr; }
+  const std::unordered_map<MessageId, std::deque<CanEvent>> &events() const { return events_; }
   virtual const std::vector<std::tuple<int, int, TimelineType>> getTimeline() { return {}; }
+  void mergeEvents(std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last, bool append);
 
 signals:
   void paused();
@@ -52,20 +64,25 @@ signals:
   void updated();
   void msgsReceived(const QHash<MessageId, CanData> *);
   void received(QHash<MessageId, CanData> *);
+  void sourcesUpdated(const SourceSet &s);
 
 public:
-  QHash<MessageId, CanData> can_msgs;
+  QHash<MessageId, CanData> last_msgs;
+  SourceSet sources;
 
 protected:
-  void process(QHash<MessageId, CanData> *);
+  virtual void process(QHash<MessageId, CanData> *);
   bool updateEvent(const Event *event);
   void updateLastMsgsTo(double sec);
+  void parseEvents(std::unordered_map<MessageId, std::deque<CanEvent>> &msgs, std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last);
 
   bool is_live_streaming = false;
   std::atomic<bool> processing = false;
   QHash<MessageId, uint32_t> counters;
   std::unique_ptr<QHash<MessageId, CanData>> new_msgs;
   QHash<MessageId, ChangeTracker> change_trackers;
+  std::unordered_map<MessageId, std::deque<CanEvent>> events_;
+  uint64_t last_event_ts = 0;
 };
 
 // A global pointer referring to the unique AbstractStream object
diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc
index 8f63d3baec..62ad635152 100644
--- a/tools/cabana/streams/livestream.cc
+++ b/tools/cabana/streams/livestream.cc
@@ -1,10 +1,8 @@
 #include "tools/cabana/streams/livestream.h"
 
-LiveStream::LiveStream(QObject *parent, QString address) : zmq_address(address), AbstractStream(parent, true) {
-  timer = new QTimer(this);
-  timer->callOnTimeout(this, &LiveStream::removeExpiredEvents);
-  timer->start(3 * 1000);
+#include <QTimer>
 
+LiveStream::LiveStream(QObject *parent, QString address) : zmq_address(address), AbstractStream(parent, true) {
   stream_thread = new QThread(this);
   QObject::connect(stream_thread, &QThread::started, [=]() { streamThread(); });
   QObject::connect(stream_thread, &QThread::finished, stream_thread, &QThread::deleteLater);
@@ -15,8 +13,6 @@ LiveStream::~LiveStream() {
   stream_thread->requestInterruption();
   stream_thread->quit();
   stream_thread->wait();
-  for (Event *e : can_events) ::delete e;
-  for (auto m : messages) delete m;
 }
 
 void LiveStream::streamThread() {
@@ -35,66 +31,53 @@ void LiveStream::streamThread() {
       QThread::msleep(50);
       continue;
     }
-    AlignedBuffer *buf = messages.emplace_back(new AlignedBuffer());
-    Event *evt = ::new Event(buf->align(msg));
-    delete msg;
-
-    handleEvent(evt);
+    std::lock_guard lk(lock);
+    handleEvent(messages.emplace_back(msg).event);
     // TODO: write stream to log file to replay it with cabana --data_dir flag.
   }
 }
 
 void LiveStream::handleEvent(Event *evt) {
-  current_ts = evt->mono_time;
-  if (start_ts == 0 || current_ts < start_ts) {
-    if (current_ts < start_ts) {
+  if (start_ts == 0 || evt->mono_time < start_ts) {
+    if (evt->mono_time < start_ts) {
       qDebug() << "stream is looping back to old time stamp";
     }
-    start_ts = current_ts.load();
+    start_ts = current_ts = evt->mono_time;
     emit streamStarted();
   }
 
-  std::lock_guard lk(lock);
-  can_events.push_back(evt);
+  received.push_back(evt);
   if (!pause_) {
     if (speed_ < 1 && last_update_ts > 0) {
-      auto it = std::upper_bound(can_events.begin(), can_events.end(), last_update_event_ts, [](uint64_t ts, auto &e) {
+      auto it = std::upper_bound(received.cbegin(), received.cend(), current_ts, [](uint64_t ts, auto &e) {
         return ts < e->mono_time;
       });
+      if (it != received.cend()) {
+        bool skip = (nanos_since_boot() - last_update_ts) < ((*it)->mono_time - current_ts) / speed_;
+        if (skip) return;
 
-      if (it != can_events.end() &&
-          (nanos_since_boot() - last_update_ts) < ((*it)->mono_time - last_update_event_ts) / speed_) {
-        return;
+        evt = *it;
       }
-      evt = (*it);
     }
-    updateEvent(evt);
-    last_update_event_ts = evt->mono_time;
+    current_ts = evt->mono_time;
     last_update_ts = nanos_since_boot();
+    updateEvent(evt);
   }
 }
 
-void LiveStream::removeExpiredEvents() {
-  std::lock_guard lk(lock);
-  if (can_events.size() > 0) {
-    const uint64_t max_ns = settings.max_cached_minutes * 60 * 1e9;
-    const uint64_t last_ns = can_events.back()->mono_time;
-    while (!can_events.empty() && (last_ns - can_events.front()->mono_time) > max_ns) {
-      ::delete can_events.front();
-      delete messages.front();
-      can_events.pop_front();
-      messages.pop_front();
+void LiveStream::process(QHash<MessageId, CanData> *last_messages) {
+  {
+    std::lock_guard lk(lock);
+    auto first = std::upper_bound(received.cbegin(), received.cend(), last_event_ts, [](uint64_t ts, auto &e) {
+      return ts < e->mono_time;
+    });
+    mergeEvents(first, received.cend(), true);
+    if (speed_ == 1) {
+      received.clear();
+      messages.clear();
     }
   }
-}
-
-const std::vector<Event *> *LiveStream::events() const {
-  std::lock_guard lk(lock);
-  if (events_vector.capacity() <= can_events.size()) {
-    events_vector.reserve(can_events.size() * 2);
-  }
-  events_vector.assign(can_events.begin(), can_events.end());
-  return &events_vector;
+  AbstractStream::process(last_messages);
 }
 
 void LiveStream::pause(bool pause) {
diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h
index ba20032b67..598c0b9365 100644
--- a/tools/cabana/streams/livestream.h
+++ b/tools/cabana/streams/livestream.h
@@ -1,6 +1,5 @@
 #pragma once
 
