Merge remote-tracking branch 'upstream/master' into boardd-no-fault

8 months ago · 5126ffcfd3
parent d49eb6697e c515021576
commit 5126ffcfd3
1102 changed files with 39468 additions and 53737 deletions
--- a/.devcontainer/.gitignore
+++ b/.devcontainer/.gitignore
@ -1,3 +0,0 @@
 .Xauthority
 .env
 .host/
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@ -1,17 +0,0 @@
 FROM ghcr.io/commaai/openpilot-base:latest
 RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa gdb bash-completion
 RUN pip install ipython jupyter jupyterlab
 RUN cd /tmp && \
    ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
    curl -L -o virtualgl.deb "https://downloads.sourceforge.net/project/virtualgl/3.1/virtualgl_3.1_$ARCH.deb" && \
    dpkg -i virtualgl.deb
 RUN usermod -aG video batman
 USER batman
 RUN cd $HOME && \
    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.tmux.conf && \
    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.vimrc
--- a/.devcontainer/container_post_create.sh
+++ b/.devcontainer/container_post_create.sh
@ -1,38 +0,0 @@
 #!/usr/bin/env bash
 TARGET_USER=batman
 source .devcontainer/.host/.env
 # override display flag for mac hosts
 if [[ $HOST_OS == darwin ]]; then
  echo "Setting up DISPLAY override for macOS..."
  cat <<EOF >> /home/$TARGET_USER/.bashrc
 source .devcontainer/.host/.env
 if [ -n "\$HOST_DISPLAY" ]; then
  DISPLAY_NUM=\$(echo "\$HOST_DISPLAY" | awk -F: '{print \$NF}')
  export DISPLAY=host.docker.internal:\$DISPLAY_NUM
 fi
 EOF
 fi
 # setup virtualgl for mac hosts
 if [[ $HOST_OS == darwin ]]; then
  echo "Setting up virtualgl for macOS..."
  cat <<EOF >> /home/$TARGET_USER/.bashrc
 if [ -n "\$HOST_DISPLAY" ]; then
  export VGL_PORT=10000
  export VGL_CLIENT=host.docker.internal
  export VGL_COMPRESS=rgb
  export VGL_DISPLAY=:99
  export VGL_FPS=60
  # prevent vglrun from running exec
  alias exec=:; source vglrun :; unalias exec
 fi
 EOF
 fi
 # These lines are temporary, to remain backwards compatible with old devcontainers
 # that were running as root and therefore had their caches written as root
 sudo chown -R $TARGET_USER: /tmp/scons_cache
 sudo chown -R $TARGET_USER: /tmp/comma_download_cache
 sudo chown -R $TARGET_USER: /home/batman/.comma
--- a/.devcontainer/container_post_start.sh
+++ b/.devcontainer/container_post_start.sh
@ -1,15 +0,0 @@
 #!/usr/bin/env bash
 source .devcontainer/.host/.env
 # setup safe directories for submodules
 SUBMODULE_DIRS=$(git config --file .gitmodules --get-regexp path | awk '{ print $2 }')
 for DIR in $SUBMODULE_DIRS; do 
  git config --global --add safe.directory "$PWD/$DIR"
 done
 # virtual display for virtualgl
 if [[ "$HOST_OS" == "darwin" ]] && [[ -n "$HOST_DISPLAY" ]]; then
  echo "Starting virtual display at :99 ..."
  tmux new-session -d -s fakedisplay Xvfb :99 -screen 0 1920x1080x24
 fi
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@ -1,53 +0,0 @@
 {
  "name": "openpilot devcontainer",
  "build": {
    "dockerfile": "Dockerfile"
  },
  "postCreateCommand": ".devcontainer/container_post_create.sh",
  "postStartCommand": ".devcontainer/container_post_start.sh",
  "initializeCommand": [".devcontainer/host_setup"],
  "privileged": true,
  "containerEnv": {
    "DISPLAY": "${localEnv:DISPLAY}",
    "PYTHONPATH": "${containerWorkspaceFolder}",
    "TERM": "xterm-256color",
    "force_color_prompt": "1"
  },
  "runArgs": [
    "--volume=/dev:/dev",
    "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
    "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
    "--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
    "--volume=${localEnv:HOME}/.azure:/home/batman/.azure",
    "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
    "--shm-size=1G",
    "--add-host=host.docker.internal:host-gateway", // required to use host.docker.internal on linux
    "--publish=0.0.0.0:8070-8079:8070-8079"  // body ZMQ services
  ],
  "features": {
    "ghcr.io/devcontainers/features/common-utils:2": {
      "installZsh": false,
      "installOhMyZsh": false,
      "upgradePackages": false,
      "username": "batman"
    },
    "ghcr.io/devcontainers-contrib/features/gh-cli:1": {},
    "ghcr.io/devcontainers/features/azure-cli:1": {}
  },
  "containerUser": "batman",
  "remoteUser": "batman",
  "customizations": {
    "vscode": {
      "extensions": [
        "ms-python.python",
        "ms-vscode.cpptools",
        "ms-toolsai.jupyter",
        "guyskk.language-cython",
        "lharri73.dbc"
      ]
    }
  },
  "mounts": [
    "type=volume,source=scons_cache,target=/tmp/scons_cache"
  ]
 }
--- a/.devcontainer/host_setup
+++ b/.devcontainer/host_setup
@ -1,47 +0,0 @@
 #!/usr/bin/env bash
 # pull base image
 if [[ -z $USE_LOCAL_IMAGE ]]; then
  echo "Updating openpilot_base image if needed..."
  docker pull ghcr.io/commaai/openpilot-base:latest
 fi
 # setup .host dir
 mkdir -p .devcontainer/.host
 # setup links to Xauthority
 XAUTHORITY_LINK=".devcontainer/.host/.Xauthority"
 rm -f $XAUTHORITY_LINK
 if [[ -z $XAUTHORITY ]]; then
  echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..."
  if ! [[ -f $HOME/.Xauthority ]]; then
    echo "~/.XAuthority file does not exist. GUI tools may not work properly."
    touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount
  else
    ln -sf $HOME/.Xauthority $XAUTHORITY_LINK
  fi
 else
    ln -sf $XAUTHORITY $XAUTHORITY_LINK
 fi
 # setup host env file
 HOST_INFO_FILE=".devcontainer/.host/.env"
 SYSTEM=$(uname -s | tr '[:upper:]' '[:lower:]')
 echo "HOST_OS=\"$SYSTEM\"" > $HOST_INFO_FILE
 echo "HOST_DISPLAY=\"$DISPLAY\"" >> $HOST_INFO_FILE
 # run virtualgl if macos
 if [[ $SYSTEM == "darwin" ]]; then
  echo
  if [[ -f /opt/VirtualGL/bin/vglclient ]]; then
    echo "Starting VirtualGL client at port 10000..."
    VGL_LOG_FILE=".devcontainer/.host/.vgl/vglclient.log"
    mkdir -p "$(dirname $VGL_LOG_FILE)"
    /opt/VirtualGL/bin/vglclient -l "$VGL_LOG_FILE" -display "$DISPLAY" -port 10000 -detach
  else
    echo "VirtualGL not found. GUI tools may not work properly. Some GUI tools require OpenGL to work properly. To use them with XQuartz on mac, VirtualGL needs to be installed. To install it run:"
    echo
    echo "  brew install --cask virtualgl"
