diff --git a/common/dbc.py b/common/dbc.py
index 4acfc84adb..693b2985a4 100755
--- a/common/dbc.py
+++ b/common/dbc.py
@@ -98,7 +98,7 @@ class dbc(object):
         sgname = dat.group(2)
         defvals = dat.group(3)
 
-        defvals = defvals.replace("?","\?") #escape sequence in C++
+        defvals = defvals.replace("?",r"\?") #escape sequence in C++
         defvals = defvals.split('"')[:-1]
 
         defs = defvals[1::2]
@@ -112,7 +112,7 @@ class dbc(object):
 
         self.def_vals[ids].append((sgname, defvals))
 
-    for msg in self.msgs.viewvalues():
+    for msg in self.msgs.values():
       msg[1].sort(key=lambda x: x.start_bit)
 
     self.msg_name_to_address = {}
diff --git a/common/fingerprints.py b/common/fingerprints.py
index d4845f8d41..5a29c9555c 100644
--- a/common/fingerprints.py
+++ b/common/fingerprints.py
@@ -61,4 +61,4 @@ def eliminate_incompatible_cars(msg, candidate_cars):
 
 def all_known_cars():
   """Returns a list of all known car strings."""
-  return _FINGERPRINTS.keys()
+  return list(_FINGERPRINTS.keys())
diff --git a/common/sympy_helpers.py b/common/sympy_helpers.py
index 879eb71bbf..f20bdb08a7 100644
--- a/common/sympy_helpers.py
+++ b/common/sympy_helpers.py
@@ -75,7 +75,7 @@ def sympy_into_c(sympy_functions):
     routines.append(r)
 
   [(c_name, c_code), (h_name, c_header)] = codegen.get_code_generator('C', 'ekf', 'C99').write(routines, "ekf")
-  c_code = '\n'.join(filter(lambda x: len(x) > 0 and x[0] != '#', c_code.split("\n")))
-  c_header = '\n'.join(filter(lambda x: len(x) > 0 and x[0] != '#', c_header.split("\n")))
+  c_code = '\n'.join(x for x in c_code.split("\n") if len(x) > 0 and x[0] != '#')
+  c_header = '\n'.join(x for x in  c_header.split("\n") if len(x) > 0 and x[0] != '#')
 
   return c_header, c_code
diff --git a/common/transformations/camera.py b/common/transformations/camera.py
index eafd71c989..78c9df9890 100644
--- a/common/transformations/camera.py
+++ b/common/transformations/camera.py
@@ -15,13 +15,13 @@ eon_intrinsics = np.array([
 
 
 leon_dcam_intrinsics = np.array([
-  [650,   0,   816/2],
-  [  0,  650,  612/2],
+  [650,   0,   816//2],
+  [  0,  650,  612//2],
   [  0,    0,     1]])
 
 eon_dcam_intrinsics = np.array([
-  [860,   0,   1152/2],
-  [  0,  860,  864/2],
+  [860,   0,   1152//2],
+  [  0,  860,  864//2],
   [  0,    0,     1]])
 
 # aka 'K_inv' aka view_frame_from_camera_frame
diff --git a/common/transformations/model.py b/common/transformations/model.py
index 0e1d5845a8..afb4d66716 100644
--- a/common/transformations/model.py
+++ b/common/transformations/model.py
@@ -1,9 +1,9 @@
 import numpy as np
 
 from common.transformations.camera import eon_focal_length, \
-	vp_from_ke, \
-	get_view_frame_from_road_frame, \
-	FULL_FRAME_SIZE
+        vp_from_ke, \
+        get_view_frame_from_road_frame, \
+        FULL_FRAME_SIZE
 
 # segnet
 
diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index f6f9ef231a..501806969c 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -6,7 +6,7 @@ import time
 import threading
 import traceback
 import zmq
-import Queue
+import six.moves.queue
 from jsonrpc import JSONRPCResponseManager, dispatcher
 from websocket import create_connection, WebSocketTimeoutException
 
@@ -21,8 +21,8 @@ ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
 HANDLER_THREADS = os.getenv('HANDLER_THREADS', 4)
 
 dispatcher["echo"] = lambda s: s
-payload_queue = Queue.Queue()
-response_queue = Queue.Queue()
+payload_queue = six.moves.queue.Queue()
+response_queue = six.moves.queue.Queue()
 
 def handle_long_poll(ws):
   end_event = threading.Event()
@@ -52,7 +52,7 @@ def jsonrpc_handler(end_event):
       data = payload_queue.get(timeout=1)
       response = JSONRPCResponseManager.handle(data, dispatcher)
       response_queue.put_nowait(response)
-    except Queue.Empty:
+    except six.moves.queue.Empty:
       pass
     except Exception as e:
       cloudlog.exception("athena jsonrpc handler failed")
@@ -87,7 +87,7 @@ def ws_send(ws, end_event):
     try:
       response = response_queue.get(timeout=1)
       ws.send(response.json)
-    except Queue.Empty:
+    except six.moves.queue.Empty:
       pass
     except Exception:
       traceback.print_exc()
diff --git a/selfdrive/boardd/boardd.py b/selfdrive/boardd/boardd.py
index 6863386854..2ebd2e9ffa 100755
--- a/selfdrive/boardd/boardd.py
+++ b/selfdrive/boardd/boardd.py
@@ -127,16 +127,13 @@ def boardd_mock_loop():
 
   while 1:
     tsc = messaging.drain_sock(logcan, wait_for_one=True)
-    snds = map(lambda x: can_capnp_to_can_list(x.can), tsc)
-    snd = []
-    for s in snds:
-      snd += s
-    snd = filter(lambda x: x[-1] <= 1, snd)
-    can_send_many(snd)
+    snds = [can_capnp_to_can_list(x.can) for x in tsc]
+    snds = [x for x in snds if x[-1] <= 1]
+    can_send_many(snds)
 
