diff --git a/cereal b/cereal
index 8cbd71836e..d6f233bf7b 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 8cbd71836e4170fa175070796396a91771624e82
+Subproject commit d6f233bf7bd6d1ee3508b17667e44420ce38de0d
diff --git a/selfdrive/camerad/cameras/camera_qcom.cc b/selfdrive/camerad/cameras/camera_qcom.cc
index 33b5d00c95..11383de668 100644
--- a/selfdrive/camerad/cameras/camera_qcom.cc
+++ b/selfdrive/camerad/cameras/camera_qcom.cc
@@ -211,12 +211,12 @@ void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_i
               /*fps*/ 20,
 #endif
               device_id, ctx,
-              VISION_STREAM_RGB_BACK, VISION_STREAM_YUV_BACK);
+              VISION_STREAM_RGB_BACK, VISION_STREAM_ROAD);
 
   camera_init(v, &s->driver_cam, CAMERA_ID_OV8865, 1,
               /*pixel_clock=*/72000000, /*line_length_pclk=*/1602,
               /*max_gain=*/510, 10, device_id, ctx,
-              VISION_STREAM_RGB_FRONT, VISION_STREAM_YUV_FRONT);
+              VISION_STREAM_RGB_FRONT, VISION_STREAM_DRIVER);
 
   s->sm = new SubMaster({"driverState"});
   s->pm = new PubMaster({"roadCameraState", "driverCameraState", "thumbnail"});
diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc
index 03138e353a..3ea065ae73 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.cc
+++ b/selfdrive/camerad/cameras/camera_qcom2.cc
@@ -709,13 +709,13 @@ static void camera_open(CameraState *s) {
 
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
   camera_init(s, v, &s->road_cam, CAMERA_ID_AR0231, 1, 20, device_id, ctx,
-              VISION_STREAM_RGB_BACK, VISION_STREAM_YUV_BACK); // swap left/right
+              VISION_STREAM_RGB_BACK, VISION_STREAM_ROAD); // swap left/right
   printf("road camera initted \n");
   camera_init(s, v, &s->wide_road_cam, CAMERA_ID_AR0231, 0, 20, device_id, ctx,
-              VISION_STREAM_RGB_WIDE, VISION_STREAM_YUV_WIDE);
+              VISION_STREAM_RGB_WIDE, VISION_STREAM_WIDE_ROAD);
   printf("wide road camera initted \n");
   camera_init(s, v, &s->driver_cam, CAMERA_ID_AR0231, 2, 20, device_id, ctx,
-              VISION_STREAM_RGB_FRONT, VISION_STREAM_YUV_FRONT);
+              VISION_STREAM_RGB_FRONT, VISION_STREAM_DRIVER);
   printf("driver camera initted \n");
 
   s->sm = new SubMaster({"driverState"});
diff --git a/selfdrive/camerad/cameras/camera_replay.cc b/selfdrive/camerad/cameras/camera_replay.cc
index 731aab2a29..8ff1b6aacc 100644
--- a/selfdrive/camerad/cameras/camera_replay.cc
+++ b/selfdrive/camerad/cameras/camera_replay.cc
@@ -98,9 +98,9 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
 
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
   camera_init(v, &s->road_cam, CAMERA_ID_LGC920, 20, device_id, ctx,
-              VISION_STREAM_RGB_BACK, VISION_STREAM_YUV_BACK, get_url(road_camera_route, "fcamera", 0));
+              VISION_STREAM_RGB_BACK, VISION_STREAM_ROAD, get_url(road_camera_route, "fcamera", 0));
   // camera_init(v, &s->driver_cam, CAMERA_ID_LGC615, 10, device_id, ctx,
-  //             VISION_STREAM_RGB_FRONT, VISION_STREAM_YUV_FRONT, get_url(driver_camera_route, "dcamera", 0));
+  //             VISION_STREAM_RGB_FRONT, VISION_STREAM_DRIVER, get_url(driver_camera_route, "dcamera", 0));
   s->pm = new PubMaster({"roadCameraState", "driverCameraState", "thumbnail"});
 }
 
diff --git a/selfdrive/camerad/cameras/camera_webcam.cc b/selfdrive/camerad/cameras/camera_webcam.cc
index ff63257bd3..47da56042c 100644
--- a/selfdrive/camerad/cameras/camera_webcam.cc
+++ b/selfdrive/camerad/cameras/camera_webcam.cc
@@ -141,9 +141,9 @@ void driver_camera_thread(CameraState *s) {
 