    echo
  fi
 fi
--- a/.devcontainer/host_setup.cmd
+++ b/.devcontainer/host_setup.cmd
@ -1,10 +0,0 @@
 :: pull base image
 IF NOT DEFINED USE_LOCAL_IMAGE ^
 echo "Updating openpilot_base image if needed..." && ^
 docker pull ghcr.io/commaai/openpilot-base:latest
 :: setup .host dir
 mkdir .devcontainer\.host
 :: setup host env file
 echo "" > .devcontainer\.host\.env
--- a/.gitattributes
+++ b/.gitattributes
@ -2,13 +2,13 @@
 # to move existing files into LFS:
 # git add --renormalize .
 *.dlc filter=lfs diff=lfs merge=lfs -text
 *.onnx filter=lfs diff=lfs merge=lfs -text
 *.svg filter=lfs diff=lfs merge=lfs -text
 *.png filter=lfs diff=lfs merge=lfs -text
 *.gif filter=lfs diff=lfs merge=lfs -text
 *.ttf filter=lfs diff=lfs merge=lfs -text
 *.wav filter=lfs diff=lfs merge=lfs -text
 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
 system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
 selfdrive/ui/qt/spinner_larch64 filter=lfs diff=lfs merge=lfs -text
@ -21,72 +21,3 @@ third_party/acados/*/t_renderer filter=lfs diff=lfs merge=lfs -text
 third_party/qt5/larch64/bin/lrelease filter=lfs diff=lfs merge=lfs -text
 third_party/qt5/larch64/bin/lupdate filter=lfs diff=lfs merge=lfs -text
 third_party/catch2/include/catch2/catch.hpp filter=lfs diff=lfs merge=lfs -text
 *.ico filter=lfs diff=lfs merge=lfs -text
 *.apk filter=lfs diff=lfs merge=lfs -text
 *.apkpatch filter=lfs diff=lfs merge=lfs -text
 *.jar filter=lfs diff=lfs merge=lfs -text
 *.pdf filter=lfs diff=lfs merge=lfs -text
 *.jpg filter=lfs diff=lfs merge=lfs -text
 *.mp3 filter=lfs diff=lfs merge=lfs -text
 *.thneed filter=lfs diff=lfs merge=lfs -text
 *.tar.gz filter=lfs diff=lfs merge=lfs -text
 *.npy filter=lfs diff=lfs merge=lfs -text
 *.csv filter=lfs diff=lfs merge=lfs -text
 *.a filter=lfs diff=lfs merge=lfs -text
 *.so* filter=lfs diff=lfs merge=lfs -text
 *.dylib filter=lfs diff=lfs merge=lfs -text
 *.o filter=lfs diff=lfs merge=lfs -text
 *.b64 filter=lfs diff=lfs merge=lfs -text
 selfdrive/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
 selfdrive/boardd/tests/test_boardd filter=lfs diff=lfs merge=lfs -text
 selfdrive/ui/qt/spinner_aarch64 filter=lfs diff=lfs merge=lfs -text
 installer/updater/updater filter=lfs diff=lfs merge=lfs -text
 selfdrive/debug/profiling/simpleperf/**/* filter=lfs diff=lfs merge=lfs -text
 selfdrive/hardware/eon/updater filter=lfs diff=lfs merge=lfs -text
 selfdrive/ui/qt/text_aarch64 filter=lfs diff=lfs merge=lfs -text
 selfdrive/debug/profiling/pyflame/**/* filter=lfs diff=lfs merge=lfs -text
 installer/installers/installer_openpilot filter=lfs diff=lfs merge=lfs -text
 installer/installers/installer_dashcam filter=lfs diff=lfs merge=lfs -text
 selfdrive/ui/text/text filter=lfs diff=lfs merge=lfs -text
 selfdrive/ui/android/text/text filter=lfs diff=lfs merge=lfs -text
 selfdrive/ui/spinner/spinner filter=lfs diff=lfs merge=lfs -text
 selfdrive/visiond/visiond filter=lfs diff=lfs merge=lfs -text
 selfdrive/loggerd/loggerd filter=lfs diff=lfs merge=lfs -text
 selfdrive/sensord/sensord filter=lfs diff=lfs merge=lfs -text
 selfdrive/sensord/gpsd filter=lfs diff=lfs merge=lfs -text
 selfdrive/ui/android/spinner/spinner filter=lfs diff=lfs merge=lfs -text
 selfdrive/ui/qt/spinner filter=lfs diff=lfs merge=lfs -text
 selfdrive/ui/qt/text filter=lfs diff=lfs merge=lfs -text
 _stringdefs.py filter=lfs diff=lfs merge=lfs -text
 dfu-util-aarch64-linux filter=lfs diff=lfs merge=lfs -text
 dfu-util-aarch64 filter=lfs diff=lfs merge=lfs -text
 dfu-util-x86_64-linux filter=lfs diff=lfs merge=lfs -text
 dfu-util-x86_64 filter=lfs diff=lfs merge=lfs -text
 stb_image.h filter=lfs diff=lfs merge=lfs -text
 clpeak3 filter=lfs diff=lfs merge=lfs -text
 clwaste filter=lfs diff=lfs merge=lfs -text
 apk/**/* filter=lfs diff=lfs merge=lfs -text
 external/**/* filter=lfs diff=lfs merge=lfs -text
 phonelibs/**/* filter=lfs diff=lfs merge=lfs -text
 third_party/boringssl/**/* filter=lfs diff=lfs merge=lfs -text
 pyextra/**/* filter=lfs diff=lfs merge=lfs -text
 panda/board/**/inc/*.h filter=lfs diff=lfs merge=lfs -text
 panda/board/obj/*.elf filter=lfs diff=lfs merge=lfs -text
 board/inc/*.h filter=lfs diff=lfs merge=lfs -text
 third_party/nanovg/**/* filter=lfs diff=lfs merge=lfs -text
 selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/* filter=lfs diff=lfs merge=lfs -text
 third_party/android_hardware_libhardware/**/* filter=lfs diff=lfs merge=lfs -text
 selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/* filter=lfs diff=lfs merge=lfs -text
 *.pro filter=lfs diff=lfs merge=lfs -text
 selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/* filter=lfs diff=lfs merge=lfs -text
 selfdrive/controls/lib/lateral_mpc/mpc_export/**/* filter=lfs diff=lfs merge=lfs -text
 third_party/curl/**/* filter=lfs diff=lfs merge=lfs -text
 selfdrive/modeld/thneed/debug/**/* filter=lfs diff=lfs merge=lfs -text
 selfdrive/modeld/thneed/include/**/* filter=lfs diff=lfs merge=lfs -text
 third_party/openmax/**/* filter=lfs diff=lfs merge=lfs -text
 selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/* filter=lfs diff=lfs merge=lfs -text
 selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/* filter=lfs diff=lfs merge=lfs -text
 Pipfile filter=lfs diff=lfs merge=lfs -text
 Pipfile.lock filter=lfs diff=lfs merge=lfs -text
 poetry.lock filter=lfs diff=lfs merge=lfs -text
 *.qm filter=lfs diff=lfs merge=lfs -text
--- a/.github/ISSUE_TEMPLATE/config.yml
+++ b/.github/ISSUE_TEMPLATE/config.yml
@ -1,14 +1,11 @@
 blank_issues_enabled: false
 contact_links:
  - name: Join the Discord
    url: https://discord.comma.ai
    about: The community Discord is for both openpilot development and experience discussion
  - name: Report model bugs
-    url: https://github.com/commaai/openpilot/discussions/categories/model-feedback
+    url: https://discord.com/channels/469524606043160576/1254834193066623017
-    about: Provide feedback for the driving or driver monitoring models
+    about: Feedback for the driving and driver monitoring models goes in the #driving-feedback in Discord
  - name: Discussions
    url: https://github.com/commaai/openpilot/discussions
    about: For questions and general discussion about openpilot
  - name: Community Wiki
    url: https://github.com/commaai/openpilot/wiki
    about: Check out our community wiki
  - name: Community Discord
    url: https://discord.comma.ai
    about: Check out our community discord
--- a/.github/PULL_REQUEST_TEMPLATE/bugfix.md
+++ b/.github/PULL_REQUEST_TEMPLATE/bugfix.md
@ -1,15 +0,0 @@
 ---
 name: Bug fix
 about: For openpilot bug fixes
 title: ''
 labels: 'bugfix'
 assignees: ''
 ---
 **Description**
 <!-- A description of the bug and the fix. Also link the issue if it exists. -->
 **Verification**
 <!-- Explain how you tested this bug fix. -->
--- a/.github/PULL_REQUEST_TEMPLATE/car_bugfix.md
+++ b/.github/PULL_REQUEST_TEMPLATE/car_bugfix.md
@ -1,19 +0,0 @@
 ---
 name: Car Bug fix
 about: For vehicle/brand specific bug fixes
 title: ''
 labels: 'car bug fix'
 assignees: ''
 ---
 **Description**
 <!-- A description of the bug and the fix. Also link the issue if it exists. -->
 **Verification**
 <!-- Explain how you tested this bug fix. -->
 **Route**
 Route: [a route with the bug fix]
--- a/.github/PULL_REQUEST_TEMPLATE/car_port.md
+++ b/.github/PULL_REQUEST_TEMPLATE/car_port.md
@ -1,15 +0,0 @@
 ---
 name: Car port
 about: For new car ports
 title: ''
 labels: 'car port'
 assignees: ''
 ---
 **Checklist**
 - [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
 - [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:
 - [ ] car harness used (if comma doesn't sell it, put N/A):
--- a/.github/PULL_REQUEST_TEMPLATE/fingerprint.md
+++ b/.github/PULL_REQUEST_TEMPLATE/fingerprint.md
@ -1,13 +0,0 @@
 ---
 name: Fingerprint
 about: For adding fingerprints to existing cars
 title: ''
 labels: 'fingerprint'
 assignees: ''
 ---
 **Car**
 Which car (make, model, year) this fingerprint is for
 **Route**
 A route with the fingerprint
--- a/.github/PULL_REQUEST_TEMPLATE/refactor.md
+++ b/.github/PULL_REQUEST_TEMPLATE/refactor.md
@ -1,15 +0,0 @@
 ---
 name: Refactor
 about: For code refactors
 title: ''
 labels: 'refactor'
 assignees: ''
 ---
 **Description**
 <!-- A description of the refactor, including the goals it accomplishes. -->
 **Verification**
 <!-- Explain how you tested the refactor for regressions. -->
--- a/.github/PULL_REQUEST_TEMPLATE/tuning.md
+++ b/.github/PULL_REQUEST_TEMPLATE/tuning.md
@ -1,31 +0,0 @@
 ---
 name: Tuning
 about: For openpilot tuning changes
 title: ''
 labels: 'tuning'
 assignees: ''
 ---
 **Description**
 <!-- A description of what is wrong with the current tuning and how the PR addresses this. -->
 **Verification**
 <!-- To verify tuning, capture the following scenarios (broadly, not exactly), with current tune and this tune.
 Use the PlotJuggler tuning layout to compare planned versus actual behavior.
 Run ./juggle.py <route> --layout layouts/tuning.xml , screenshot the full tab of interest, and paste into this PR.