     # recv @ 100hz
     can_msgs = can_recv()
-    print("sent %d got %d" % (len(snd), len(can_msgs)))
+    print("sent %d got %d" % (len(snds), len(can_msgs)))
     m = can_list_to_can_capnp(can_msgs)
     sendcan.send(m.to_bytes())
 
diff --git a/selfdrive/can/packer.py b/selfdrive/can/packer.py
index 0c17c2e4d9..0fa0bb26c8 100644
--- a/selfdrive/can/packer.py
+++ b/selfdrive/can/packer.py
@@ -20,7 +20,7 @@ class CANPacker(object):
 
   def pack(self, addr, values, counter):
     values_thing = []
-    for name, value in values.iteritems():
+    for name, value in values.items():
       if name not in self.sig_names:
         self.sig_names[name] = ffi.new("char[]", name)
 
diff --git a/selfdrive/can/parser.py b/selfdrive/can/parser.py
index 3b02531f2e..2e8384f637 100644
--- a/selfdrive/can/parser.py
+++ b/selfdrive/can/parser.py
@@ -58,7 +58,7 @@ class CANParser(object):
       {
         'address': msg_address,
         'check_frequency': freq,
-      } for msg_address, freq in message_options.iteritems()])
+      } for msg_address, freq in message_options.items()])
 
     self.can = libdbc.can_init(bus, dbc_name, len(message_options_c), message_options_c,
                                len(signal_options_c), signal_options_c, sendcan, tcp_addr)
diff --git a/selfdrive/can/process_dbc.py b/selfdrive/can/process_dbc.py
index 61cad32bc9..3f3f2ddcad 100755
--- a/selfdrive/can/process_dbc.py
+++ b/selfdrive/can/process_dbc.py
@@ -39,10 +39,10 @@ def main():
       continue #skip output is newer than template and dbc
 
     msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM"))) # process counter and checksums first
-            for address, ((msg_name, msg_size), msg_sigs) in sorted(can_dbc.msgs.iteritems()) if msg_sigs]
+            for address, ((msg_name, msg_size), msg_sigs) in sorted(can_dbc.msgs.items()) if msg_sigs]
 
     def_vals = {a: set(b) for a,b in can_dbc.def_vals.items()} #remove duplicates
-    def_vals = [(address, sig) for address, sig in sorted(def_vals.iteritems())]
+    def_vals = [(address, sig) for address, sig in sorted(def_vals.items())]
 
     if can_dbc.name.startswith("honda") or can_dbc.name.startswith("acura"):
       checksum_type = "honda"
diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py
index 761b44b15e..f803e6094c 100644
--- a/selfdrive/car/chrysler/chryslercan.py
+++ b/selfdrive/car/chrysler/chryslercan.py
@@ -12,8 +12,8 @@ def calc_checksum(data):
   end_index = len(data)
   index = 0
   checksum = 0xFF
-  temp_chk = 0;
-  bit_sum = 0;
+  temp_chk = 0
+  bit_sum = 0
   if(end_index <= index):
     return False
   for index in range(0, end_index):
@@ -22,7 +22,7 @@ def calc_checksum(data):
     iterate = 8
     while(iterate > 0):
       iterate -= 1
-      bit_sum = curr & shift;
+      bit_sum = curr & shift
       temp_chk = checksum & 0x80
       if (bit_sum != 0):
         bit_sum = 0x1C
diff --git a/selfdrive/car/chrysler/chryslercan_test.py b/selfdrive/car/chrysler/chryslercan_test.py
index 524a79f7ae..4bcb346ba2 100644
--- a/selfdrive/car/chrysler/chryslercan_test.py
+++ b/selfdrive/car/chrysler/chryslercan_test.py
@@ -1,4 +1,4 @@
-import chryslercan
+from selfdrive.car.chrysler import chryslercan
 from selfdrive.can.packer import CANPacker
 
 from cereal import car
diff --git a/selfdrive/car/chrysler/radar_interface.py b/selfdrive/car/chrysler/radar_interface.py
index e5fe7437f7..54bd1b3148 100755
--- a/selfdrive/car/chrysler/radar_interface.py
+++ b/selfdrive/car/chrysler/radar_interface.py
@@ -25,29 +25,29 @@ def _create_radard_can_parser():
 