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
   camera_init(v, &s->road_cam, CAMERA_ID_LGC920, 20, device_id, ctx,
-              VISION_STREAM_RGB_BACK, VISION_STREAM_YUV_BACK);
+              VISION_STREAM_RGB_BACK, VISION_STREAM_ROAD);
   camera_init(v, &s->driver_cam, CAMERA_ID_LGC615, 10, device_id, ctx,
-              VISION_STREAM_RGB_FRONT, VISION_STREAM_YUV_FRONT);
+              VISION_STREAM_RGB_FRONT, VISION_STREAM_DRIVER);
   s->pm = new PubMaster({"roadCameraState", "driverCameraState", "thumbnail"});
 }
 
diff --git a/selfdrive/loggerd/loggerd.h b/selfdrive/loggerd/loggerd.h
index 448927ff8a..977e03b8d3 100644
--- a/selfdrive/loggerd/loggerd.h
+++ b/selfdrive/loggerd/loggerd.h
@@ -44,7 +44,7 @@ const int SEGMENT_LENGTH = LOGGERD_TEST ? atoi(getenv("LOGGERD_SEGMENT_LENGTH"))
 const LogCameraInfo cameras_logged[] = {
   {
     .type = RoadCam,
-    .stream_type = VISION_STREAM_YUV_BACK,
+    .stream_type = VISION_STREAM_ROAD,
     .filename = "fcamera.hevc",
     .frame_packet_name = "roadCameraState",
     .fps = MAIN_FPS,
@@ -58,7 +58,7 @@ const LogCameraInfo cameras_logged[] = {
   },
   {
     .type = DriverCam,
-    .stream_type = VISION_STREAM_YUV_FRONT,
+    .stream_type = VISION_STREAM_DRIVER,
     .filename = "dcamera.hevc",
     .frame_packet_name = "driverCameraState",
     .fps = MAIN_FPS, // on EONs, more compressed this way
@@ -72,7 +72,7 @@ const LogCameraInfo cameras_logged[] = {
   },
   {
     .type = WideRoadCam,
-    .stream_type = VISION_STREAM_YUV_WIDE,
+    .stream_type = VISION_STREAM_WIDE_ROAD,
     .filename = "ecamera.hevc",
     .frame_packet_name = "wideRoadCameraState",
     .fps = MAIN_FPS,
diff --git a/selfdrive/modeld/dmonitoringmodeld.cc b/selfdrive/modeld/dmonitoringmodeld.cc
index 6ae6e780c8..c85c05c9d1 100644
--- a/selfdrive/modeld/dmonitoringmodeld.cc
+++ b/selfdrive/modeld/dmonitoringmodeld.cc
@@ -39,7 +39,7 @@ int main(int argc, char **argv) {
   DMonitoringModelState model;
   dmonitoring_init(&model);
 
-  VisionIpcClient vipc_client = VisionIpcClient("camerad", VISION_STREAM_YUV_FRONT, true);
+  VisionIpcClient vipc_client = VisionIpcClient("camerad", VISION_STREAM_DRIVER, true);
   while (!do_exit && !vipc_client.connect(false)) {
     util::sleep_for(100);
   }
diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc
index 3d3e435909..9013e63617 100644
--- a/selfdrive/modeld/modeld.cc
+++ b/selfdrive/modeld/modeld.cc
@@ -153,7 +153,7 @@ int main(int argc, char **argv) {
   model_init(&model, device_id, context);
   LOGW("models loaded, modeld starting");
 
-  VisionIpcClient vipc_client = VisionIpcClient("camerad", wide_camera ? VISION_STREAM_YUV_WIDE : VISION_STREAM_YUV_BACK, true, device_id, context);
+  VisionIpcClient vipc_client = VisionIpcClient("camerad", wide_camera ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD, true, device_id, context);
   while (!do_exit && !vipc_client.connect(false)) {
     util::sleep_for(100);
   }
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 16ffea3c73..32a5717852 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -50,10 +50,10 @@ def process_frame(msg, pm, sm, log_msgs, vipc_server, spinner, frs, frame_idxs,
 
   img = frs[msg.which()].get(frame_idxs[msg.which()], pix_fmt="yuv420p")[0]
   if msg.which == "roadCameraState":
-    vipc_server.send(VisionStreamType.VISION_STREAM_YUV_BACK, img.flatten().tobytes(), f.roadCameraState.frameId,
+    vipc_server.send(VisionStreamType.VISION_STREAM_ROAD, img.flatten().tobytes(), f.roadCameraState.frameId,
                       f.roadCameraState.timestampSof, f.roadCameraState.timestampEof)
   else:
-    vipc_server.send(VisionStreamType.VISION_STREAM_YUV_FRONT, img.flatten().tobytes(), f.driverCameraState.frameId,
+    vipc_server.send(VisionStreamType.VISION_STREAM_DRIVER, img.flatten().tobytes(), f.driverCameraState.frameId,
                       f.driverCameraState.timestampSof, f.driverCameraState.timestampEof)
   with Timeout(seconds=15):
     log_msgs.append(messaging.recv_one(sm.sock[packet_from_camera[msg.which()]]))
@@ -73,8 +73,8 @@ def model_replay(lr_list, frs):
   spinner.update("starting model replay")
 