 Longitudinal:
 * Maintaining speed at 25, 40, 65mph
 * Driving up and down hills
 * Accelerating from a stop
 * Decelerating to a stop
 * Following large changes in set speed
 * Coming to a stop behind a lead car
 Lateral:
 * Straight driving at ~25, ~45 and ~65mph
 * Turns driving at ~25, ~45 and ~65mph
 -->
--- a/.github/build.py
+++ b/.github/build.py
@ -1,30 +0,0 @@
 import pathlib
 GITHUB_FOLDER = pathlib.Path(__file__).parent
 PULL_REQUEST_TEMPLATES = (GITHUB_FOLDER / "PULL_REQUEST_TEMPLATE")
 order = ["fingerprint", "car_bugfix", "bugfix", "car_port", "refactor"]
 def create_pull_request_template():
  with open(GITHUB_FOLDER / "pull_request_template.md", "w") as f:
    f.write("<!-- Please copy and paste the relevant template -->\n\n")
    for t in order:
      template = PULL_REQUEST_TEMPLATES / f"{t}.md"
      text = template.read_text()
      # Remove metadata for GitHub
      start = text.find("---")
      end = text.find("---", start+1)
      text = text[end + 4:]
      # Remove comments
      text = text.replace("<!-- ", "").replace("-->", "")
      f.write(f"<!--- ***** Template: {template.stem.replace('_', ' ').title()} *****\n")
      f.write(text)
      f.write("\n\n")
      f.write("-->\n\n")
 create_pull_request_template()
--- a/.github/labeler.yaml
+++ b/.github/labeler.yaml
@ -4,59 +4,7 @@ CI / testing:
 car:
  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/**'
+    - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
 body:
  - changed-files:
    - any-glob-to-all-files: 'selfdrive/car/body/*'
 chrysler:
  - changed-files:
    - any-glob-to-all-files: 'selfdrive/car/chrysler/*'
 ford:
  - changed-files:
    - any-glob-to-all-files: 'selfdrive/car/ford/*'
 gm:
  - changed-files:
    - any-glob-to-all-files: 'selfdrive/car/gm/*'
 honda:
  - changed-files:
    - any-glob-to-all-files: 'selfdrive/car/honda/*'
 hyundai:
  - changed-files:
    - any-glob-to-all-files: 'selfdrive/car/hyundai/*'
 mazda:
  - changed-files:
    - any-glob-to-all-files: 'selfdrive/car/mazda/*'
 nissan:
  - changed-files:
    - any-glob-to-all-files: 'selfdrive/car/nissan/*'
 subaru:
  - changed-files:
    - any-glob-to-all-files: 'selfdrive/car/subaru/*'
 tesla:
  - changed-files:
    - any-glob-to-all-files: 'selfdrive/car/telsa/*'
 toyota:
  - changed-files:
    - any-glob-to-all-files: 'selfdrive/car/toyota/*'
 volkswagen:
  - changed-files:
    - any-glob-to-all-files: 'selfdrive/car/volkswagen/*'
 fingerprint:
  - changed-files:
    - any-glob-to-all-files: 'selfdrive/car/*/fingerprints.py'
 simulation:
  - changed-files:
@ -74,6 +22,6 @@ multilanguage:
  - changed-files:
    - any-glob-to-all-files: 'selfdrive/ui/translations/**'
-research:
+autonomy:
  - changed-files:
    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}"
--- a/.github/workflows/auto-cache/action.yaml
+++ b/.github/workflows/auto-cache/action.yaml
@ -14,17 +14,25 @@ inputs:
    description: 'whether to save the cache'
    default: 'false'
    required: false
 outputs:
  cache-hit:
    description: 'cache hit occurred'
    value: ${{ (contains(runner.name, 'nsc') && steps.ns-cache.outputs.cache-hit) ||
               (!contains(runner.name, 'nsc') && inputs.save != 'false' && steps.gha-cache.outputs.cache-hit) ||
               (!contains(runner.name, 'nsc') && inputs.save == 'false' && steps.gha-cache-ro.outputs.cache-hit) }}
 runs:
  using: "composite"
  steps:
    - name: setup namespace cache
      id: ns-cache
      if: ${{ contains(runner.name, 'nsc') }}
      uses: namespacelabs/nscloud-cache-action@v1
      with:
        path: ${{ inputs.path }}
    - name: setup github cache
      id: gha-cache
      if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
      uses: 'actions/cache@v4'
      with:
@ -33,6 +41,7 @@ runs:
        restore-keys: ${{ inputs.restore-keys }}
    - name: setup github cache
      id: gha-cache-ro
      if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
      uses: 'actions/cache/restore@v4'
      with:
--- a/.github/workflows/auto_pr_review.yaml
+++ b/.github/workflows/auto_pr_review.yaml
@ -35,11 +35,12 @@ jobs:
        already-exists-comment: "Your PR should be made against the `master` branch"
    # Welcome comment
-    - name: comment
+    - name: "First timers PR"
-      uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6
+      uses: actions/first-interaction@v1
      if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
      with:
-        message: |
+        repo-token: ${{ secrets.GITHUB_TOKEN }}
        pr-message: |
            <!-- _(run_id **${{ github.run_id }}**)_ -->
            Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
            * Convert your PR to a draft unless it's ready to review
@ -49,5 +50,4 @@ jobs:
              * all the tests are passing
              * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
              * include a route or your device' dongle ID if relevant
-        comment_tag: run_id
+      
        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
--- a/.github/workflows/badges.yaml
+++ b/.github/workflows/badges.yaml
@ -7,7 +7,7 @@ on:
 env:
  BASE_IMAGE: openpilot-base
  DOCKER_REGISTRY: ghcr.io/commaai
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
 jobs:
  badges:
@ -23,7 +23,7 @@ jobs:
    - uses: ./.github/workflows/setup-with-retry
    - name: Push badges
      run: |
-        ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py"
+        ${{ env.RUN }} "scons -j$(nproc) && python3 selfdrive/ui/translations/create_badges.py"
        rm .gitattributes
--- a/.github/workflows/ci_weekly_report.yaml
+++ b/.github/workflows/ci_weekly_report.yaml
@ -0,0 +1,101 @@
 name: weekly CI test report
 on:
  schedule:
    - cron: '37 9 * * 1' # 9:37AM UTC -> 2:37AM PST every monday
  workflow_dispatch:
    inputs:
      ci_runs:
        description: 'The amount of runs to trigger in CI test report'
 concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true
 env:
  CI_RUNS: ${{ github.event.inputs.ci_runs || '50' }}
 jobs:
  setup:
    if: github.repository == 'commaai/openpilot'
    runs-on: ubuntu-latest
    outputs:
      ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
    steps:
      - id: ci_runs_setup
        name: CI_RUNS=${{ env.CI_RUNS }}
        run: |
          matrix=$(python3 -c "import json; print(json.dumps({ 'run_number' : list(range(${{ env.CI_RUNS }})) }))")
          echo "matrix=$matrix" >> $GITHUB_OUTPUT
  ci_matrix_run:
    needs: [ setup ]
    strategy:
      fail-fast: false
      matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
    uses: commaai/openpilot/.github/workflows/ci_weekly_run.yaml@master
    with:
      run_number: ${{ matrix.run_number }}
  report:
    needs: [ci_matrix_run]
    runs-on: ubuntu-latest
    if: always()
    steps:
      - name: Get job results
        uses: actions/github-script@v7
        id: get-job-results
        with:
          script: |
            const jobs = await github
              .paginate("GET /repos/{owner}/{repo}/actions/runs/{run_id}/attempts/{attempt}/jobs", {
                owner: "commaai",
                repo: "${{ github.event.repository.name }}",
                run_id: "${{ github.run_id }}",
                attempt: "${{ github.run_attempt }}",
              })
            var report = {}
            jobs.slice(1, jobs.length-1).forEach(job => {
              if (job.conclusion === "skipped") return;
              const jobName = job.name.split(" / ")[2];
              const runRegex = /\((.*?)\)/;
              const run = job.name.match(runRegex)[1];
              report[jobName] = report[jobName] || { successes: [], failures: [], canceled: [] };
              switch (job.conclusion) {
                case "success":
                  report[jobName].successes.push({ "run_number": run, "link": job.html_url}); break;
                case "failure":
                  report[jobName].failures.push({ "run_number": run, "link": job.html_url }); break;
                case "canceled":
                  report[jobName].canceled.push({ "run_number": run, "link": job.html_url }); break;
              }
            });
            return JSON.stringify({"jobs": report});
      - name: Add job results to summary
        env:
          JOB_RESULTS: ${{ fromJSON(steps.get-job-results.outputs.result) }}
        run: |
          cat <<EOF >> template.html
          <table>
            <thead>
              <tr>
                <th></th>
                <th>Job</th>
                <th>✅ Passing</th>
                <th>❌ Failure Details</th>
              </tr>
            </thead>
            <tbody>
              {% for key in jobs.keys() %}<tr>
                <td>{% for i in range(5) %}{% if i+1 <= (5 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }}) %}🟩{% else %}🟥{% endif %}{% endfor%}</td>
                <td>{{ key }}</td>
                <td>{{ 100 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }} }}%</td>
                <td>{% if jobs[key]["failures"]|length > 0 %}<details>{% for failure in jobs[key]["failures"] %}<a href="{{ failure['link'] }}">Log for run #{{ failure['run_number'] }}</a><br>{% endfor %}</details>{% else %}{% endif %}</td>
                </td>
              </tr>{% endfor %}
          </table>
          EOF
          pip install jinja2-cli
          echo $JOB_RESULTS | jinja2 template.html > report.html
          echo "# CI Test Report - ${{ env.CI_RUNS }} Runs" >> $GITHUB_STEP_SUMMARY
          cat report.html >> $GITHUB_STEP_SUMMARY
--- a/.github/workflows/ci_weekly_run.yaml
+++ b/.github/workflows/ci_weekly_run.yaml
@ -0,0 +1,17 @@
 name: weekly CI test run
 on:
  workflow_call:
    inputs:
      run_number:
        required: true
        type: string
 concurrency:
  group: ci-run-${{ inputs.run_number }}-${{ github.ref }}
  cancel-in-progress: true
 jobs:
  selfdrive_tests:
    uses: commaai/openpilot/.github/workflows/selfdrive_tests.yaml@master
    with:
      run_number: ${{ inputs.run_number }}
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@ -5,35 +5,35 @@ on:
    branches:
      - master
  pull_request:
-
+  workflow_call:
    inputs:
      run_number:
        default: '1'
        required: true
        type: string
 concurrency:
-  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true
 env:
  BASE_IMAGE: openpilot-base
  BUILD: selfdrive/test/docker_build.sh base
  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 jobs:
  docs:
    name: build docs
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-24.04
    timeout-minutes: 45
    steps:
    - uses: commaai/timeout@v1
    - uses: actions/checkout@v4
      with:
        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
+
-    - name: Build openpilot
+    # Build
      run: |
        ${{ env.RUN }} "scons -j$(nproc)"
    - name: Build docs
      run: |
-        ${{ env.RUN }} "apt update && apt install -y doxygen && cd docs && make -j$(nproc) html"
+        # TODO: can we install just the "docs" dependency group without the normal deps?
        pip install mkdocs
        mkdocs build
    # Push to docs.comma.ai
    - uses: actions/checkout@v4
      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
      with:
@ -48,16 +48,17 @@ jobs:
        source release/identity.sh
        cd openpilot-docs
        git checkout --orphan tmp
        git rm -rf .
-        cp -r ../build/docs/html/ docs/
+        # copy over docs
-        cp -r ../docs/README.md .