   # The factor and offset are applied by the dbc parsing library, so the
   # default values should be after the factor/offset are applied.
-  signals = zip(['LONG_DIST'] * msg_n +
+  signals = list(zip(['LONG_DIST'] * msg_n +
                 ['LAT_DIST'] * msg_n +
                 ['REL_SPEED'] * msg_n,
                 RADAR_MSGS_C * 2 +  # LONG_DIST, LAT_DIST
                 RADAR_MSGS_D,    # REL_SPEED
                 [0] * msg_n +  # LONG_DIST
                 [-1000] * msg_n +    # LAT_DIST
-                [-146.278] * msg_n)  # REL_SPEED set to 0, factor/offset to this
+                [-146.278] * msg_n))  # REL_SPEED set to 0, factor/offset to this
   # TODO what are the checks actually used for?
   # honda only checks the last message,
   # toyota checks all the messages. Which do we want?
-  checks = zip(RADAR_MSGS_C +
+  checks = list(zip(RADAR_MSGS_C +
                RADAR_MSGS_D,
                [20]*msg_n +  # 20Hz (0.05s)
-               [20]*msg_n)  # 20Hz (0.05s)
+               [20]*msg_n))  # 20Hz (0.05s)
 
   return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
 
 def _address_to_track(address):
   if address in RADAR_MSGS_C:
-    return (address - RADAR_MSGS_C[0]) / 2
+    return (address - RADAR_MSGS_C[0]) // 2
   if address in RADAR_MSGS_D:
-    return (address - RADAR_MSGS_D[0]) / 2
+    return (address - RADAR_MSGS_D[0]) // 2
   raise ValueError("radar received unexpected address %d" % address)
 
 class RadarInterface(object):
diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py
index 970b411ff2..c42bc3e8f4 100755
--- a/selfdrive/car/ford/radar_interface.py
+++ b/selfdrive/car/ford/radar_interface.py
@@ -14,10 +14,10 @@ RADAR_MSGS = range(0x500, 0x540)
 def _create_radard_can_parser():
   dbc_f = 'ford_fusion_2018_adas.dbc'
   msg_n = len(RADAR_MSGS)
-  signals = zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
-                RADAR_MSGS * 3,
-                [0] * msg_n + [0] * msg_n + [0] * msg_n)
-  checks = zip(RADAR_MSGS, [20]*msg_n)
+  signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
+                     RADAR_MSGS * 3,
+                     [0] * msg_n + [0] * msg_n + [0] * msg_n))
+  checks = list(zip(RADAR_MSGS, [20]*msg_n))
 
   return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
 
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index b242bc57b7..67b2405364 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -104,7 +104,7 @@ class CarController(object):
         apply_steer = 0
 
       self.apply_steer_last = apply_steer
-      idx = (frame / P.STEER_STEP) % 4
+      idx = (frame // P.STEER_STEP) % 4
 
       if self.car_fingerprint in SUPERCRUISE_CARS:
         can_sends += gmcan.create_steering_control_ct6(self.packer_pt,
@@ -134,7 +134,7 @@ class CarController(object):
 
       # Gas/regen and brakes - all at 25Hz
       if (frame % 4) == 0:
-        idx = (frame / 4) % 4
+        idx = (frame // 4) % 4
 
         at_full_stop = enabled and CS.standstill
         near_stop = enabled and (CS.v_ego < P.NEAR_STOP_BRAKE_PHASE)
@@ -153,13 +153,13 @@ class CarController(object):
       tt = sec_since_boot()
 
       if frame % time_and_headlights_step == 0:
-        idx = (frame / time_and_headlights_step) % 4
+        idx = (frame // time_and_headlights_step) % 4
         can_sends.append(gmcan.create_adas_time_status(canbus.obstacle, int((tt - self.start_time) * 60), idx))
         can_sends.append(gmcan.create_adas_headlights_status(canbus.obstacle))
 
       speed_and_accelerometer_step = 2
       if frame % speed_and_accelerometer_step == 0:
-        idx = (frame / speed_and_accelerometer_step) % 4
+        idx = (frame // speed_and_accelerometer_step) % 4
         can_sends.append(gmcan.create_adas_steering_status(canbus.obstacle, idx))
         can_sends.append(gmcan.create_adas_accelerometer_speed_status(canbus.obstacle, CS.v_ego, idx))
 
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 83e90c3c7d..a1999439fb 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -70,7 +70,7 @@ class CarInterface(object):
       # supports stop and go, but initial engage must be above 18mph (which include conservatism)
       ret.minEnableSpeed = 18 * CV.MPH_TO_MS
       # kg of standard extra cargo to count for driver, gas, etc...
-      ret.mass = 1607 + std_cargo
+      ret.mass = 1607. + std_cargo
       ret.safetyModel = car.CarParams.SafetyModels.gm
       ret.wheelbase = 2.69
       ret.steerRatio = 15.7
@@ -80,7 +80,7 @@ class CarInterface(object):
     elif candidate == CAR.MALIBU:
       # supports stop and go, but initial engage must be above 18mph (which include conservatism)
       ret.minEnableSpeed = 18 * CV.MPH_TO_MS
-      ret.mass = 1496 + std_cargo
+      ret.mass = 1496. + std_cargo
       ret.safetyModel = car.CarParams.SafetyModels.gm
       ret.wheelbase = 2.83
       ret.steerRatio = 15.8
@@ -89,7 +89,7 @@ class CarInterface(object):
 
     elif candidate == CAR.HOLDEN_ASTRA:
       # kg of standard extra cargo to count for driver, gas, etc...
-      ret.mass = 1363 + std_cargo
+      ret.mass = 1363. + std_cargo
       ret.wheelbase = 2.662
       # Remaining parameters copied from Volt for now
       ret.centerToFront = ret.wheelbase * 0.4
@@ -99,7 +99,7 @@ class CarInterface(object):
       ret.steerRatioRear = 0.
 