-#include <QTimer>
 #include "tools/cabana/streams/abstractstream.h"
 
 class LiveStream : public AbstractStream {
@@ -17,25 +16,31 @@ public:
   void setSpeed(float speed) override { speed_ = std::min<float>(1.0, speed); }
   bool isPaused() const override { return pause_; }
   void pause(bool pause) override;
-  const std::vector<Event *> *events() const override;
 
 protected:
   virtual void handleEvent(Event *evt);
   virtual void streamThread();
-  virtual void removeExpiredEvents();
+  void process(QHash<MessageId, CanData> *) override;
+
+  struct Msg {
+    Msg(Message *m) {
+      event = ::new Event(aligned_buf.align(m));
+      delete m;
+    }
+    ~Msg() { ::delete event; }
+    Event *event;
+    AlignedBuffer aligned_buf;
+  };
 
   mutable std::mutex lock;
-  mutable std::vector<Event *> events_vector;
-  std::deque<Event *> can_events;
-  std::deque<AlignedBuffer *> messages;
+  std::vector<Event *> received;
+  std::deque<Msg> messages;
   std::atomic<uint64_t> start_ts = 0;
   std::atomic<uint64_t> current_ts = 0;
   std::atomic<float> speed_ = 1;
   std::atomic<bool> pause_ = false;
-  uint64_t last_update_event_ts = 0;
   uint64_t last_update_ts = 0;
 
   const QString zmq_address;
   QThread *stream_thread;
-  QTimer *timer;
 };
diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index ebd969be61..8bc9af8ab2 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -14,19 +14,25 @@ static bool event_filter(const Event *e, void *opaque) {
   return ((ReplayStream *)opaque)->eventFilter(e);
 }
 
+void ReplayStream::mergeSegments() {
+  for (auto &[n, seg] : replay->segments()) {
+    if (seg && seg->isLoaded() && !processed_segments.count(n)) {
+      const auto &events = seg->log->events;
+      bool append = processed_segments.empty() || *processed_segments.rbegin() < n;
+      processed_segments.insert(n);
+      mergeEvents(events.cbegin(), events.cend(), append);
+    }
+  }
+}
+
 bool ReplayStream::loadRoute(const QString &route, const QString &data_dir) {
   replay.reset(new Replay(route, {"can", "roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}, {}, nullptr, replay_flags, data_dir, this));
   replay->setSegmentCacheLimit(settings.max_cached_minutes);
   replay->installEventFilter(event_filter, this);
   QObject::connect(replay.get(), &Replay::seekedTo, this, &AbstractStream::seekedTo);
-  QObject::connect(replay.get(), &Replay::segmentsMerged, this, &AbstractStream::eventsMerged);
   QObject::connect(replay.get(), &Replay::streamStarted, this, &AbstractStream::streamStarted);
+  QObject::connect(replay.get(), &Replay::segmentsMerged, this, &ReplayStream::mergeSegments);
   if (replay->load()) {
-    const auto &segments = replay->route()->segments();
-    if (std::none_of(segments.begin(), segments.end(), [](auto &s) { return s.second.rlog.length() > 0; })) {
-      qWarning() << "no rlogs in route" << route;
-      return false;
-    }
     replay->start();
     return true;
   }
diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h
index 3505f6abf4..10dc804716 100644
--- a/tools/cabana/streams/replaystream.h
+++ b/tools/cabana/streams/replaystream.h
@@ -20,13 +20,15 @@ public:
   inline double currentSec() const override { return replay->currentSeconds(); }
   inline QDateTime currentDateTime() const override { return replay->currentDateTime(); }
   inline const Route *route() const override { return replay->route(); }
-  inline const std::vector<Event *> *events() const override { return replay->events(); }
   inline void setSpeed(float speed) override { replay->setSpeed(speed); }
   inline bool isPaused() const override { return replay->isPaused(); }
   void pause(bool pause) override;
+  const std::vector<Event*> *rawEvents() const override { return replay->events(); }
   inline const std::vector<std::tuple<int, int, TimelineType>> getTimeline() override { return replay->getTimeline(); }
 
 private:
+  void mergeSegments();
   std::unique_ptr<Replay> replay = nullptr;
   uint32_t replay_flags = REPLAY_FLAG_NONE;
+  std::set<int> processed_segments;
 };
diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc
index 6f9f2d016b..4bc01a6a81 100644
--- a/tools/cabana/tests/test_cabana.cc
+++ b/tools/cabana/tests/test_cabana.cc
@@ -3,24 +3,22 @@
 #undef INFO
 #include "catch2/catch.hpp"
 #include "tools/replay/logreader.h"
-#include "tools/cabana/dbcmanager.h"
+#include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/streams/abstractstream.h"
-using namespace dbcmanager;
 
 // demo route, first segment
 const std::string TEST_RLOG_URL = "https://commadata2.blob.core.windows.net/commadata2/4cf7a6ad03080c90/2021-09-29--13-46-36/0/rlog.bz2";
 
-TEST_CASE("DBCManager::generateDBC") {
-  DBCManager dbc_origin(nullptr);
-  dbc_origin.open("toyota_new_mc_pt_generated");
-  DBCManager dbc_from_generated(nullptr);
-  dbc_from_generated.open("", dbc_origin.generateDBC());
+TEST_CASE("DBCFile::generateDBC") {
+  QString fn = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, "toyota_new_mc_pt_generated");
+  DBCFile dbc_origin(fn);
+  DBCFile dbc_from_generated("", dbc_origin.generateDBC());
 
-  auto &msgs = dbc_origin.messages();
-  auto &new_msgs = dbc_from_generated.messages();
-  REQUIRE(msgs.size() == new_msgs.size());
-  for (auto &[address, m] : msgs) {
-    auto &new_m = new_msgs.at(address);
+  REQUIRE(dbc_origin.msgCount() == dbc_from_generated.msgCount());
+  auto msgs = dbc_origin.getMessages();
+  auto new_msgs = dbc_from_generated.getMessages();
+  for (auto &[id, m] : msgs) {
+    auto &new_m = new_msgs.at(id);
     REQUIRE(m.name == new_m.name);
     REQUIRE(m.size == new_m.size);
     REQUIRE(m.getSignals().size() == new_m.getSignals().size());
@@ -34,7 +32,7 @@ TEST_CASE("DBCManager::generateDBC") {
 