+        cp -r ../docs_site/ docs/
        # GitHub pages config
        touch docs/.nojekyll
        echo -n docs.comma.ai > docs/CNAME
        git add -f .
        git add -f .
        git commit -m "build docs"
        # docs live in different repo to not bloat openpilot's full clone size
--- a/.github/workflows/jenkins-pr-trigger.yaml
+++ b/.github/workflows/jenkins-pr-trigger.yaml
@ -0,0 +1,45 @@
 name: jenkins scan
 on:
  issue_comment:
    types: [created, edited]
 jobs:
  # TODO: gc old branches in a separate job in this workflow
  scan-comments:
    runs-on: ubuntu-latest
    if: ${{ github.event.issue.pull_request }}
    steps:
    - name: Check for trigger phrase
      id: check_comment
      uses: actions/github-script@v7
      with:
        script: |
          const triggerPhrase = "trigger-jenkins";
          const comment = context.payload.comment.body;
          const commenter = context.payload.comment.user.login;
          const { data: permissions } = await github.rest.repos.getCollaboratorPermissionLevel({
            owner: context.repo.owner,
            repo: context.repo.repo,
            username: commenter
          });
          const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin';
          return (hasWriteAccess && comment.includes(triggerPhrase));
        result-encoding: json
    - name: Checkout repository
      if: steps.check_comment.outputs.result == 'true'
      uses: actions/checkout@v4
      with:
        ref: refs/pull/${{ github.event.issue.number }}/head
    - name: Push to tmp-jenkins branch
      if: steps.check_comment.outputs.result == 'true'
      run: |
        git config --global user.name "github-actions[bot]"
        git config --global user.email "github-actions[bot]@users.noreply.github.com"
        git checkout -b tmp-jenkins-${{ github.event.issue.number }}
        GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@ -1,7 +1,7 @@
 name: release
 on:
  schedule:
-    - cron: '0 10 * * *'
+    - cron: '0 9 * * *'
  workflow_dispatch:
 jobs:
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@ -6,8 +6,8 @@ on:
  workflow_dispatch:
 jobs:
-  bump_submodules:
+  package_updates:
-    name: bump_submodules
+    name: package_updates
    runs-on: ubuntu-latest
    container:
      image: ghcr.io/commaai/openpilot-base:latest
@ -16,46 +16,28 @@ jobs:
    - uses: actions/checkout@v4
      with:
        submodules: true
    - name: uv lock
      run: |
        python3 -m ensurepip --upgrade
        pip3 install uv
        uv lock --upgrade
    - name: bump submodules
      run: |
        git config --global --add safe.directory '*'
        git -c submodule."tinygrad".update=none submodule update --remote
        git add .
-    - name: Create Pull Request
+    - name: update car docs
      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
      with:
        author: Vehicle Researcher <user@comma.ai>
        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
        commit-message: bump submodules
        title: '[bot] Bump submodules'
        branch: auto-bump-submodules
        base: master
        delete-branch: true
        body: 'Automatic PR from repo-maintenance -> bump_submodules'
        labels: bot
  package_updates:
    name: package_updates
    runs-on: ubuntu-latest
    container:
      image: ghcr.io/commaai/openpilot-base:latest
    if: github.repository == 'commaai/openpilot'
    steps:
    - uses: actions/checkout@v4
    - name: poetry lock
      run: |
-        pip install poetry
+        scons -j$(nproc) --minimal opendbc_repo
-        poetry lock
+        PYTHONPATH=. python selfdrive/car/docs.py
-    - name: pre-commit autoupdate
+        git add docs/CARS.md
      run: |
        git config --global --add safe.directory '*'
        pre-commit autoupdate
    - name: Create Pull Request
      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
      with:
        author: Vehicle Researcher <user@comma.ai>
        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
-        commit-message: Update Python packages and pre-commit hooks
+        commit-message: Update Python packages
-        title: '[bot] Update Python packages and pre-commit hooks'
+        title: '[bot] Update Python packages'
        branch: auto-package-updates
        base: master
        delete-branch: true
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@ -6,9 +6,15 @@ on:
      - master
  pull_request:
  workflow_dispatch:
  workflow_call:
    inputs:
      run_number:
        default: '1'
        required: true
        type: string
 concurrency:
-  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true
 env:
@ -19,59 +25,51 @@ env:
  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
  BUILD: selfdrive/test/docker_build.sh base
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
  PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
 jobs:
  build_release:
    name: build release
-    runs-on: ubuntu-latest
+    runs-on:
      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
    env:
      STRIPPED_DIR: /tmp/releasepilot
    steps:
    - uses: actions/checkout@v4
      with:
        submodules: true
-    - run: git lfs pull
+    - name: Getting LFS files
      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
      with:
        timeout_minutes: 2
        max_attempts: 3
        command: git lfs pull
    - name: Build devel
      timeout-minutes: 1
      run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
    - uses: ./.github/workflows/setup-pre-commit
    - uses: ./.github/workflows/setup-with-retry
    - name: Check submodules
-      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      if: github.repository == 'commaai/openpilot'
-      timeout-minutes: 1
+      timeout-minutes: 3
      run: release/check-submodules.sh
    - name: Build openpilot and run checks
      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
      run: |
        cd $STRIPPED_DIR
-        ${{ env.RUN }} "python system/manager/build.py"
+        ${{ env.RUN }} "python3 system/manager/build.py"
    - name: Run tests
-      timeout-minutes: 3
+      timeout-minutes: 1
      run: |
        cd $STRIPPED_DIR
        ${{ env.RUN }} "release/check-dirty.sh && \
                        MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car"
    - name: pre-commit
      timeout-minutes: 3
      run: |
        cd $GITHUB_WORKSPACE
        cp .pre-commit-config.yaml $STRIPPED_DIR
        cp pyproject.toml $STRIPPED_DIR
        cp poetry.lock $STRIPPED_DIR
        cd $STRIPPED_DIR
-        ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files,check-hooks-apply,check-useless-excludes pre-commit run --all && chmod -R 777 /tmp/pre-commit"
+        ${{ env.RUN }} "release/check-dirty.sh"
  build:
-    strategy:
+    runs-on:
-      matrix:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-        arch: ${{ fromJson(
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
           ((github.repository == 'commaai/openpilot') &&
              ((github.event_name != 'pull_request') ||
               (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
    steps:
    - uses: actions/checkout@v4
      with:
@ -80,72 +78,72 @@ jobs:
      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
      run: |
        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
        echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
        $DOCKER_LOGIN
    - uses: ./.github/workflows/setup-with-retry
      with:
        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
    - uses: ./.github/workflows/compile-openpilot
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
+      timeout-minutes: 30
-  docker_push_multiarch:
+  build_mac:
-    name: docker push multiarch tag
+    name: build macOS
-    runs-on: ubuntu-latest
+    runs-on: ${{ github.repository == 'commaai/openpilot' && 'namespace-profile-macos-8x14' || 'macos-latest' }}
    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
    needs: [build]
    steps:
    - uses: actions/checkout@v4
      with:
-        submodules: false
+        submodules: true
-    - name: Setup docker
+    - name: Homebrew cache
-      run: |
+      uses: ./.github/workflows/auto-cache
-        $DOCKER_LOGIN
+      with:
-    - name: Merge x64 and arm64 tags
+        path: ~/Library/Caches/Homebrew
-      run: |
+    - name: Install dependencies
-        export PUSH_IMAGE=true
+      run: ./tools/mac_setup.sh
-        scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
+      env:
        # package install has DeprecationWarnings
        PYTHONWARNINGS: default
    - run: git lfs pull
    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
    - name: Getting scons cache
      uses: ./.github/workflows/auto-cache
      with:
        path: /tmp/scons_cache
    - name: Building openpilot
      run: . .venv/bin/activate && scons -j$(nproc)
  static_analysis:
    name: static analysis
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+    runs-on:
-                   ((github.event_name != 'pull_request') ||
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
    env:
      PYTHONWARNINGS: default
    steps:
    - uses: actions/checkout@v4
      with:
        submodules: true
    - uses: ./.github/workflows/setup-pre-commit
    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
+    - name: Static analysis
-      run: ${{ env.RUN }} "scons -j$(nproc)"
+      timeout-minutes: 1
-    - name: pre-commit
+      run: ${{ env.RUN }} "scripts/lint/lint.sh"
      timeout-minutes: 4
      run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit"
  unit_tests:
    name: unit tests
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+    runs-on:
-                   ((github.event_name != 'pull_request') ||
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
    steps:
    - uses: actions/checkout@v4
      with:
        submodules: true
    - uses: ./.github/workflows/setup-with-retry
      with:
        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
    - name: Build openpilot
      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
      run: ${{ env.RUN }} "scons -j$(nproc)"
    - name: Run unit tests
-      timeout-minutes: 15
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
      run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
+        ${{ env.RUN }} "$PYTEST --collect-only -m 'not slow' &> /dev/null && \
-                        export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
+                        MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
                        $PYTEST --timeout 60 -m 'not slow' && \
                        ./selfdrive/ui/tests/create_test_translations.sh && \
                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
-                        pytest ./selfdrive/ui/tests/test_translations.py"
+                        chmod -R 777 /tmp/comma_download_cache"
    - name: "Upload coverage to Codecov"
      uses: codecov/codecov-action@v4
      with:
@ -155,27 +153,25 @@ jobs:
  process_replay:
    name: process replay
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+    runs-on:
-                   ((github.event_name != 'pull_request') ||
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
    steps:
    - uses: actions/checkout@v4
      with:
        submodules: true
    - uses: ./.github/workflows/setup-with-retry
      with:
        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
    - name: Cache test routes
      id: dependency-cache
      uses: actions/cache@v4
      with:
        path: .ci_cache/comma_download_cache
-        key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_regen.py') }}
+        key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_processes.py') }}
    - name: Build openpilot
      run: |
        ${{ env.RUN }} "scons -j$(nproc)"
    - name: Run replay
-      timeout-minutes: 30
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && 1 || 20 }}
      run: |
        ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
                        chmod -R 777 /tmp/comma_download_cache && \
@ -194,15 +190,9 @@ jobs:
    - name: Upload reference logs
      if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
      run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
+        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
    # PYTHONWARNINGS triggers a SyntaxError in onnxruntime
    - name: Run model replay with ONNX
      timeout-minutes: 4
      run: |
        ${{ env.RUN }} "unset PYTHONWARNINGS && \
                        ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
                        coverage combine && coverage xml"
    - name: Run regen
      if: false
      timeout-minutes: 4
      run: |
        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
@ -216,33 +206,33 @@ jobs:
  test_cars:
    name: cars
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+    runs-on:
-                   ((github.event_name != 'pull_request') ||
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
    strategy:
      fail-fast: false
      matrix:
-        job: [0, 1]
+        job: [0, 1, 2, 3]
    steps:
    - uses: actions/checkout@v4
      with:
        submodules: true
    - uses: ./.github/workflows/setup-with-retry
    - name: Cache test routes
-      id: dependency-cache
+      id: routes-cache
-      uses: ./.github/workflows/auto-cache
+      uses: actions/cache@v4
      with:
        path: .ci_cache/comma_download_cache
-        key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
+        key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'opendbc/car/tests/routes.py') }}-${{ matrix.job }}
    - name: Build openpilot
      run: ${{ env.RUN }} "scons -j$(nproc)"
    - name: Test car models
-      timeout-minutes: 20
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.routes-cache.outputs.cache-hit == 'true') && 1 || 20 }}
      run: |
-        ${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \
+        ${{ env.RUN }} "MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
                        chmod -R 777 /tmp/comma_download_cache"
      env:
-        NUM_JOBS: 2
+        NUM_JOBS: 4
        JOB_ID: ${{ matrix.job }}
    - name: "Upload coverage to Codecov"
      uses: codecov/codecov-action@v4
@ -254,7 +244,8 @@ jobs:
  car_docs_diff:
    name: PR comments
    runs-on: ubuntu-latest
-    if: github.event_name == 'pull_request'
+    #if: github.event_name == 'pull_request'
    if: false  # TODO: run this in opendbc?