     elif candidate == CAR.ACADIA:
-      ret.minEnableSpeed = -1 # engage speed is decided by pcm
+      ret.minEnableSpeed = -1. # engage speed is decided by pcm
       ret.mass = 4353. * CV.LB_TO_KG + std_cargo
       ret.safetyModel = car.CarParams.SafetyModels.gm
       ret.wheelbase = 2.86
@@ -118,7 +118,7 @@ class CarInterface(object):
 
     elif candidate == CAR.CADILLAC_ATS:
       ret.minEnableSpeed = 18 * CV.MPH_TO_MS
-      ret.mass = 1601 + std_cargo
+      ret.mass = 1601. + std_cargo
       ret.safetyModel = car.CarParams.SafetyModels.gm
       ret.wheelbase = 2.78
       ret.steerRatio = 15.3
@@ -127,7 +127,7 @@ class CarInterface(object):
 
     elif candidate == CAR.CADILLAC_CT6:
       # engage speed is decided by pcm
-      ret.minEnableSpeed = -1
+      ret.minEnableSpeed = -1.
       # kg of standard extra cargo to count for driver, gas, etc...
       ret.mass = 4016. * CV.LB_TO_KG + std_cargo
       ret.safetyModel = car.CarParams.SafetyModels.cadillac
@@ -218,7 +218,7 @@ class CarInterface(object):
     ret.gasPressed = self.CS.user_gas_pressed
 
     # brake pedal
-    ret.brake = self.CS.user_brake / 0xd0
+    ret.brake = self.CS.user_brake // 0xd0
     ret.brakePressed = self.CS.brake_pressed
 
     # steering wheel
diff --git a/selfdrive/car/gm/radar_interface.py b/selfdrive/car/gm/radar_interface.py
index 3d72ff7ab2..e299ca6fc8 100755
--- a/selfdrive/car/gm/radar_interface.py
+++ b/selfdrive/car/gm/radar_interface.py
@@ -25,7 +25,7 @@ def create_radard_can_parser(canbus, car_fingerprint):
   if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
     # C1A-ARS3-A by Continental
     radar_targets = range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS)
-    signals = zip(['FLRRNumValidTargets',
+    signals = list(zip(['FLRRNumValidTargets',
                    'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt',
                    'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt',
                    'FLRRAlgnFltPrsnt', 'FLRRSnstvFltPrsntInt'] +
@@ -36,7 +36,7 @@ def create_radard_can_parser(canbus, car_fingerprint):
                   [0] * 7 +
                   [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
                   [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
-                  [0.0] * NUM_SLOTS + [0] * NUM_SLOTS)
+                  [0.0] * NUM_SLOTS + [0] * NUM_SLOTS))
 
     checks = []
 
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index ea69daba76..4d173f4f5a 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -133,7 +133,7 @@ class CarController(object):
     # **** process the car messages ****
 
     # *** compute control surfaces ***
-    BRAKE_MAX = 1024/4
+    BRAKE_MAX = 1024//4
     if CS.CP.carFingerprint in (CAR.ACURA_ILX):
       STEER_MAX = 0xF00
     elif CS.CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX):
@@ -160,7 +160,7 @@ class CarController(object):
 
     # Send dashboard UI commands.
     if (frame % 10) == 0:
-      idx = (frame/10) % 4
+      idx = (frame//10) % 4
       can_sends.extend(hondacan.create_ui_commands(self.packer, pcm_speed, hud, CS.CP.carFingerprint, idx))
 
     if CS.CP.radarOffCan:
@@ -173,7 +173,7 @@ class CarController(object):
     else:
       # Send gas and brake commands.
       if (frame % 2) == 0:
-        idx = frame / 2
+        idx = frame // 2
         pump_on, self.last_pump_ts = brake_pump_hysteresys(apply_brake, self.apply_brake_last, self.last_pump_ts)
         can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
           pcm_override, pcm_cancel_cmd, hud.chime, hud.fcw, idx))
diff --git a/selfdrive/car/honda/radar_interface.py b/selfdrive/car/honda/radar_interface.py
index aa963df9a8..9977e763ab 100755
--- a/selfdrive/car/honda/radar_interface.py
+++ b/selfdrive/car/honda/radar_interface.py
@@ -12,12 +12,12 @@ import selfdrive.messaging as messaging
 def _create_nidec_can_parser():
   dbc_f = 'acura_ilx_2016_nidec.dbc'
   radar_messages = [0x400] + range(0x430, 0x43A) + range(0x440, 0x446)
-  signals = zip(['RADAR_STATE'] +
+  signals = list(zip(['RADAR_STATE'] +
                 ['LONG_DIST'] * 16 + ['NEW_TRACK'] * 16 + ['LAT_DIST'] * 16 +
                 ['REL_SPEED'] * 16,
                 [0x400] + radar_messages[1:] * 4,
-                [0] + [255] * 16 + [1] * 16 + [0] * 16 + [0] * 16)
-  checks = zip([0x445], [20])
+                [0] + [255] * 16 + [1] * 16 + [0] * 16 + [0] * 16))
+  checks = list(zip([0x445], [20]))
 
   return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
 
diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py
index 5c9cbde794..5e17cd72c7 100644
--- a/selfdrive/car/subaru/subarucan.py
+++ b/selfdrive/car/subaru/subarucan.py
@@ -13,7 +13,7 @@ def create_steering_control(packer, car_fingerprint, apply_steer, frame, steer_s
 