   vipc_server = VisionIpcServer("camerad")
-  vipc_server.create_buffers(VisionStreamType.VISION_STREAM_YUV_BACK, 40, False, *(tici_f_frame_size if TICI else eon_f_frame_size))
-  vipc_server.create_buffers(VisionStreamType.VISION_STREAM_YUV_FRONT, 40, False, *(tici_d_frame_size if TICI else eon_d_frame_size))
+  vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, *(tici_f_frame_size if TICI else eon_f_frame_size))
+  vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *(tici_d_frame_size if TICI else eon_d_frame_size))
   vipc_server.start_listener()
 
   pm = messaging.PubMaster(['roadCameraState', 'driverCameraState', 'liveCalibration', 'lateralPlan'])
diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
index 0e8a0eaf11..5326075240 100755
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@@ -39,8 +39,8 @@ def replay_service(s, msgs):
 vs = None
 def replay_cameras(lr, frs):
   cameras = [
-    ("roadCameraState", DT_MDL, eon_f_frame_size, VisionStreamType.VISION_STREAM_YUV_BACK),
-    ("driverCameraState", DT_DMON, eon_d_frame_size, VisionStreamType.VISION_STREAM_YUV_FRONT),
+    ("roadCameraState", DT_MDL, eon_f_frame_size, VisionStreamType.VISION_STREAM_ROAD),
+    ("driverCameraState", DT_DMON, eon_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER),
   ]
 
   def replay_camera(s, stream, dt, vipc_server, fr, size):
diff --git a/selfdrive/ui/replay/camera.h b/selfdrive/ui/replay/camera.h
index 8b1fa7620b..21e02292d5 100644
--- a/selfdrive/ui/replay/camera.h
+++ b/selfdrive/ui/replay/camera.h
@@ -32,9 +32,9 @@ protected:
   void cameraThread(Camera &cam);
 
   Camera cameras_[MAX_CAMERAS] = {
-      {.type = RoadCam, .rgb_type = VISION_STREAM_RGB_BACK, .yuv_type = VISION_STREAM_YUV_BACK},
-      {.type = DriverCam, .rgb_type = VISION_STREAM_RGB_FRONT, .yuv_type = VISION_STREAM_YUV_FRONT},
-      {.type = WideRoadCam, .rgb_type = VISION_STREAM_RGB_WIDE, .yuv_type = VISION_STREAM_YUV_WIDE},
+      {.type = RoadCam, .rgb_type = VISION_STREAM_RGB_BACK, .yuv_type = VISION_STREAM_ROAD},
+      {.type = DriverCam, .rgb_type = VISION_STREAM_RGB_FRONT, .yuv_type = VISION_STREAM_DRIVER},
+      {.type = WideRoadCam, .rgb_type = VISION_STREAM_RGB_WIDE, .yuv_type = VISION_STREAM_WIDE_ROAD},
   };
   std::atomic<int> publishing_ = 0;
   std::unique_ptr<VisionIpcServer> vipc_server_;
diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py
index dc948d0fd5..9924a40b11 100755
--- a/tools/sim/bridge.py
+++ b/tools/sim/bridge.py
@@ -68,7 +68,7 @@ class Camerad:
 
     # TODO: remove RGB buffers once the last RGB vipc subscriber is removed
     self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_RGB_BACK, 4, True, W, H)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_YUV_BACK, 40, False, W, H)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, W, H)
     self.vipc_server.start_listener()
 
     # set up for pyopencl rgb to yuv conversion
@@ -98,7 +98,7 @@ class Camerad:
 
     # TODO: remove RGB send once the last RGB vipc subscriber is removed
     self.vipc_server.send(VisionStreamType.VISION_STREAM_RGB_BACK, img.tobytes(), self.frame_id, eof, eof)
-    self.vipc_server.send(VisionStreamType.VISION_STREAM_YUV_BACK, yuv.data.tobytes(), self.frame_id, eof, eof)
+    self.vipc_server.send(VisionStreamType.VISION_STREAM_ROAD, yuv.data.tobytes(), self.frame_id, eof, eof)
 
     dat = messaging.new_message('roadCameraState')
     dat.roadCameraState = {