 TEST_CASE("Parse can messages") {
   DBCManager dbc(nullptr);
-  dbc.open("toyota_new_mc_pt_generated");
+  dbc.open({0}, "toyota_new_mc_pt_generated");
   CANParser can_parser(0, "toyota_new_mc_pt_generated", {}, {});
 
   LogReader log;
@@ -44,7 +42,7 @@ TEST_CASE("Parse can messages") {
     if (e->which == cereal::Event::Which::CAN) {
       std::map<std::pair<uint32_t, QString>, std::vector<double>> values_1;
       for (const auto &c : e->event.getCan()) {
-        const auto msg = dbc.msg(c.getAddress());
+        const auto msg = dbc.msg({.source = c.getSrc(), .address = c.getAddress()});
         if (c.getSrc() == 0 && msg) {
           for (auto sig : msg->getSignals()) {
             double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), *sig);
diff --git a/tools/cabana/tools/findsimilarbits.cc b/tools/cabana/tools/findsimilarbits.cc
index 27cb7bced8..7fe5b26671 100644
--- a/tools/cabana/tools/findsimilarbits.cc
+++ b/tools/cabana/tools/findsimilarbits.cc
@@ -1,5 +1,6 @@
 #include "tools/cabana/tools/findsimilarbits.h"
 
+#include <QGridLayout>
 #include <QHeaderView>
 #include <QHBoxLayout>
 #include <QIntValidator>
@@ -7,9 +8,8 @@
 #include <QPushButton>
 #include <QRadioButton>
 
-#include "tools/cabana/dbcmanager.h"
+#include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/streams/abstractstream.h"
-using namespace dbcmanager;
 
 FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::WindowFlags() | Qt::Window) {
   setWindowTitle(tr("Find similar bits"));
@@ -17,49 +17,68 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::Wi
 
   QVBoxLayout *main_layout = new QVBoxLayout(this);
 
-  QHBoxLayout *form_layout = new QHBoxLayout();
-  bus_combo = new QComboBox(this);
-  QSet<uint8_t> bus_set;
-  for (auto it = can->can_msgs.begin(); it != can->can_msgs.end(); ++it) {
+  QHBoxLayout *src_layout = new QHBoxLayout();
+  src_bus_combo = new QComboBox(this);
+  find_bus_combo = new QComboBox(this);
+  SourceSet bus_set;
+  for (auto it = can->last_msgs.begin(); it != can->last_msgs.end(); ++it) {
     bus_set << it.key().source;
   }
-  for (uint8_t bus : bus_set) {
-    bus_combo->addItem(QString::number(bus), bus);
+  for (auto cb : {src_bus_combo, find_bus_combo}) {
+    for (uint8_t bus : bus_set) {
+      cb->addItem(QString::number(bus), bus);
+    }
+    cb->model()->sort(0);
+    cb->setCurrentIndex(0);
   }
-  bus_combo->model()->sort(0);
-  bus_combo->setCurrentIndex(0);
 
   msg_cb = new QComboBox(this);
-  for (auto &[address, msg] : dbc()->messages()) {
-    msg_cb->addItem(msg.name, address);
+  // TODO: update when src_bus_combo changes
+  for (auto &[id, msg] : dbc()->getMessages(0)) {
+    msg_cb->addItem(msg.name, id.address);
   }
   msg_cb->model()->sort(0);
   msg_cb->setCurrentIndex(0);
 
   byte_idx_sb = new QSpinBox(this);
+  byte_idx_sb->setFixedWidth(50);
   byte_idx_sb->setRange(0, 63);
 
   bit_idx_sb = new QSpinBox(this);
+  bit_idx_sb->setFixedWidth(50);
   bit_idx_sb->setRange(0, 7);
 
-  form_layout->addWidget(new QLabel("Bus"));
-  form_layout->addWidget(bus_combo);
-  form_layout->addWidget(msg_cb);
-  form_layout->addWidget(new QLabel("Byte Index"));
-  form_layout->addWidget(byte_idx_sb);
-  form_layout->addWidget(new QLabel("Bit Index"));
-  form_layout->addWidget(bit_idx_sb);
-
-
+  src_layout->addWidget(new QLabel(tr("Bus")));
+  src_layout->addWidget(src_bus_combo);
+  src_layout->addWidget(msg_cb);
+  src_layout->addWidget(new QLabel(tr("Byte Index")));
+  src_layout->addWidget(byte_idx_sb);
+  src_layout->addWidget(new QLabel(tr("Bit Index")));
+  src_layout->addWidget(bit_idx_sb);
+  src_layout->addStretch(0);
+
+  QHBoxLayout *find_layout = new QHBoxLayout();
+  find_layout->addWidget(new QLabel(tr("Bus")));
+  find_layout->addWidget(find_bus_combo);
+  find_layout->addWidget(new QLabel(tr("Equal")));
+  equal_combo = new QComboBox(this);
+  equal_combo->addItems({"Yes", "No"});
+  find_layout->addWidget(equal_combo);
   min_msgs = new QLineEdit(this);
   min_msgs->setValidator(new QIntValidator(this));
   min_msgs->setText("100");
-  form_layout->addWidget(new QLabel("Min msg count"));
-  form_layout->addWidget(min_msgs);
+  find_layout->addWidget(new QLabel(tr("Min msg count")));
+  find_layout->addWidget(min_msgs);
   search_btn = new QPushButton(tr("&Find"), this);
-  form_layout->addWidget(search_btn);
-  form_layout->addStretch(1);
-  main_layout->addLayout(form_layout);
+  find_layout->addWidget(search_btn);
+  find_layout->addStretch(0);
+
+  QGridLayout *grid_layout = new QGridLayout();
+  grid_layout->addWidget(new QLabel("Find From:"), 0, 0);
+  grid_layout->addLayout(src_layout, 0, 1);
+  grid_layout->addWidget(new QLabel("Find In:"), 1, 0);
+  grid_layout->addLayout(find_layout, 1, 1);
+  main_layout->addLayout(grid_layout);
 