   if car_fingerprint == CAR.IMPREZA:
     #counts from 0 to 15 then back to 0 + 16 for enable bit
-    idx = ((frame / steer_step) % 16)
+    idx = ((frame // steer_step) % 16)
 
     values = {
       "Counter": idx,
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 0885efcb74..8197a7922a 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -226,11 +226,11 @@ class CarController(object):
     if (frame % 2 == 0) and (CS.CP.enableGasInterceptor):
         # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
         # This prevents unexpected pedal range rescaling
-        can_sends.append(create_gas_command(self.packer, apply_gas, frame/2))
+        can_sends.append(create_gas_command(self.packer, apply_gas, frame//2))
 
     if frame % 10 == 0 and ECU.CAM in self.fake_ecus and not forwarding_camera:
       for addr in TARGET_IDS:
-        can_sends.append(create_video_target(frame/10, addr))
+        can_sends.append(create_video_target(frame//10, addr))
 
     # ui mesg is at 100Hz but we send asap if:
     # - there is something to display
@@ -257,11 +257,11 @@ class CarController(object):
       if frame % fr_step == 0 and ecu in self.fake_ecus and self.car_fingerprint in cars and not (ecu == ECU.CAM and forwarding_camera):
         # special cases
         if fr_step == 5 and ecu == ECU.CAM and bus == 1:
-          cnt = (((frame / 5) % 7) + 1) << 5
+          cnt = (((frame // 5) % 7) + 1) << 5
           vl = chr(cnt) + vl
         elif addr in (0x489, 0x48a) and bus == 0:
           # add counter for those 2 messages (last 4 bits)
-          cnt = ((frame/100)%0xf) + 1
+          cnt = ((frame // 100) % 0xf) + 1
           if addr == 0x48a:
             # 0x48a has a 8 preceding the counter
             cnt += 1 << 7
diff --git a/selfdrive/car/toyota/radar_interface.py b/selfdrive/car/toyota/radar_interface.py
index 9711f1393f..054ce0b7be 100755
--- a/selfdrive/car/toyota/radar_interface.py
+++ b/selfdrive/car/toyota/radar_interface.py
@@ -19,12 +19,13 @@ def _create_radard_can_parser():
   msg_a_n = len(RADAR_A_MSGS)
   msg_b_n = len(RADAR_B_MSGS)
 
-  signals = zip(['LONG_DIST'] * msg_a_n + ['NEW_TRACK'] * msg_a_n + ['LAT_DIST'] * msg_a_n +
-                ['REL_SPEED'] * msg_a_n + ['VALID'] * msg_a_n + ['SCORE'] * msg_b_n,
-                RADAR_A_MSGS * 5 + RADAR_B_MSGS,
-                [255] * msg_a_n + [1] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_b_n)
+  signals = list(zip(
+    ['LONG_DIST'] * msg_a_n + ['NEW_TRACK'] * msg_a_n + ['LAT_DIST'] * msg_a_n +
+        ['REL_SPEED'] * msg_a_n + ['VALID'] * msg_a_n + ['SCORE'] * msg_b_n,
+    RADAR_A_MSGS * 5 + RADAR_B_MSGS,
+    [255] * msg_a_n + [1] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_b_n))
 
-  checks = zip(RADAR_A_MSGS + RADAR_B_MSGS, [20]*(msg_a_n + msg_b_n))
+  checks = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [20]*(msg_a_n + msg_b_n)))
 
   return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
 
diff --git a/selfdrive/controls/lib/latcontrol_helpers.py b/selfdrive/controls/lib/latcontrol_helpers.py
index 90abcebf10..c04d820bbe 100644
--- a/selfdrive/controls/lib/latcontrol_helpers.py
+++ b/selfdrive/controls/lib/latcontrol_helpers.py
@@ -59,7 +59,7 @@ def compute_path_pinv(l=50):
 
 
 def model_polyfit(points, path_pinv):
-  return np.dot(path_pinv, map(float, points))
+  return np.dot(path_pinv, [float(x) for x in points])
 
 
 def calc_desired_path(l_poly,
diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py
index 9c0a62a0ba..826b6dce1c 100644
--- a/selfdrive/controls/lib/pathplanner.py
+++ b/selfdrive/controls/lib/pathplanner.py
@@ -106,12 +106,12 @@ class PathPlanner(object):
     plan_send = messaging.new_message()
     plan_send.init('pathPlan')
     plan_send.pathPlan.laneWidth = float(self.MP.lane_width)
-    plan_send.pathPlan.dPoly = map(float, self.MP.d_poly)
-    plan_send.pathPlan.cPoly = map(float, self.MP.c_poly)
+    plan_send.pathPlan.dPoly = [float(x) for x in self.MP.d_poly]
+    plan_send.pathPlan.cPoly = [float(x) for x in self.MP.c_poly]
     plan_send.pathPlan.cProb = float(self.MP.c_prob)
-    plan_send.pathPlan.lPoly = map(float, l_poly)
+    plan_send.pathPlan.lPoly = [float(x) for x in l_poly]
     plan_send.pathPlan.lProb = float(self.MP.l_prob)
-    plan_send.pathPlan.rPoly = map(float, r_poly)
+    plan_send.pathPlan.rPoly = [float(x) for x in r_poly]
     plan_send.pathPlan.rProb = float(self.MP.r_prob)
     plan_send.pathPlan.angleSteers = float(self.angle_steers_des_mpc)
     plan_send.pathPlan.rateSteers = float(rate_desired)
diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/planner.py
index c26711f57e..1d5b32c8fb 100755
--- a/selfdrive/controls/lib/planner.py
+++ b/selfdrive/controls/lib/planner.py
@@ -152,7 +152,7 @@ class Planner(object):
 