    steps:
      - uses: actions/checkout@v4
        with:
@ -264,7 +255,7 @@ jobs:
      - uses: ./.github/workflows/setup-with-retry
      - name: Get base car info
        run: |
-          ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs"
+          ${{ env.RUN }} "scons -j$(nproc) && python3 selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs"
          sudo chown -R $USER:$USER ${{ github.workspace }}
      - uses: actions/checkout@v4
        with:
@ -276,7 +267,7 @@ jobs:
        run: |
          cd current
          ${{ env.RUN }} "scons -j$(nproc)"
-          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs")
+          output=$(${{ env.RUN }} "python3 selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs")
          output="${output//$'\n'/'%0A'}"
          echo "::set-output name=diff::$output"
      - name: Find comment
@ -305,24 +296,55 @@ jobs:
              comment_id: ${{ steps.fc.outputs.comment-id }}
            })
  simulator_driving:
    name: simulator driving
    runs-on:
      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
    if: (github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
    steps:
    - uses: actions/checkout@v4
      with:
        submodules: true
    - uses: ./.github/workflows/setup-with-retry
    - name: Build openpilot
      run: |
        ${{ env.RUN }} "scons -j$(nproc)"
    - name: Driving test
      timeout-minutes: 1
      run: |
        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
                        source selfdrive/test/setup_vsound.sh && \
                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
  create_ui_report:
    # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
    name: Create UI Report
-    runs-on: ubuntu-latest
+    runs-on:
      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
    steps:
      - uses: actions/checkout@v4
        with:
          submodules: true
      - uses: ./.github/workflows/setup-with-retry
      - name: caching frames
        id: frames-cache
        uses: actions/cache@v4
        with:
          path: .ci_cache/comma_download_cache
          key: ui_screenshots_test_${{ hashFiles('selfdrive/ui/tests/test_ui/run.py') }}
      - name: Build openpilot
        run: ${{ env.RUN }} "scons -j$(nproc)"
      - name: Create Test Report
        timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 1 || 3) }}
        run: >
            ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
                            source selfdrive/test/setup_xvfb.sh &&
-                            export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' &&
+                            CACHE_ROOT=/tmp/comma_download_cache python3 selfdrive/ui/tests/test_ui/run.py &&
-                            python selfdrive/ui/tests/test_ui/run.py"
+                            chmod -R 777 /tmp/comma_download_cache"
      - name: Upload Test Report
        uses: actions/upload-artifact@v4
        with:
-          name: report
+          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-          path: selfdrive/ui/tests/test_ui/report
+          path: selfdrive/ui/tests/test_ui/report_1/screenshots
--- a/.github/workflows/setup-pre-commit/action.yaml
+++ b/.github/workflows/setup-pre-commit/action.yaml
@ -1,12 +0,0 @@
 name: 'set up pre-commit environment'
 runs:
  using: "composite"
  steps:
    - uses: ./.github/workflows/auto-cache
      with:
        path: .ci_cache/pre-commit
        key: pre-commit-${{ hashFiles('**/.pre-commit-config.yaml') }}
        restore-keys: |
          pre-commit-
        save: ${{ github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' }}
--- a/.github/workflows/setup-with-retry/action.yaml
+++ b/.github/workflows/setup-with-retry/action.yaml
@ -17,7 +17,6 @@ runs:
      uses: ./.github/workflows/setup
      continue-on-error: true
      with:
        docker_hub_pat: ${{ inputs.docker_hub_pat }}
        is_retried: true
    - if: steps.setup1.outcome == 'failure'
      shell: bash
@ -27,7 +26,6 @@ runs:
      uses: ./.github/workflows/setup
      continue-on-error: true
      with:
        docker_hub_pat: ${{ inputs.docker_hub_pat }}
        is_retried: true
    - if: steps.setup2.outcome == 'failure'
      shell: bash
@ -36,5 +34,4 @@ runs:
      if: steps.setup2.outcome == 'failure'
      uses: ./.github/workflows/setup
      with:
        docker_hub_pat: ${{ inputs.docker_hub_pat }}
        is_retried: true
--- a/.github/workflows/setup/action.yaml
+++ b/.github/workflows/setup/action.yaml
@ -1,10 +1,6 @@
 name: 'openpilot env setup'
 inputs:
  docker_hub_pat:
    description: 'Auth token for Docker Hub, required for BuildJet jobs'
    required: true
    default: ''
  is_retried:
    description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
    required: false
@ -20,22 +16,19 @@ runs:
        echo "You should not run this action directly. Use setup-with-retry instead"
        exit 1
    # do this after checkout to ensure our custom LFS config is used to pull from GitLab
    - shell: bash
-      run: git lfs pull
+      name: No retries!
    # on BuildJet runners, must be logged into DockerHub to avoid rate limiting
    # https://buildjet.com/for-github-actions/docs/guides/docker
    - shell: bash
      if: ${{ contains(runner.name, 'buildjet') && inputs.docker_hub_pat == '' }}
      run: |
-        echo "Need to set the Docker Hub PAT secret as an input to this action"
+        if [ "${{ github.run_attempt }}" -gt 1 ]; then
          echo -e "\033[0;31m##################################################"
          echo -e "\033[0;31m    Retries not allowed! Fix the flaky test!      "
          echo -e "\033[0;31m##################################################\033[0m"
          exit 1
-    - name: Login to Docker Hub
+        fi
-      if: contains(runner.name, 'buildjet')
+
-      shell: bash
+    # do this after checkout to ensure our custom LFS config is used to pull from GitLab
-      run: |
+    - shell: bash
-        docker login -u adeebshihadeh -p ${{ inputs.docker_hub_pat }}
+      run: git lfs pull
    # build cache
    - id: date
--- a/.github/workflows/stale.yaml
+++ b/.github/workflows/stale.yaml
@ -5,8 +5,8 @@ on:
  workflow_dispatch:
 env:
-  DAYS_BEFORE_PR_CLOSE: 3
+  DAYS_BEFORE_PR_CLOSE: 2
-  DAYS_BEFORE_PR_STALE: 14
+  DAYS_BEFORE_PR_STALE: 9
 jobs:
  stale:
@ -14,14 +14,14 @@ jobs:
    steps:
      - uses: actions/stale@v9
        with:
-          exempt-milestones: true
+          exempt-all-milestones: true
          # pull request config
          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
          stale-pr-label: stale
          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
-          exempt-pr-labels: "ignore stale,needs testing,car port,car" # if wip or it needs testing from the community, don't mark as stale
+          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@ -1,86 +0,0 @@
 name: tools
 on:
  push:
    branches:
      - master
  pull_request:
 concurrency:
  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true
 env:
  BASE_IMAGE: openpilot-base
  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
  BUILD: selfdrive/test/docker_build.sh base
  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 jobs:
  simulator_build:
    name: simulator docker build
    runs-on: ubuntu-latest
    if: github.repository == 'commaai/openpilot'
    timeout-minutes: 45
    steps:
    - uses: actions/checkout@v4
      with:
        submodules: true
    - uses: ./.github/workflows/setup-with-retry
    - name: Setup to push to repo
      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
      run: |
        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
        $DOCKER_LOGIN
    - name: Build and push sim image
      run: |
        selfdrive/test/docker_build.sh sim
  simulator_driving:
    name: simulator driving
    runs-on: ubuntu-latest
    timeout-minutes: 20
    steps:
    - uses: actions/checkout@v4
      with:
        submodules: true
    - uses: ./.github/workflows/setup-with-retry
    - name: Build openpilot
      run: |
        ${{ env.RUN }} "scons -j$(nproc)"
    - name: Run bridge test
      run: |
        ${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
                        source selfdrive/test/setup_xvfb.sh && \
                        source selfdrive/test/setup_vsound.sh && \
                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
  devcontainer:
    name: devcontainer
    runs-on: ubuntu-latest
    steps:
    - uses: actions/checkout@v4
      with:
        submodules: true
    - uses: ./.github/workflows/setup-with-retry
    - name: Use local image for testing devcontainer with latest base image
      run: |
        echo "USE_LOCAL_IMAGE=true" >> "$GITHUB_ENV"
    - name: Setup Dev Container CLI
      run: npm install -g @devcontainers/cli
    - name: Build dev container image
      run: ./scripts/retry.sh devcontainer build --workspace-folder .
    - name: Run dev container
      run: |
        mkdir -p /tmp/devcontainer_scons_cache/
        cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/. /tmp/devcontainer_scons_cache/
        devcontainer up --workspace-folder .