   table = new QTableWidget(this);
   table->setSelectionBehavior(QAbstractItemView::SelectRows);
@@ -70,10 +89,9 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::Wi
 
   setMinimumSize({700, 500});
   QObject::connect(search_btn, &QPushButton::clicked, this, &FindSimilarBitsDlg::find);
-
   QObject::connect(table, &QTableWidget::doubleClicked, [this](const QModelIndex &index) {
     if (index.isValid()) {
-      MessageId msg_id = {.source = (uint8_t)bus_combo->currentData().toUInt(), .address = table->item(index.row(), 0)->text().toUInt(0, 16)};
+      MessageId msg_id = {.source = (uint8_t)find_bus_combo->currentData().toUInt(), .address = table->item(index.row(), 0)->text().toUInt(0, 16)};
       emit openMessage(msg_id);
     }
   });
@@ -83,7 +101,8 @@ void FindSimilarBitsDlg::find() {
   search_btn->setEnabled(false);
   table->clear();
   uint32_t selected_address = msg_cb->currentData().toUInt();
-  auto msg_mismatched = calcBits(bus_combo->currentText().toUInt(), selected_address, byte_idx_sb->value(), bit_idx_sb->value(), min_msgs->text().toInt());
+  auto msg_mismatched = calcBits(src_bus_combo->currentText().toUInt(), selected_address, byte_idx_sb->value(), bit_idx_sb->value(),
+                                 find_bus_combo->currentText().toUInt(), equal_combo->currentIndex() == 0, min_msgs->text().toInt());
   table->setRowCount(msg_mismatched.size());
   table->setColumnCount(6);
   table->setHorizontalHeaderLabels({"address", "byte idx", "bit idx", "mismatches", "total msgs", "% mismatched"});
@@ -94,25 +113,29 @@ void FindSimilarBitsDlg::find() {
     table->setItem(i, 2, new QTableWidgetItem(QString::number(m.bit_idx)));
     table->setItem(i, 3, new QTableWidgetItem(QString::number(m.mismatches)));
     table->setItem(i, 4, new QTableWidgetItem(QString::number(m.total)));
-    table->setItem(i, 5, new QTableWidgetItem(QString::number(m.perc)));
+    table->setItem(i, 5, new QTableWidgetItem(QString::number(m.perc, 'f', 2)));
   }
   search_btn->setEnabled(true);
 }
 
-QList<FindSimilarBitsDlg::mismatched_struct> FindSimilarBitsDlg::calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, int min_msgs_cnt) {
+QList<FindSimilarBitsDlg::mismatched_struct> FindSimilarBitsDlg::calcBits(uint8_t bus, uint32_t selected_address, int byte_idx,
+                                                                          int bit_idx, uint8_t find_bus, bool equal, int min_msgs_cnt) {
   QHash<uint32_t, QVector<uint32_t>> mismatches;
   QHash<uint32_t, uint32_t> msg_count;
-  auto events = can->events();
+  auto events = can->rawEvents();
   int bit_to_find = -1;
   for (auto e : *events) {
     if (e->which == cereal::Event::Which::CAN) {
       for (const auto &c : e->event.getCan()) {
-        if (c.getSrc() == bus) {
-          const auto dat = c.getDat();
-          uint32_t address = c.getAddress();
+        uint8_t src = c.getSrc();
+        uint32_t address = c.getAddress();
+        const auto dat = c.getDat();
+        if (src == bus) {
           if (address == selected_address && dat.size() > byte_idx) {
             bit_to_find = ((dat[byte_idx] >> (7 - bit_idx)) & 1) != 0;
           }
+        }
+        if (src == find_bus) {
           ++msg_count[address];
           if (bit_to_find == -1) continue;
 
@@ -123,7 +146,7 @@ QList<FindSimilarBitsDlg::mismatched_struct> FindSimilarBitsDlg::calcBits(uint8_
           for (int i = 0; i < dat.size(); ++i) {
             for (int j = 0; j < 8; ++j) {
               int bit = ((dat[i] >> (7 - j)) & 1) != 0;
-              mismatched[i * 8 + j] += (bit != bit_to_find);
+              mismatched[i * 8 + j] += equal ? (bit != bit_to_find) : (bit == bit_to_find);
             }
           }
         }
diff --git a/tools/cabana/tools/findsimilarbits.h b/tools/cabana/tools/findsimilarbits.h
index ba9b063baf..77bfac19ca 100644
--- a/tools/cabana/tools/findsimilarbits.h
+++ b/tools/cabana/tools/findsimilarbits.h
@@ -6,8 +6,7 @@
 #include <QSpinBox>
 #include <QTableWidget>
 
-#include "tools/cabana/dbcmanager.h"
-using namespace dbcmanager;
+#include "tools/cabana/dbc/dbcmanager.h"
 
 class FindSimilarBitsDlg : public QDialog {
   Q_OBJECT
@@ -23,11 +22,12 @@ private:
     uint32_t address, byte_idx, bit_idx, mismatches, total;
     float perc;
   };
-  QList<mismatched_struct> calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, int min_msgs_cnt);
+  QList<mismatched_struct> calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, uint8_t find_bus,
+                                    bool equal, int min_msgs_cnt);
   void find();
 
   QTableWidget *table;
-  QComboBox *bus_combo, *msg_cb;
+  QComboBox *src_bus_combo, *find_bus_combo, *msg_cb, *equal_combo;
   QSpinBox *byte_idx_sb, *bit_idx_sb;
   QPushButton *search_btn;
   QLineEdit *min_msgs;
diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc
index 1a0b9d93ef..e5a9749103 100644
--- a/tools/cabana/util.cc
+++ b/tools/cabana/util.cc
@@ -4,10 +4,8 @@
 #include <QFontDatabase>
 #include <QPainter>
 #include <QPixmapCache>
-#include <QDebug>
-
-#include <limits>
 #include <cmath>
+#include <limits>
 
 #include "selfdrive/ui/qt/util.h"
 
@@ -42,7 +40,7 @@ void ChangeTracker::compute(const QByteArray &dat, double ts, uint32_t freq) {
         }
 