     # Calculate speed for normal cruise control
     if enabled:
-      accel_limits = map(float, calc_cruise_accel_limits(v_ego, following))
+      accel_limits = [float(x) for x in calc_cruise_accel_limits(v_ego, following)]
       jerk_limits = [min(-0.1, accel_limits[0]), max(0.1, accel_limits[1])]  # TODO: make a separate lookup for jerk tuning
       accel_limits = limit_accel_in_turns(v_ego, CS.carState.steeringAngle, accel_limits, self.CP)
 
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 4d44c96b9d..46d12ae8d1 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -226,7 +226,7 @@ def radard_thread(gctx=None):
       if VISION_POINT in ar_pts:
         print("vision", ar_pts[VISION_POINT])
 
-    idens = tracks.keys()
+    idens = list(tracks.keys())
     track_pts = np.array([tracks[iden].get_key_for_cluster() for iden in idens])
 
     # If we have multiple points, cluster them
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index 1c0ce8ef7d..61c6e4553e 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -23,7 +23,7 @@ VP_INIT = np.array([W/2., H/2.])
 
 # These validity corners were chosen by looking at 1000
 # and taking most extreme cases with some margin.
-VP_VALIDITY_CORNERS = np.array([[W/2 - 150, 280], [W/2 + 150, 540]])
+VP_VALIDITY_CORNERS = np.array([[W//2 - 150, 280], [W//2 + 150, 540]])
 DEBUG = os.getenv("DEBUG") is not None
 
 
@@ -90,10 +90,10 @@ class Calibrator(object):
     cal_send = messaging.new_message()
     cal_send.init('liveCalibration')
     cal_send.liveCalibration.calStatus = self.cal_status
-    cal_send.liveCalibration.calPerc = min(len(self.vps) * 100 / INPUTS_NEEDED, 100)
-    cal_send.liveCalibration.warpMatrix2 = map(float, warp_matrix.flatten())
-    cal_send.liveCalibration.warpMatrixBig = map(float, warp_matrix_big.flatten())
-    cal_send.liveCalibration.extrinsicMatrix = map(float, extrinsic_matrix.flatten())
+    cal_send.liveCalibration.calPerc = min(len(self.vps) * 100 // INPUTS_NEEDED, 100)
+    cal_send.liveCalibration.warpMatrix2 = [float(x) for x in warp_matrix.flatten()]
+    cal_send.liveCalibration.warpMatrixBig = [float(x) for x in warp_matrix_big.flatten()]
+    cal_send.liveCalibration.extrinsicMatrix = [float(x) for x in extrinsic_matrix.flatten()]
 
     livecalibration.send(cal_send.to_bytes())
 
diff --git a/selfdrive/locationd/kalman/loc_local_kf.py b/selfdrive/locationd/kalman/loc_local_kf.py
index df6d41c77e..331b7fee6f 100755
--- a/selfdrive/locationd/kalman/loc_local_kf.py
+++ b/selfdrive/locationd/kalman/loc_local_kf.py
@@ -1,9 +1,9 @@
 #!/usr/bin/env python
 import numpy as np
-import loc_local_model
+from selfdrive.locationd.kalman import loc_local_model
 
-from kalman_helpers import ObservationKind
-from ekf_sym import EKF_sym
+from selfdrive.locationd.kalman.kalman_helpers import ObservationKind
+from selfdrive.locationd.kalman.ekf_sym import EKF_sym
 
 
 
diff --git a/selfdrive/locationd/kalman/loc_local_model.py b/selfdrive/locationd/kalman/loc_local_model.py
index 2d69cac024..bc80d9911f 100644
--- a/selfdrive/locationd/kalman/loc_local_model.py
+++ b/selfdrive/locationd/kalman/loc_local_model.py
@@ -2,8 +2,8 @@ import numpy as np
 import sympy as sp
 import os
 
-from kalman_helpers import ObservationKind
-from ekf_sym import gen_code
+from selfdrive.locationd.kalman.kalman_helpers import ObservationKind
+from selfdrive.locationd.kalman.ekf_sym import gen_code
 
 
 def gen_model(name, dim_state):
diff --git a/selfdrive/locationd/test/ci_test.py b/selfdrive/locationd/test/ci_test.py
index 36dc4d9a7d..7e151093b4 100755
--- a/selfdrive/locationd/test/ci_test.py
+++ b/selfdrive/locationd/test/ci_test.py
@@ -5,8 +5,8 @@ import sys
 import argparse
 import tempfile
 