    - name: Test environment
      run: |
        devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/
        devcontainer exec --workspace-folder . pip install pip-install-test
        devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
        devcontainer exec --workspace-folder . sudo touch /root/test.txt
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@ -0,0 +1,161 @@
 name: "ui preview"
 on:
  push:
    branches:
      - master
  pull_request_target:
    types: [assigned, opened, synchronize, reopened, edited]
    branches:
      - 'master'
    paths:
      - 'selfdrive/ui/**'
  workflow_dispatch:
 env:
  UI_JOB_NAME: "Create UI Report"
  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"
 jobs:
  preview:
    if: github.repository == 'commaai/openpilot'
    name: preview
    runs-on: ubuntu-latest
    timeout-minutes: 20
    permissions:
      contents: read
      pull-requests: write
      actions: read
    steps:
      - name: Waiting for ui generation to start
        run: sleep 30
      - name: Waiting for ui generation to end
        uses: lewagon/wait-on-check-action@v1.3.4
        with:
          ref: ${{ env.SHA }}
          check-name: ${{ env.UI_JOB_NAME }}
          repo-token: ${{ secrets.GITHUB_TOKEN }}
          allowed-conclusions: success
          wait-interval: 20
      - name: Getting workflow run ID
        id: get_run_id
        run: |
          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
      - name: Getting proposed ui
        id: download-artifact
        uses: dawidd6/action-download-artifact@v6
        with:
          github_token: ${{ secrets.GITHUB_TOKEN }}
          run_id: ${{ steps.get_run_id.outputs.run_id }}
          search_artifacts: true
          name: report-1-${{ env.REPORT_NAME }}
          path: ${{ github.workspace }}/pr_ui
      - name: Getting master ui
        uses: actions/checkout@v4
        with:
          repository: commaai/ci-artifacts
          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
          path: ${{ github.workspace }}/master_ui
          ref: openpilot_master_ui
      - name: Saving new master ui
        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
        working-directory: ${{ github.workspace }}/master_ui
        run: |
          git checkout --orphan=new_master_ui
          git rm -rf *
          git branch -D openpilot_master_ui
          git branch -m openpilot_master_ui
          git config user.name "GitHub Actions Bot"
          git config user.email "<>"
          mv ${{ github.workspace }}/pr_ui/*.png .
          git add .
          git commit -m "screenshots for commit ${{ env.SHA }}"
          git push origin openpilot_master_ui --force
      - name: Finding diff
        if: github.event_name == 'pull_request_target'
        id: find_diff
        run: >-
          sudo apt-get install -y imagemagick
          scenes="homescreen settings_device settings_software settings_toggles settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard keyboard_uppercase"
          A=($scenes)
          DIFF=""
          TABLE="<details><summary>All Screenshots</summary>"
          TABLE="${TABLE}<table>"
          for ((i=0; i<${#A[*]}; i=i+1));
          do
            if ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
              convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
              composite mask.png ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png
              convert -delay 100 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
              mv ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png
              DIFF="${DIFF}<details open>"
              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{red}\\text{DIFFERENT}}\$\$</summary>"
              DIFF="${DIFF}<table>"
              DIFF="${DIFF}<tr>"
              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
              DIFF="${DIFF}</tr>"
              DIFF="${DIFF}<tr>"
              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
              DIFF="${DIFF}</tr>"
              DIFF="${DIFF}</table>"
              DIFF="${DIFF}</details>"
            else
              rm -f ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png
            fi
            INDEX=$(($i % 2))
            if [[ $INDEX -eq 0 ]]; then
              TABLE="${TABLE}<tr>"
            fi
            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
            if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
              TABLE="${TABLE}</tr>"
            fi
          done
          TABLE="${TABLE}</table></details>"
          echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT"
      - name: Saving proposed ui
        if: github.event_name == 'pull_request_target'
        working-directory: ${{ github.workspace }}/master_ui
        run: |
          git config user.name "GitHub Actions Bot"
          git config user.email "<>"
          git checkout --orphan=${{ env.BRANCH_NAME }}
          git rm -rf *
          mv ${{ github.workspace }}/pr_ui/* .
          git add .
          git commit -m "screenshots for PR #${{ github.event.number }}"
          git push origin ${{ env.BRANCH_NAME }} --force
      - name: Comment Screenshots on PR
        if: github.event_name == 'pull_request_target'
        uses: thollander/actions-comment-pull-request@v2
        with:
          message: |
            <!-- _(run_id_screenshots **${{ github.run_id }}**)_ -->
            ## UI Preview
            ${{ steps.find_diff.outputs.DIFF }}
          comment_tag: run_id_screenshots
          pr_number: ${{ github.event.number }}
          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
--- a/.gitignore
+++ b/.gitignore
@ -14,6 +14,8 @@ model2.png
 a.out
 .hypothesis
 /docs_site/
 *.dylib
 *.DSYM
 *.d
@ -43,6 +45,7 @@ persist
 selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
 cereal/messaging/bridge
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
@ -52,9 +55,6 @@ selfdrive/test/longitudinal_maneuvers/out
 selfdrive/car/tests/cars_dump
 system/camerad/camerad
 system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/
 notebooks
 hyperthneed
@ -76,6 +76,7 @@ selfdrive/modeld/models/*.thneed
 selfdrive/modeld/models/*.pkl
 *.bz2
 *.zst
 build/
@ -83,3 +84,22 @@ build/
 poetry.toml
 Pipfile
 ### VisualStudioCode ###
 .vscode/*
 !.vscode/settings.json
 !.vscode/tasks.json
 !.vscode/launch.json
 !.vscode/extensions.json
 !.vscode/*.code-snippets
 # Local History for Visual Studio Code
 .history/
 # Built Visual Studio Code Extensions
 *.vsix
 ### VisualStudioCode Patch ###
 # Ignore all local history of files
 .history
 .ionide
--- a/.gitmodules
+++ b/.gitmodules
@ -2,20 +2,17 @@
  path = panda
  url = ../../commaai/panda.git
 [submodule "opendbc"]
-  path = opendbc
+  path = opendbc_repo
  url = ../../commaai/opendbc.git
 [submodule "msgq"]
-  path = msgq
+  path = msgq_repo
  url = ../../commaai/msgq.git
 [submodule "rednose_repo"]
  path = rednose_repo
  url = ../../commaai/rednose.git
 [submodule "body"]
  path = body
  url = ../../commaai/body.git
 [submodule "teleoprtc_repo"]
  path = teleoprtc_repo
  url = ../../commaai/teleoprtc
 [submodule "tinygrad"]
  path = tinygrad_repo
-  url = https://github.com/geohot/tinygrad.git
+  url = https://github.com/commaai/tinygrad.git
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@ -1,103 +0,0 @@
 exclude: '^(tinygrad_repo)'
 repos:
 -   repo: meta
    hooks:
    -   id: check-hooks-apply
    -   id: check-useless-excludes
 -   repo: https://github.com/pre-commit/pre-commit-hooks
    rev: v4.6.0
    hooks:
    -   id: check-ast
        exclude: '^(third_party)/'
    -   id: check-json
        exclude: '.devcontainer/devcontainer.json|.vscode/'  # these support JSON with comments
    -   id: check-toml
    -   id: check-xml
    -   id: check-yaml
    -   id: check-merge-conflict
    -   id: check-symlinks
    -   id: check-executables-have-shebangs
    -   id: check-shebang-scripts-are-executable
    -   id: check-added-large-files
        exclude: '(docs/CARS.md)|(poetry.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
        args:
        - --maxkb=120
        - --enforce-all
 -   repo: https://github.com/codespell-project/codespell
    rev: v2.2.6
    hooks:
    -   id: codespell
        exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
        args:
        # if you've got a short variable name that's getting flagged, add it here
        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints
        - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/astral-sh/ruff-pre-commit
    rev: v0.4.4
    hooks:
    -   id: ruff
        exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
 -   repo: local
    hooks:
    -   id: mypy
        name: mypy
        entry: mypy
        language: system
        types: [python]
        args:
        - --local-partial-types
        - --explicit-package-bases
        exclude: '^(third_party/)|(body/)|(msgq/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
 -   repo: local
    hooks:
    -   id: cppcheck
        name: cppcheck
        entry: cppcheck
        language: system
        types: [c++]
        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)'
        args:
        - --error-exitcode=1
        - --language=c++
        - --quiet
        - --force
        - -j8
 -   repo: https://github.com/cpplint/cpplint
    rev: 1.6.1
    hooks:
    -   id: cpplint
        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
        args:
        - --quiet
        - --counting=total
        - --linelength=240
        # https://google.github.io/styleguide/cppguide.html
        # relevant rules are whitelisted, see all options with: cpplint --filter=
        - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
 -   repo: https://github.com/MarcoGorelli/cython-lint
    rev: v0.16.2
    hooks:
    -   id: cython-lint
        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
        args:
        - --max-line-length=240
        - --ignore=E111, E302, E305
 -   repo: local
    hooks:
    -   id: test_translations
        name: test translations
        entry: pytest selfdrive/ui/tests/test_translations.py
        language: system
        pass_filenames: false
        files: '^selfdrive/ui/translations/'
 -   repo: https://github.com/python-poetry/poetry
    rev: '1.8.0'
    hooks:
    -   id: poetry-check
        name: validate poetry lock
        args:
        - --lock
 -   repo: https://github.com/python-jsonschema/check-jsonschema
    rev: 0.28.3
    hooks:
    -   id: check-github-workflows
--- a/.python-version
+++ b/.python-version
@ -1 +0,0 @@
 3.11.4
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@ -7,7 +7,6 @@
      "description": "Select the process to debug",
      "options": [
        "selfdrive/controls/controlsd.py",
        "selfdrive/navd/navd.py",
        "system/timed/timed.py",
        "tools/sim/run_bridge.py"
      ]
--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@ -1,29 +1,13 @@
 FROM ghcr.io/commaai/openpilot-base:latest
-ENV PYTHONUNBUFFERED 1
+ENV PYTHONUNBUFFERED=1
-ENV OPENPILOT_PATH /home/batman/openpilot
+ENV OPENPILOT_PATH=/home/batman/openpilot
-ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
+ENV PYTHONPATH=${OPENPILOT_PATH}:${PYTHONPATH}
 RUN mkdir -p ${OPENPILOT_PATH}
 WORKDIR ${OPENPILOT_PATH}
-COPY SConstruct ${OPENPILOT_PATH}
+COPY . ${OPENPILOT_PATH}/
 COPY ./openpilot ${OPENPILOT_PATH}/openpilot
 COPY ./third_party ${OPENPILOT_PATH}/third_party
 COPY ./site_scons ${OPENPILOT_PATH}/site_scons
 COPY ./rednose ${OPENPILOT_PATH}/rednose
 COPY ./rednose_repo/site_scons ${OPENPILOT_PATH}/rednose_repo/site_scons
 COPY ./tools ${OPENPILOT_PATH}/tools
 COPY ./release ${OPENPILOT_PATH}/release
 COPY ./common ${OPENPILOT_PATH}/common
 COPY ./opendbc ${OPENPILOT_PATH}/opendbc
 COPY ./cereal ${OPENPILOT_PATH}/cereal
 COPY ./msgq ${OPENPILOT_PATH}/msgq
 COPY ./panda ${OPENPILOT_PATH}/panda
 COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
 COPY ./system ${OPENPILOT_PATH}/system
 COPY ./body ${OPENPILOT_PATH}/body
 RUN scons --cache-readonly -j$(nproc)
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@ -1,21 +1,21 @@
-FROM ubuntu:20.04
+FROM ubuntu:24.04
-ENV PYTHONUNBUFFERED 1
+ENV PYTHONUNBUFFERED=1
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot && \
+    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
    rm -rf /var/lib/apt/lists/*
 RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG en_US.UTF-8
+ENV LANG=en_US.UTF-8
-ENV LANGUAGE en_US:en
+ENV LANGUAGE=en_US:en
-ENV LC_ALL en_US.UTF-8
+ENV LC_ALL=en_US.UTF-8
 COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
-RUN INSTALL_EXTRA_PACKAGES=no /tmp/tools/install_ubuntu_dependencies.sh && \
+RUN /tmp/tools/install_ubuntu_dependencies.sh && \
    rm -rf /var/lib/apt/lists/* /tmp/* && \
-    cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
+    cd /usr/lib/gcc/arm-none-eabi/* && \