         // Track bit level changes
-        for (int bit = 0; bit < 8; bit++){
+        for (int bit = 0; bit < 8; bit++) {
           if ((cur ^ last) & (1 << bit)) {
             bit_change_counts[i][bit] += 1;
           }
@@ -67,7 +65,6 @@ void ChangeTracker::clear() {
   colors.clear();
 }
 
-
 // SegmentTree
 
 void SegmentTree::build(const QVector<QPointF> &arr) {
@@ -116,7 +113,7 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &
   int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin);
   QRect rc{option.rect.left() + h_margin, option.rect.top() + v_margin, byte_width, option.rect.height() - 2 * v_margin};
 
-  auto color_role = option.state & QStyle::State_Selected ? QPalette::HighlightedText: QPalette::Text;
+  auto color_role = option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text;
   painter->setPen(option.palette.color(color_role));
   painter->setFont(fixed_font);
   for (int i = 0; i < byte_list.size(); ++i) {
@@ -128,7 +125,7 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &
   }
 }
 
-QColor getColor(const Signal *sig) {
+QColor getColor(const cabana::Signal *sig) {
   float h = 19 * (float)sig->lsb / 64.0;
   h = fmod(h, 1.0);
 
@@ -139,7 +136,7 @@ QColor getColor(const Signal *sig) {
   return QColor::fromHsvF(h, s, v);
 }
 
-NameValidator::NameValidator(QObject *parent) : QRegExpValidator(QRegExp("^(\\w+)"), parent) { }
+NameValidator::NameValidator(QObject *parent) : QRegExpValidator(QRegExp("^(\\w+)"), parent) {}
 
 QValidator::State NameValidator::validate(QString &input, int &pos) const {
   input.replace(' ', '_');
@@ -170,10 +167,11 @@ QToolButton *toolButton(const QString &icon, const QString &tooltip) {
   btn->setIcon(utils::icon(icon));
   btn->setToolTip(tooltip);
   btn->setAutoRaise(true);
+  const int metric = qApp->style()->pixelMetric(QStyle::PM_SmallIconSize);
+  btn->setIconSize({metric, metric});
   return btn;
 };
 
-
 QString toHex(uint8_t byte) {
   static std::array<QString, 256> hex = []() {
     std::array<QString, 256> ret;
@@ -182,3 +180,13 @@ QString toHex(uint8_t byte) {
   }();
   return hex[byte];
 }
+
+int num_decimals(double num) {
+  const QString string = QString::number(num);
+  const QStringList split = string.split('.');
+  if (split.size() == 1) {
+    return 0;
+  } else {
+    return split[1].size();
+  }
+}
diff --git a/tools/cabana/util.h b/tools/cabana/util.h
index cf1b5d4b20..7f40c42352 100644
--- a/tools/cabana/util.h
+++ b/tools/cabana/util.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <array>
+#include <cmath>
 
 #include <QByteArray>
 #include <QColor>
@@ -11,8 +12,7 @@
 #include <QToolButton>
 #include <QVector>
 
-#include "tools/cabana/dbcmanager.h"
-using namespace dbcmanager;
+#include "tools/cabana/dbc/dbc.h"
 
 class ChangeTracker {
 public:
@@ -30,6 +30,32 @@ private:
   QByteArray prev_dat;
 };
 
+class LogSlider : public QSlider {
+  Q_OBJECT
+
+public:
+  LogSlider(double factor, Qt::Orientation orientation, QWidget *parent = nullptr) : factor(factor), QSlider(orientation, parent) {};
+
+  void setRange(double min, double max) {
+    log_min = factor * std::log10(min);
+    log_max = factor * std::log10(max);
+    QSlider::setRange(min, max);
+    setValue(QSlider::value());
+  }
+  int value() const {
+    double v = log_min + (log_max - log_min) * ((QSlider::value() - minimum()) / double(maximum() - minimum()));
+    return std::lround(std::pow(10, v / factor));
+  }
+  void setValue(int v) {
+    double log_v = std::clamp(factor * std::log10(v), log_min, log_max);
+    v = minimum() + (maximum() - minimum()) * ((log_v - log_min) / (log_max - log_min));
+    QSlider::setValue(v);
+  }
+
+private:
+  double factor, log_min = 0, log_max = 1;
+};
+
 enum {
   ColorsRole = Qt::UserRole + 1,
   BytesRole = Qt::UserRole + 2
@@ -59,7 +85,7 @@ public:
 
 inline QString toHex(const QByteArray &dat) { return dat.toHex(' ').toUpper(); }
 QString toHex(uint8_t byte);
-QColor getColor(const dbcmanager::Signal *sig);
+QColor getColor(const cabana::Signal *sig);
 
 class NameValidator : public QRegExpValidator {
   Q_OBJECT
@@ -74,3 +100,4 @@ QPixmap icon(const QString &id);
 }
 
 QToolButton *toolButton(const QString &icon, const QString &tooltip);
+int num_decimals(double num);
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 536ae7ba97..0e9714994e 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -1,18 +1,16 @@
 #include "tools/cabana/videowidget.h"
 
-#include <QBuffer>
 #include <QButtonGroup>
 #include <QDateTime>
 #include <QMouseEvent>
 #include <QPainter>
-#include <QPixmap>
 #include <QStyleOptionSlider>
-#include <QTimeEdit>
-#include <QTimer>
-#include <QToolTip>
 #include <QVBoxLayout>
 #include <QtConcurrent>
 
+const int MIN_VIDEO_HEIGHT = 100;
+const int THUMBNAIL_MARGIN = 3;
+
 static const QColor timeline_colors[] = {
   [(int)TimelineType::None] = QColor(111, 143, 175),
   [(int)TimelineType::Engaged] = QColor(0, 163, 108),
@@ -22,20 +20,15 @@ static const QColor timeline_colors[] = {
   [(int)TimelineType::AlertCritical] = QColor(199, 0, 57),
 };
 
-inline QString formatTime(int seconds) {
+static inline QString formatTime(int seconds) {
   return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss");
 }
 
-VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-  QFrame *frame = new QFrame(this);
-  frame->setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
-  main_layout->addWidget(frame);
-
-  QVBoxLayout *frame_layout = new QVBoxLayout(frame);
+VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
+  setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
+  auto main_layout = new QVBoxLayout(this);
   if (!can->liveStreaming()) {
-    frame_layout->addWidget(createCameraWidget());
+    main_layout->addWidget(createCameraWidget());
   }
 