-from ubloxd_py_test import parser_test
-from ubloxd_regression_test import compare_results
+from selfdrive.locationd.test.ubloxd_py_test import parser_test
+from selfdrive.locationd.test.ubloxd_regression_test import compare_results
 
 
 def mkdirs_exists_ok(path):
diff --git a/selfdrive/locationd/test/ublox.py b/selfdrive/locationd/test/ublox.py
index 70e2d2fa0d..945b05a122 100644
--- a/selfdrive/locationd/test/ublox.py
+++ b/selfdrive/locationd/test/ublox.py
@@ -184,7 +184,7 @@ class UBloxAttrDict(dict):
       raise AttributeError(name)
 
   def __setattr__(self, name, value):
-    if self.__dict__.has_key(name):
+    if name in self.__dict__:
       # allow set on normal attributes
       dict.__setattr__(self, name, value)
     else:
@@ -256,7 +256,7 @@ class UBloxDescriptor:
         break
 
     if self.count_field == '_remaining':
-      count = len(buf) / struct.calcsize(self.format2)
+      count = len(buf) // struct.calcsize(self.format2)
 
     if count == 0:
       msg._unpacked = True
diff --git a/selfdrive/locationd/test/ubloxd.py b/selfdrive/locationd/test/ubloxd.py
index 4cc2a29495..001d541360 100755
--- a/selfdrive/locationd/test/ubloxd.py
+++ b/selfdrive/locationd/test/ubloxd.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python
 import os
 import serial
-import ublox
+from selfdrive.locationd.test import ublox
 import time
 import datetime
 import struct
@@ -11,7 +11,7 @@ from common import realtime
 import zmq
 import selfdrive.messaging as messaging
 from selfdrive.services import service_list
-from ephemeris import EphemerisData, GET_FIELD_U
+from selfdrive.locationd.test.ephemeris import EphemerisData, GET_FIELD_U
 
 panda = os.getenv("PANDA") is not None   # panda directly connected
 grey = not (os.getenv("EVAL") is not None)     # panda through boardd
diff --git a/selfdrive/locationd/test/ubloxd_easy.py b/selfdrive/locationd/test/ubloxd_easy.py
index 32f7f3d248..96139ab61f 100755
--- a/selfdrive/locationd/test/ubloxd_easy.py
+++ b/selfdrive/locationd/test/ubloxd_easy.py
@@ -1,8 +1,8 @@
 #!/usr/bin/env python
 import os
-import ublox
+from selfdrive.locationd.test import ublox
 from common import realtime
-from ubloxd import gen_raw, gen_solution
+from selfdrive.locationd.test.ubloxd import gen_raw, gen_solution
 import zmq
 import selfdrive.messaging as messaging
 from selfdrive.services import service_list
diff --git a/selfdrive/locationd/test/ubloxd_py_test.py b/selfdrive/locationd/test/ubloxd_py_test.py
index ab56ecb8c5..8104081183 100755
--- a/selfdrive/locationd/test/ubloxd_py_test.py
+++ b/selfdrive/locationd/test/ubloxd_py_test.py
@@ -1,8 +1,8 @@
 import sys
 import os
 
-from ublox import UBloxMessage
-from ubloxd import gen_solution, gen_raw, gen_nav_data
+from selfdrive.locationd.test.ublox import UBloxMessage
+from selfdrive.locationd.test.ubloxd import gen_solution, gen_raw, gen_nav_data
 from common import realtime
 
 
diff --git a/selfdrive/manager.py b/selfdrive/manager.py
index 8d4664090e..9c6dd646a7 100755
--- a/selfdrive/manager.py
+++ b/selfdrive/manager.py
@@ -391,7 +391,7 @@ def update_apks():
 
   cloudlog.info("installed apks %s" % (str(installed), ))
 
-  for app in installed.iterkeys():
+  for app in installed.keys():
 
     apk_path = os.path.join(BASEDIR, "apk/"+app+".apk")
     if not os.path.exists(apk_path):
diff --git a/selfdrive/mapd/default_speeds_generator.py b/selfdrive/mapd/default_speeds_generator.py
index c98225bd7b..ac2791c83a 100755
--- a/selfdrive/mapd/default_speeds_generator.py
+++ b/selfdrive/mapd/default_speeds_generator.py
@@ -205,7 +205,7 @@ class Country(Region):
   def jsonify(self):
     ret_dict = {}
     ret_dict[self.name] = {}
-    for r_name, region in self.regions.iteritems():
+    for r_name, region in self.regions.items():
       ret_dict[self.name].update(region.jsonify())
     ret_dict[self.name]['Default'] = self.rules
     return ret_dict
diff --git a/selfdrive/mapd/mapd.py b/selfdrive/mapd/mapd.py
index 86884d8608..d3c82bf40f 100755
--- a/selfdrive/mapd/mapd.py
+++ b/selfdrive/mapd/mapd.py
@@ -17,7 +17,7 @@ except ImportError as e:
   os.execv(sys.executable, args)
 
 DEFAULT_SPEEDS_BY_REGION_JSON_FILE = BASEDIR + "/selfdrive/mapd/default_speeds_by_region.json"
-import default_speeds_generator
+from selfdrive.mapd import default_speeds_generator
 default_speeds_generator.main(DEFAULT_SPEEDS_BY_REGION_JSON_FILE)
 
 import os
@@ -33,7 +33,7 @@ from common.params import Params
 from common.transformations.coordinates import geodetic2ecef
 from selfdrive.services import service_list
 import selfdrive.messaging as messaging
-from mapd_helpers import MAPS_LOOKAHEAD_DISTANCE, Way, circle_through_points
+from selfdrive.mapd.mapd_helpers import MAPS_LOOKAHEAD_DISTANCE, Way, circle_through_points
 import selfdrive.crash as crash
 from selfdrive.version import version, dirty
 