    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
 # Add OpenCL
@ -30,53 +30,52 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
    gcc-arm-none-eabi \
    tmux \
    vim \
    lsb-core \
    libx11-6 \
    wget \
  && rm -rf /var/lib/apt/lists/*
-ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz
+RUN mkdir -p /tmp/opencl-driver-intel && \
-ARG INTEL_DRIVER_URL=https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532
+    cd /tmp/opencl-driver-intel && \
-RUN mkdir -p /tmp/opencl-driver-intel
+    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-
+    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
-RUN cd /tmp/opencl-driver-intel && \
+    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    echo INTEL_DRIVER is $INTEL_DRIVER && \
+    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER && \
+    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
    tar -xzf $INTEL_DRIVER && \
    for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done && \
    dpkg -i *.deb && \
    rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb && \
    mkdir -p /etc/OpenCL/vendors && \
-    echo /opt/intel/opencl_compilers_and_libraries_18.1.0.015/linux/compiler/lib/intel64_lin/libintelocl.so > /etc/OpenCL/vendors/intel.icd && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
    cd /opt/intel && \
    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
    mkdir -p /etc/ld.so.conf.d && \
    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
    cd / && \
    rm -rf /tmp/opencl-driver-intel
-ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_VISIBLE_DEVICES=all
-ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
+ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
-ENV QTWEBENGINE_DISABLE_SANDBOX 1
+ENV QTWEBENGINE_DISABLE_SANDBOX=1
 RUN dbus-uuidgen > /etc/machine-id
 ARG USER=batman
-ARG USER_UID=1000
+ARG USER_UID=1001
 RUN useradd -m -s /bin/bash -u $USER_UID $USER
 RUN usermod -aG sudo $USER
 RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
 USER $USER
-ENV POETRY_VIRTUALENVS_CREATE=false
+COPY --chown=$USER pyproject.toml uv.lock /home/$USER
-ENV PYENV_VERSION=3.11.4
+COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
 ENV PYENV_ROOT="/home/$USER/pyenv"
 ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
 COPY --chown=$USER pyproject.toml poetry.lock .python-version /tmp/
 COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
-RUN cd /tmp && \
+ENV VIRTUAL_ENV=/home/$USER/.venv
 ENV PATH="$VIRTUAL_ENV/bin:$PATH"
 RUN cd /home/$USER && \
    tools/install_python_dependencies.sh && \
-    rm -rf /tmp/* && \
+    rm -rf tools/ pyproject.toml uv.lock .cache
    rm -rf /home/$USER/.cache && \
    find /home/$USER/pyenv -type d -name ".git" | xargs rm -rf && \
    rm -rf /home/$USER/pyenv/versions/3.11.4/lib/python3.11/test
 USER root
 RUN sudo git config --global --add safe.directory /tmp/openpilot
--- a/165
+++ b/165
@ -12,10 +12,12 @@ def retryWithDelay(int maxRetries, int delay, Closure body) {
 def device(String ip, String step_label, String cmd) {
  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
    def ssh_cmd = """
-ssh -tt -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
+ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
 set -e
 export TERM=xterm-256color
 shopt -s huponexit # kill all child processes when the shell exits
 export CI=1
@ -25,8 +27,9 @@ export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
 export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
 export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
 export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}'
 # only use 1 thread for tici tests since most require HIL
 export PYTEST_ADDOPTS="-n 0"
@ -63,9 +66,7 @@ fi
 ln -snf ${env.TEST_DIR} /data/pythonpath
 cd ${env.TEST_DIR} || true
-${cmd}
+time ${cmd}
 exit 0
 END"""
    sh script: ssh_cmd, label: step_label
@ -78,70 +79,82 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
        return
    }
    if (isReplay()) {
      error("REPLAYING TESTS IS NOT ALLOWED. FIX THEM INSTEAD.")
    }
    def extra = extra_env.collect { "export ${it}" }.join('\n');
    def branch = env.BRANCH_NAME ?: 'master';
    def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
    lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
      docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
-        timeout(time: 20, unit: 'MINUTES') {
+        timeout(time: 35, unit: 'MINUTES') {
          retry (3) {
            def date = sh(script: 'date', returnStdout: true).trim();
            device(device_ip, "set time", "date -s '" + date + "'")
            device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
          }
          steps.each { item ->
-            device(device_ip, item[0], item[1])
+            def name = item[0]
            def cmd = item[1]
            def args = item[2]
            def diffPaths = args.diffPaths ?: []
            def cmdTimeout = args.timeout ?: 9999
            if (branch != "master" && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
              println "Skipping ${name}: no changes in ${diffPaths}."
              return
            } else {
              timeout(time: cmdTimeout, unit: 'SECONDS') {
                device(device_ip, name, cmd)
              }
            }
          }
        }
      }
    }
 def pcStage(String stageName, Closure body) {
  node {
  stage(stageName) {
    if (currentBuild.result != null) {
        return
  }
    checkout scm
    def dockerArgs = "--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache -e PYTHONPATH=${env.WORKSPACE} --cpus=8 --memory 16g -e PYTEST_ADDOPTS='-n8'";
    def openpilot_base = retryWithDelay (3, 15) {
      return docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .")
 }
-    lock(resource: "", label: 'pc', inversePrecedence: true, quantity: 1) {
+def hasPathChanged(String gitDiff, List<String> paths) {
-      openpilot_base.inside(dockerArgs) {
+  for (path in paths) {
-        timeout(time: 20, unit: 'MINUTES') {
+    if (gitDiff.contains(path)) {
-          try {
+      return true
            retryWithDelay (3, 15) {
              sh "git config --global --add safe.directory '*'"
              sh "git submodule update --init --recursive"
              sh "git lfs pull"
            }
            body()
          } finally {
              sh "rm -rf ${env.WORKSPACE}/* || true"
              sh "rm -rf .* || true"
            }
          }
        }
    }
  }
  return false
 }
 def isReplay() {
  def replayClass = "org.jenkinsci.plugins.workflow.cps.replay.ReplayCause"
  return currentBuild.rawBuild.getCauses().any{ cause -> cause.toString().contains(replayClass) }
 }
 def setupCredentials() {
  withCredentials([
    string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
    string(credentialsId: 'mapbox_token', variable: 'MAPBOX_TOKEN')
  ]) {
    env.AZURE_TOKEN = "${AZURE_TOKEN}"
    env.MAPBOX_TOKEN = "${MAPBOX_TOKEN}"
  }
  withCredentials([
    string(credentialsId: 'ci_artifacts_pat', variable: 'CI_ARTIFACTS_TOKEN'),
  ]) {
    env.CI_ARTIFACTS_TOKEN = "${CI_ARTIFACTS_TOKEN}"
  }
  withCredentials([
    string(credentialsId: 'post_comments_github_pat', variable: 'GITHUB_COMMENTS_TOKEN'),
  ]) {
    env.GITHUB_COMMENTS_TOKEN = "${GITHUB_COMMENTS_TOKEN}"
  }
 }
 def step(String name, String cmd, Map args = [:]) {
  return [name, cmd, args]
 }
 node {
  env.CI = "1"
@ -166,82 +179,90 @@ node {
  try {
    if (env.BRANCH_NAME == 'devel-staging') {
      deviceStage("build release3-staging", "tici-needs-can", [], [
-        ["build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"],
+        step("build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"),
      ])
    }
    if (env.BRANCH_NAME == 'master-ci') {
      parallel (
        'nightly': {
          deviceStage("build nightly", "tici-needs-can", [], [
-        ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
+            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
          ])
        },
        'nightly-dev': {
          deviceStage("build nightly-dev", "tici-needs-can", [], [
            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
          ])
        },
      )
    }
    if (!env.BRANCH_NAME.matches(excludeRegex)) {
    parallel (
      // tici tests
      'onroad tests': {
-        deviceStage("onroad", "tici-needs-can", [], [
+        deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [
          // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
          //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
-          ["build openpilot", "cd system/manager && ./build.py"],
+          step("build openpilot", "cd system/manager && ./build.py"),
-          ["check dirty", "release/check-dirty.sh"],
+          step("check dirty", "release/check-dirty.sh"),
-          ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
+          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
-          ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
+          //["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
        ])
      },
      'HW + Unit Tests': {
        deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
+          step("build", "cd system/manager && ./build.py"),
-          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
-          ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
+          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
-          ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
+          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
-          ["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
+          step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py", [diffPaths: ["system/ubloxd/"]]),
-          ["test manager", "pytest system/manager/test/test_manager.py"],
+          step("test manager", "pytest system/manager/test/test_manager.py"),
        ])
      },
      'loopback': {
        deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
-          ["build openpilot", "cd system/manager && ./build.py"],
+          step("build openpilot", "cd system/manager && ./build.py"),
-          ["test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
+          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
        ])
      },
      'camerad': {
        deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
+          step("build", "cd system/manager && ./build.py"),
-          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
        ])
        deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
+          step("build", "cd system/manager && ./build.py"),
-          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
        ])
      },
      'sensord': {
        deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
+          step("build", "cd system/manager && ./build.py"),
-          ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
+          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
        ])
        deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
+          step("build", "cd system/manager && ./build.py"),
-          ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
+          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
        ])
      },
      'replay': {
        deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
+          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-          ["model replay", "selfdrive/test/process_replay/model_replay.py"],
+          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
        ])
      },
      'tizi': {
        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-          ["build openpilot", "cd system/manager && ./build.py"],
+          step("build openpilot", "cd system/manager && ./build.py"),
-          ["test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
+          step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-          ["test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"],
+          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
-          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
-          ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
+          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
-          ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
+          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
          ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
        ])
      },
--- a/README.md
+++ b/README.md
@ -1,9 +1,34 @@
-[![openpilot on the comma 3X](https://github.com/commaai/openpilot/assets/8762862/f09e6d29-db2d-4179-80c2-51e8d92bdb5c)](https://comma.ai/shop/comma-3x)
+<div align="center" style="text-align: center;">
 <h1>openpilot</h1>
 <p>
  <b>openpilot is an operating system for robotics.</b>
  <br>
  Currently, it upgrades the driver assistance system in 275+ supported cars.