   // btn controls
@@ -56,7 +49,8 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) {
     group->addButton(btn);
     if (speed == 1.0) btn->setChecked(true);
   }
-  frame_layout->addLayout(control_layout);
+  main_layout->addLayout(control_layout);
+  setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum);
 
   QObject::connect(play_btn, &QPushButton::clicked, []() { can->pause(!can->isPaused()); });
   QObject::connect(can, &AbstractStream::paused, this, &VideoWidget::updatePlayBtnState);
@@ -90,12 +84,13 @@ QWidget *VideoWidget::createCameraWidget() {
   QVBoxLayout *l = new QVBoxLayout(w);
   l->setContentsMargins(0, 0, 0, 0);
   cam_widget = new CameraWidget("camerad", can->visionStreamType(), false);
+  cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT);
+  cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
   l->addWidget(cam_widget);
 
   // slider controls
   slider_layout = new QHBoxLayout();
-  time_label = new ElidedLabel("00:00");
-  time_label->setToolTip(tr("Click to set current time"));
+  time_label = new QLabel("00:00");
   slider_layout->addWidget(time_label);
 
   slider = new Slider(this);
@@ -105,12 +100,6 @@ QWidget *VideoWidget::createCameraWidget() {
   end_time_label = new QLabel(this);
   slider_layout->addWidget(end_time_label);
   l->addLayout(slider_layout);
-
-  cam_widget->setMinimumHeight(100);
-  cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
-  setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum);
-
-  QObject::connect(time_label, &ElidedLabel::clicked, this, &VideoWidget::timeLabelClicked);
   QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->value() / 1000.0); });
   QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(formatTime(value / 1000)); });
   QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
@@ -122,29 +111,7 @@ QWidget *VideoWidget::createCameraWidget() {
   return w;
 }
 
-void VideoWidget::timeLabelClicked() {
-  auto time_edit = new QTimeEdit(this);
-  auto init_date_time = can->currentDateTime();
-  time_edit->setDateTime(init_date_time);
-  time_edit->setDisplayFormat("hh:mm:ss");
-  time_label->setVisible(false);
-  slider_layout->insertWidget(0, time_edit);
-  QTimer::singleShot(0, [=]() { time_edit->setFocus(); });
-
-  QObject::connect(time_edit, &QTimeEdit::editingFinished, [=]() {
-    if (time_edit->dateTime() != init_date_time) {
-      int seconds = can->route()->datetime().secsTo(time_edit->dateTime());
-      can->seekTo(seconds);
-    }
-    time_edit->setVisible(false);
-    time_label->setVisible(true);
-    time_edit->deleteLater();
-  });
-}
-
 void VideoWidget::rangeChanged(double min, double max, bool is_zoomed) {
-  if (can->liveStreaming()) return;
-
   if (!is_zoomed) {
     min = 0;
     max = can->totalSeconds();
@@ -164,16 +131,12 @@ void VideoWidget::updatePlayBtnState() {
 }
 
 // Slider
-Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) {
-  QTimer *timer = new QTimer(this);
-  timer->setInterval(2000);
-  timer->callOnTimeout([this]() {
+Slider::Slider(QWidget *parent) : timer(this), thumbnail_label(this), QSlider(Qt::Horizontal, parent) {
+  timer.callOnTimeout([this]() {
     timeline = can->getTimeline();
     update();
   });
   setMouseTracking(true);
-
-  QObject::connect(can, SIGNAL(streamStarted()), timer, SLOT(start()));
   QObject::connect(can, &AbstractStream::streamStarted, this, &Slider::streamStarted);
 }
 
@@ -187,11 +150,13 @@ void Slider::streamStarted() {
   thumnail_future.waitForFinished();
   abort_load_thumbnail = false;
   thumbnails.clear();
+  timeline.clear();
+  timer.start(2000);
   thumnail_future = QtConcurrent::run(this, &Slider::loadThumbnails);
 }
 
 void Slider::loadThumbnails() {
-  const auto segments = can->route()->segments();
+  const auto &segments = can->route()->segments();
   for (auto it = segments.rbegin(); it != segments.rend() && !abort_load_thumbnail; ++it) {
     std::string qlog = it->second.qlog.toStdString();
     if (!qlog.empty()) {
@@ -199,29 +164,18 @@ void Slider::loadThumbnails() {
       if (log.load(qlog, &abort_load_thumbnail, {cereal::Event::Which::THUMBNAIL}, true, 0, 3)) {
         for (auto ev = log.events.cbegin(); ev != log.events.cend() && !abort_load_thumbnail; ++ev) {
           auto thumb = (*ev)->event.getThumbnail();
-          QString str = getThumbnailString(thumb.getThumbnail());
-          std::lock_guard lk(thumbnail_lock);
-          thumbnails[thumb.getTimestampEof()] = str;
+          auto data = thumb.getThumbnail();
+          if (QPixmap pm; pm.loadFromData(data.begin(), data.size(), "jpeg")) {
+            pm = pm.scaledToHeight(MIN_VIDEO_HEIGHT - THUMBNAIL_MARGIN * 2, Qt::SmoothTransformation);
+            std::lock_guard lk(thumbnail_lock);
+            thumbnails[thumb.getTimestampEof()] = pm;
+          }
         }
       }
     }
   }
 }
 