@@ -176,7 +176,7 @@ def mapsd_thread():
 
         xs = pnts[:, 0]
         ys = pnts[:, 1]
-        road_points = map(float, xs), map(float, ys)
+        road_points = [float(x) for x in xs], [float(y) for y in ys]
 
         if speed < 10:
           curvature_valid = False
@@ -266,8 +266,8 @@ def mapsd_thread():
       if road_points is not None:
         dat.liveMapData.roadX, dat.liveMapData.roadY = road_points
       if curvature is not None:
-        dat.liveMapData.roadCurvatureX = map(float, dists)
-        dat.liveMapData.roadCurvature = map(float, curvature)
+        dat.liveMapData.roadCurvatureX = [float(x) for x in dists]
+        dat.liveMapData.roadCurvature = [float(x) for x in curvature]
 
     dat.liveMapData.mapValid = map_valid
 
diff --git a/selfdrive/mapd/mapd_helpers.py b/selfdrive/mapd/mapd_helpers.py
index 0a462765ec..a6292bbea2 100644
--- a/selfdrive/mapd/mapd_helpers.py
+++ b/selfdrive/mapd/mapd_helpers.py
@@ -91,7 +91,7 @@ def geocode_maxspeed(tags, location_info):
       rule_valid = all(
         tag_name in tags
         and tags[tag_name] == value
-        for tag_name, value in rule['tags'].iteritems()
+        for tag_name, value in rule['tags'].items()
       )
       if rule_valid:
         max_speed = rule['speed']
@@ -102,7 +102,7 @@ def geocode_maxspeed(tags, location_info):
       rule_valid = all(
         tag_name in tags
         and tags[tag_name] == value
-        for tag_name, value in rule['tags'].iteritems()
+        for tag_name, value in rule['tags'].items()
       )
       if rule_valid:
         max_speed = rule['speed']
diff --git a/selfdrive/test/plant/maneuver.py b/selfdrive/test/plant/maneuver.py
index e8fced3645..7ffa50b6c0 100644
--- a/selfdrive/test/plant/maneuver.py
+++ b/selfdrive/test/plant/maneuver.py
@@ -1,5 +1,5 @@
-from maneuverplots import ManeuverPlot
-from plant import Plant
+from selfdrive.test.plant.maneuverplots import ManeuverPlot
+from selfdrive.test.plant.plant import Plant
 import numpy as np
 
 
diff --git a/selfdrive/test/plant/plant.py b/selfdrive/test/plant/plant.py
index 4d32b9af23..ac641e2948 100755
--- a/selfdrive/test/plant/plant.py
+++ b/selfdrive/test/plant/plant.py
@@ -207,7 +207,7 @@ class Plant(object):
     lateral_pos_rel = 0.
 
     # print at 5hz
-    if (self.rk.frame%(self.rate/5)) == 0:
+    if (self.rk.frame % (self.rate//5)) == 0:
       print("%6.2f m  %6.2f m/s  %6.2f m/s2   %.2f ang   gas: %.2f  brake: %.2f  steer: %5.2f     lead_rel: %6.2f m  %6.2f m/s" % (distance, speed, acceleration, self.angle_steer, gas, brake, steer_torque, d_rel, v_rel))
 
     # ******** publish the car ********
diff --git a/selfdrive/test/plant/plant_ui.py b/selfdrive/test/plant/plant_ui.py
index 5012636043..5fa0ffad24 100755
--- a/selfdrive/test/plant/plant_ui.py
+++ b/selfdrive/test/plant/plant_ui.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python
 import pygame # pylint: disable=import-error
-from plant import Plant
+from selfdrive.test.plant.plant import Plant
 from selfdrive.car.honda.values import CruiseButtons
 import numpy as np
 import selfdrive.messaging as messaging
@@ -41,7 +41,7 @@ if __name__ == "__main__":
   plant = Plant(100, distance_lead = 40.0)
 
   control_offset = 2.0
-  control_pts = zip(np.arange(0, 100.0, 10.0), [50.0 + control_offset]*10)
+  control_pts = list(zip(np.arange(0, 100.0, 10.0), [50.0 + control_offset]*10))
 
   def pt_to_car(pt):
     x,y = pt
@@ -73,7 +73,7 @@ if __name__ == "__main__":
       x.prob = 0.0
       x.std = 1.0
 
-    car_pts = map(pt_to_car, control_pts)
+    car_pts = [pt_to_car(pt) for pt in control_pts]
 
     print(car_pts)
 
diff --git a/selfdrive/updated.py b/selfdrive/updated.py
index c8efd8f3a8..743eb6f589 100755
--- a/selfdrive/updated.py
+++ b/selfdrive/updated.py
@@ -10,15 +10,15 @@ NICE_LOW_PRIORITY = ["nice", "-n", "19"]
 def main(gctx=None):
   while True:
     # try network
-    r = subprocess.call(["ping", "-W", "4", "-c", "1", "8.8.8.8"])
-    if r:
+    ping_failed = subprocess.call(["ping", "-W", "4", "-c", "1", "8.8.8.8"])
+    if ping_failed:
       time.sleep(60)
       continue
 
     # download application update
     try:
       r = subprocess.check_output(NICE_LOW_PRIORITY + ["git", "fetch"], stderr=subprocess.STDOUT)
-    except subprocess.CalledProcessError, e:
+    except subprocess.CalledProcessError as e:
       cloudlog.event("git fetch failed",
         cmd=e.cmd,
         output=e.output,