-QString Slider::getThumbnailString(const capnp::Data::Reader &data) {
-  QPixmap thumb;
-  if (thumb.loadFromData(data.begin(), data.size(), "jpeg")) {
-    thumb = thumb.scaled({thumb.width()/3, thumb.height()/3}, Qt::KeepAspectRatio);
-    thumbnail_size = thumb.size();
-    QByteArray bytes;
-    QBuffer buffer(&bytes);
-    buffer.open(QIODevice::WriteOnly);
-    thumb.save(&buffer, "png");
-    return  QString("<img src='data:image/png;base64, %0'>").arg(QString(bytes.toBase64()));
-  }
-  return {};
-}
-
 void Slider::sliderChange(QAbstractSlider::SliderChange change) {
   if (change == QAbstractSlider::SliderValueChange) {
     int x = width() * ((value() - minimum()) / double(maximum() - minimum()));
@@ -267,16 +221,45 @@ void Slider::mousePressEvent(QMouseEvent *e) {
 }
 
 void Slider::mouseMoveEvent(QMouseEvent *e) {
-  QString thumb;
+  QPixmap thumb;
+  double seconds = (minimum() + e->pos().x() * ((maximum() - minimum()) / (double)width())) / 1000.0;
   {
-    double seconds = (minimum() + e->pos().x() * ((maximum() - minimum()) / (double)width())) / 1000.0;
     std::lock_guard lk(thumbnail_lock);
     auto it = thumbnails.lowerBound((seconds + can->routeStartTime()) * 1e9);
-    if (it != thumbnails.end()) {
-      thumb = it.value();
-    }
+    if (it != thumbnails.end()) thumb = it.value();
   }
-  QPoint pt = mapToGlobal({e->pos().x() - thumbnail_size.width() / 2, -thumbnail_size.height() - 30});
-  QToolTip::showText(pt, thumb, this, rect());
+  int x = std::clamp(e->pos().x() - thumb.width() / 2, THUMBNAIL_MARGIN, rect().right() - thumb.width() - THUMBNAIL_MARGIN);
+  int y = -thumb.height() - THUMBNAIL_MARGIN - style()->pixelMetric(QStyle::PM_LayoutVerticalSpacing);
+  thumbnail_label.showPixmap(mapToGlobal({x, y}), formatTime(seconds), thumb);
   QSlider::mouseMoveEvent(e);
 }
+
+void Slider::leaveEvent(QEvent *event) {
+  thumbnail_label.hide();
+  QSlider::leaveEvent(event);
+}
+
+// ThumbnailLabel
+
+ThumbnailLabel::ThumbnailLabel(QWidget *parent) : QWidget(parent, Qt::Tool | Qt::FramelessWindowHint) {
+  setAttribute(Qt::WA_ShowWithoutActivating);
+  setVisible(false);
+}
+
+void ThumbnailLabel::showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm) {
+  pixmap = pm;
+  second = sec;
+  setVisible(!pm.isNull());
+  if (isVisible()) {
+    setGeometry({pt, pm.size()});
+    update();
+  }
+}
+
+void ThumbnailLabel::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  p.drawPixmap(0, 0, pixmap);
+  p.setPen(QPen(Qt::white, 2));
+  p.drawRect(rect());
+  p.drawText(rect().adjusted(0, 0, 0, -THUMBNAIL_MARGIN), second, Qt::AlignHCenter | Qt::AlignBottom);
+}
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index 1a7e27f1b3..00b059428d 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -8,12 +8,19 @@
 #include <QLabel>
 #include <QPushButton>
 #include <QSlider>
+#include <QTimer>
 
 #include "selfdrive/ui/qt/widgets/cameraview.h"
-#include "selfdrive/ui/qt/widgets/controls.h"
-#include "tools/cabana/dbcmanager.h"
 #include "tools/cabana/streams/abstractstream.h"
-using namespace dbcmanager;
+
+class ThumbnailLabel : public QWidget {
+public:
+  ThumbnailLabel(QWidget *parent);
+  void showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm);
+  void paintEvent(QPaintEvent *event) override;
+  QPixmap pixmap;
+  QString second;
+};
 
 class Slider : public QSlider {
   Q_OBJECT
@@ -25,22 +32,23 @@ public:
 private:
   void mousePressEvent(QMouseEvent *e) override;
   void mouseMoveEvent(QMouseEvent *e) override;
+  void leaveEvent(QEvent *event) override;
   void sliderChange(QAbstractSlider::SliderChange change) override;
   void paintEvent(QPaintEvent *ev) override;
   void streamStarted();
   void loadThumbnails();
-  QString getThumbnailString(const capnp::Data::Reader &data);
 
   int slider_x = -1;
   std::vector<std::tuple<int, int, TimelineType>> timeline;
   std::mutex thumbnail_lock;
   std::atomic<bool> abort_load_thumbnail = false;
-  QMap<uint64_t, QString> thumbnails;
+  QMap<uint64_t, QPixmap> thumbnails;
   QFuture<void> thumnail_future;
-  QSize thumbnail_size = {};
+  ThumbnailLabel thumbnail_label;
+  QTimer timer;
 };
 
-class VideoWidget : public QWidget {
+class VideoWidget : public QFrame {
   Q_OBJECT
 
 public:
@@ -50,12 +58,11 @@ public:
 protected:
   void updateState();
   void updatePlayBtnState();
-  void timeLabelClicked();
   QWidget *createCameraWidget();
 
   CameraWidget *cam_widget;
   QLabel *end_time_label;
-  ElidedLabel *time_label;
+  QLabel *time_label;
   QHBoxLayout *slider_layout;
   QPushButton *play_btn;
   Slider *slider;
diff --git a/tools/gpstest/rpc_server.py b/tools/gpstest/rpc_server.py
index a368566982..178e8b2c3c 100644
--- a/tools/gpstest/rpc_server.py
+++ b/tools/gpstest/rpc_server.py
@@ -17,7 +17,7 @@ ALT_DELTA = 30
 MATCH_NUM = 10
 REPORT_STATS = 10
 
-EPHEM_CACHE = "/data/params/d/LaikadEphemerisV2"
+EPHEM_CACHE = "/data/params/d/LaikadEphemerisV3"
 DOWNLOAD_CACHE = "/tmp/comma_download_cache"
 
 SERVER_LOG_FILE = "/tmp/fuzzy_server.log"
diff --git a/tools/gpstest/test_gps.py b/tools/gpstest/test_gps.py
index 8bc5dc89a8..2c08c105a1 100644
--- a/tools/gpstest/test_gps.py
+++ b/tools/gpstest/test_gps.py
@@ -5,7 +5,7 @@ import struct
 
 from common.params import Params
 import cereal.messaging as messaging
-import selfdrive.sensord.pigeond as pd
+import system.sensord.pigeond as pd
 from system.hardware import TICI
 from selfdrive.test.helpers import with_processes
 
diff --git a/tools/gpstest/test_laikad.py b/tools/gpstest/test_laikad.py
index 410a9c70d3..689b0f0b9f 100644
--- a/tools/gpstest/test_laikad.py
+++ b/tools/gpstest/test_laikad.py
@@ -4,7 +4,7 @@ import time
 import unittest
 
 import cereal.messaging as messaging
-import selfdrive.sensord.pigeond as pd
+import system.sensord.pigeond as pd
 
 from common.params import Params
 from system.hardware import TICI
@@ -39,7 +39,7 @@ class TestLaikad(unittest.TestCase):
 
   def setUp(self):
     # ensure laikad cold start
-    Params().remove("LaikadEphemerisV2")
+    Params().remove("LaikadEphemerisV3")
     os.environ["LAIKAD_NO_INTERNET"] = "1"
     managed_processes['laikad'].start()
 
diff --git a/tools/lib/README.md b/tools/lib/README.md
index 3cf239d2df..d77eef5ac5 100644
--- a/tools/lib/README.md
+++ b/tools/lib/README.md
@@ -1,6 +1,6 @@
 ## LogReader
 
-Route is a class for conveniently accessing all the [logs](/selfdrive/loggerd/) from your routes. The LogReader class reads the non-video logs, i.e. rlog.bz2 and qlog.bz2. There's also a matching FrameReader class for reading the videos.
+Route is a class for conveniently accessing all the [logs](/system/loggerd/) from your routes. The LogReader class reads the non-video logs, i.e. rlog.bz2 and qlog.bz2. There's also a matching FrameReader class for reading the videos.
 
 ```python
 from tools.lib.route import Route
diff --git a/tools/plotjuggler/layouts/controls_mismatch_debug.xml b/tools/plotjuggler/layouts/controls_mismatch_debug.xml
index adca3eed29..54586d6e7b 100644
--- a/tools/plotjuggler/layouts/controls_mismatch_debug.xml
+++ b/tools/plotjuggler/layouts/controls_mismatch_debug.xml
@@ -1,37 +1,44 @@
 <?xml version='1.0' encoding='UTF-8'?>
 <root>
  <tabbed_widget parent="main_window" name="Main Window">
-  <Tab containers="1" tab_name="tab1">
+  <Tab tab_name="tab1" containers="1">
    <Container>
-    <DockSplitter orientation="-" sizes="0.249729;0.250814;0.249729;0.249729" count="4">
+    <DockSplitter orientation="-" count="5" sizes="0.2;0.2;0.2;0.2;0.2">
      <DockArea name="...">
-      <plot flip_y="false" flip_x="false" style="Lines" mode="TimeSeries">
-       <range bottom="-0.025000" left="0.000000" right="119.992934" top="1.025000"/>
+      <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
+       <range top="1.025000" bottom="-0.025000" left="0.018309" right="59.674401"/>
        <limitY/>
-       <curve name="/controlsState/enabled" color="#1f77b4"/>
-       <curve name="/pandaStates/0/controlsAllowed" color="#d62728"/>
+       <curve color="#1f77b4" name="/controlsState/enabled"/>
+       <curve color="#d62728" name="/pandaStates/0/controlsAllowed"/>
       </plot>
      </DockArea>
      <DockArea name="...">
-      <plot flip_y="false" flip_x="false" style="Lines" mode="TimeSeries">
-       <range bottom="-8.840137" left="0.000000" right="119.992934" top="12.881991"/>
+      <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
+       <range top="27.087398" bottom="-0.905168" left="0.018309" right="59.674401"/>
        <limitY/>
-       <curve name="/controlsState/cumLagMs" color="#9467bd"/>
+       <curve color="#9467bd" name="/controlsState/cumLagMs"/>
       </plot>
      </DockArea>
      <DockArea name="...">
-      <plot flip_y="false" flip_x="false" style="Lines" mode="TimeSeries">
-       <range bottom="-0.100000" left="0.000000" right="119.992934" top="0.100000"/>
+      <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
+       <range top="1.025000" bottom="-0.025000" left="0.018309" right="59.674401"/>
        <limitY/>
-       <curve name="/pandaStates/0/blockedCnt" color="#d62728"/>
+       <curve color="#1f77b4" name="/pandaStates/0/safetyRxInvalid"/>
       </plot>
      </DockArea>
      <DockArea name="...">
-      <plot flip_y="false" flip_x="false" style="Lines" mode="TimeSeries">
-       <range bottom="-0.025000" left="0.000000" right="119.992934" top="1.025000"/>
+      <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
+       <range top="158.850000" bottom="-2.850000" left="0.018309" right="59.674401"/>
        <limitY/>
-       <curve name="/carState/gasPressed" color="#1ac938"/>
-       <curve name="/carState/brakePressed" color="#ff7f0e"/>
+       <curve color="#d62728" name="/pandaStates/0/safetyTxBlocked"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
+       <range top="1.025000" bottom="-0.025000" left="0.018309" right="59.674401"/>
+       <limitY/>
+       <curve color="#1ac938" name="/carState/gasPressed"/>
+       <curve color="#ff7f0e" name="/carState/brakePressed"/>
       </plot>
      </DockArea>
     </DockSplitter>
@@ -46,8 +53,8 @@
   <plugin ID="DataLoad Rlog"/>
   <plugin ID="Cereal Subscriber"/>
  </Plugins>
- <!-- - - - - - - - - - - - - - - -->
- <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations/>
+ <snippets/>
  <!-- - - - - - - - - - - - - - - -->
 </root>
 
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index 178b116a87..b68330f688 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -193,7 +193,7 @@ std::optional<uint64_t> Replay::find(FindFlag flag) {
 
 void Replay::pause(bool pause) {
   updateEvents([=]() {
-    rWarning("%s at %d s", pause ? "paused..." : "resuming", currentSeconds());
+    rWarning("%s at %.2f s", pause ? "paused..." : "resuming", currentSeconds());
     paused_ = pause;
     return true;
   });
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index 6788a97d03..2bb426361b 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -71,6 +71,7 @@ public:
   inline void setSpeed(float speed) { speed_ = speed; }
   inline float getSpeed() const { return speed_; }
   inline const std::vector<Event *> *events() const { return events_.get(); }
+  inline const std::map<int, std::unique_ptr<Segment>> &segments() const { return segments_; };
   inline const std::string &carFingerprint() const { return car_fingerprint_; }
   inline const std::vector<std::tuple<int, int, TimelineType>> getTimeline() {
     std::lock_guard lk(timeline_lock);