 </p>
 <h3>
  <a href="https://docs.comma.ai">Docs</a>
  <span> · </span>
  <a href="https://docs.comma.ai/contributing/roadmap/">Roadmap</a>
  <span> · </span>
  <a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
  <span> · </span>
  <a href="https://discord.comma.ai">Community</a>
  <span> · </span>
  <a href="https://comma.ai/shop">Try it on a comma 3X</a>
 </h3>
 Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
-What is openpilot?
+![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)
------
+[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
 [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](LICENSE)
 [![X Follow](https://img.shields.io/twitter/follow/comma_ai)](https://x.com/comma_ai)
 [![Discord](https://img.shields.io/discord/469524606043160576)](https://discord.comma.ai)
-[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
+</div>
 <table>
  <tr>
@ -13,17 +38,26 @@ What is openpilot?
  </tr>
 </table>
-To start using openpilot in a car
+
 Using openpilot in a car
 ------
 To use openpilot in a car, you need four things:
 1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
 2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
-3. **Supported Car:** Ensure that you have one of [the 250+ supported cars](docs/CARS.md).
+3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
 4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
 We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
 ### Branches
 | branch           | URL                                    | description                                                                         |
 |------------------|----------------------------------------|-------------------------------------------------------------------------------------|
 | `release3`         | openpilot.comma.ai                      | This is openpilot's release branch.                                                 |
 | `release3-staging` | openpilot-test.comma.ai                | This is the staging branch for releases. Use it to get new releases slightly early. |
 | `nightly`          | openpilot-nightly.comma.ai             | This is the bleeding edge development branch. Do not expect this to be stable.      |
 | `nightly-dev`      | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars.      |
 To start developing openpilot
 ------
@ -36,7 +70,7 @@ openpilot is developed by [comma](https://comma.ai/) and by users like you. We w
 * Code documentation lives at https://docs.comma.ai
 * Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki)
-Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](docs/BOUNTIES.md) for external contributors.
+Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](https://comma.ai/bounties) for external contributors.
 Safety and Testing
 ----
@ -49,18 +83,6 @@ Safety and Testing
 * panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
 * We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
 User Data and comma Account
 ------
 By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
 openpilot is open source software: the user is free to disable data collection if they wish to do so.
 openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
 The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
 By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
 Licensing
 ------
@ -72,9 +94,14 @@ Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and i
 YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
 NO WARRANTY EXPRESSED OR IMPLIED.**
---
+User Data and comma Account
 ------
-<img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
+By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
-![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)
+openpilot is open source software: the user is free to disable data collection if they wish to do so.
-[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
+
 openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
 The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
 By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
--- a/RELEASES.md
+++ b/RELEASES.md
@ -1,13 +1,36 @@
-Version 0.9.7 (2024-06-11)
+Version 0.9.9 (2025-03-30)
 ========================
 * Coming soon
  * Rivian support
  * F-150 & Mach-E support
  * Tesla Model 3 support
 Version 0.9.8 (2025-01-30)
 ========================
 * New driving monitoring model
  * Reduced false positives related to passengers
 * Image processing pipeline moved to the ISP
  * More GPU time for driving models
  * Power draw reduced 0.5W, which means your device runs cooler
 * Added toggle to enable driver monitoring even when openpilot is not engaged
 * Enable openpilot longitudinal control for Ford Q3 vehicles
 * New Toyota TSS2 longitudinal tune
 * Coming soon
  * New driving model with gas gating
  * Training data upload mode
 Version 0.9.7 (2024-06-13)
 ========================
 * New driving model
  * Inputs the past curvature for smoother and more accurate lateral control
  * Simplified neural network architecture in the model's last layers
  * Minor fixes to desire augmentation and weight decay
 * New driver monitoring model
  * Improved end-to-end bit for phone detection
 * Adjust driving personality with the follow distance button
 * Added toggle to enable driver monitoring even when openpilot is not engaged
 * Support for hybrid variants of supported Ford models
 * Fingerprinting without the OBD-II port on all cars
 * Improved fuzzy fingerprinting for Ford and Volkswagen
 Version 0.9.6 (2024-02-27)
 ========================
--- a/63
+++ b/63
@ -49,10 +49,6 @@ AddOption('--ccflags',
          default='',
          help='pass arbitrary flags over the command line')
 AddOption('--snpe',
          action='store_true',
          help='use SNPE on PC')
 AddOption('--external-sconscript',
          action='store',
          metavar='FILE',
@ -64,6 +60,10 @@ AddOption('--pc-thneed',
          dest='pc_thneed',
          help='use thneed on pc')
 AddOption('--mutation',
          action='store_true',
          help='generate mutation-ready code')
 AddOption('--minimal',
          action='store_false',
          dest='extras',
@ -102,7 +102,6 @@ if arch == "larch64":
  libpath = [
    "/usr/local/lib",
    "/usr/lib",
    "/system/vendor/lib64",
    f"#third_party/acados/{arch}/lib",
  ]
@ -169,10 +168,6 @@ else:
 if arch != "Darwin":
  ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
 # Enable swaglog include in submodules
 cflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
 cxxflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
 ccflags_option = GetOption('ccflags')
 if ccflags_option:
  ccflags += ccflags_option.split(' ')
@ -187,12 +182,9 @@ env = Environment(
    "-Werror",
    "-Wshadow",
    "-Wno-unknown-warning-option",
    "-Wno-deprecated-register",
    "-Wno-register",
    "-Wno-inconsistent-missing-override",
    "-Wno-c99-designator",
    "-Wno-reorder-init-list",
    "-Wno-error=unused-but-set-variable",
    "-Wno-vla-cxx-extension",
  ] + cflags + ccflags,
@ -206,13 +198,8 @@ env = Environment(
    "#third_party/json11",
    "#third_party/linux/include",
    "#third_party/snpe/include",
    "#third_party/qrcode",
    "#third_party",
    "#cereal",
    "#msgq",
    "#opendbc/can",
    "#third_party/maplibre-native-qt/include",
    f"#third_party/maplibre-native-qt/{arch}/include"
  ],
  CC='clang',
@ -224,10 +211,8 @@ env = Environment(
  CFLAGS=["-std=gnu11"] + cflags,
  CXXFLAGS=["-std=c++1z"] + cxxflags,
  LIBPATH=libpath + [
-    "#cereal",
+    "#msgq_repo",
    "#msgq",
    "#third_party",
    "#opendbc/can",
    "#selfdrive/pandad",
    "#common",
    "#rednose/helpers",
@ -236,7 +221,7 @@ env = Environment(
  COMPILATIONDB_USE_ABSPATH=True,
  REDNOSE_ROOT="#",
  tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#rednose_repo/site_scons/site_tools"],
+  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
 if arch == "Darwin":
@ -275,11 +260,12 @@ if arch == "Darwin":
 else:
  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
-Export('envCython')
+np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')
 # Qt build environment
 qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus", "Xml"]
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "DBus", "Xml"]
 qt_libs = []
 if arch == "Darwin":
@ -319,21 +305,17 @@ try:
 except SCons.Errors.UserError:
  qt_env.Tool('qt')
-qt_env['CPPPATH'] += qt_dirs# + ["#selfdrive/ui/qt/"]
+qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
 qt_flags = [
  "-D_REENTRANT",
  "-DQT_NO_DEBUG",
  "-DQT_WIDGETS_LIB",
  "-DQT_GUI_LIB",
  "-DQT_QUICK_LIB",
  "-DQT_QUICKWIDGETS_LIB",
  "-DQT_QML_LIB",
  "-DQT_CORE_LIB",
  "-DQT_MESSAGELOGCONTEXT",
 ]
 qt_env['CXXFLAGS'] += qt_flags
-qt_env['LIBPATH'] += ['#selfdrive/ui', f"#third_party/maplibre-native-qt/{arch}/lib"]
+qt_env['LIBPATH'] += ['#selfdrive/ui', ]
 qt_env['RPATH'] += [Dir(f"#third_party/maplibre-native-qt/{arch}/lib").srcnode().abspath]
 qt_env['LIBS'] = qt_libs
 if GetOption("clazy"):
@ -353,27 +335,34 @@ Export('env', 'qt_env', 'arch', 'real_arch')
 SConscript(['common/SConscript'])
 Import('_common', '_gpucommon')
-common = [_common, 'json11']
+common = [_common, 'json11', 'zmq']
 gpucommon = [_gpucommon]
 Export('common', 'gpucommon')
-# Build cereal and messaging
+# Build messaging (cereal + msgq + socketmaster + their dependencies)
-SConscript(['msgq/SConscript'])
+# Enable swaglog include in submodules
 env_swaglog = env.Clone()
 env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
 SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
 SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
 SConscript(['cereal/SConscript'])
 Import('socketmaster', 'msgq')
 messaging = [socketmaster, msgq, 'zmq', 'capnp', 'kj',]
 Export('messaging')
 # Build other submodules
-SConscript([
+SConscript(['panda/SConscript'])
  'body/board/SConscript',
  'opendbc/can/SConscript',
  'panda/SConscript',
 ])
 # Build rednose library
 SConscript(['rednose/SConscript'])
 # Build system services
 SConscript([
  'system/ui/SConscript',
  'system/proclogd/SConscript',
  'system/ubloxd/SConscript',
  'system/loggerd/SConscript',
--- a/1
+++ b/1
@ -1 +0,0 @@
 Subproject commit 0e74db67ae6aaa7c30054bd4335dcafe69a5aa72
--- a/cereal/README.md
+++ b/cereal/README.md
@ -1,11 +1,6 @@
-# What is cereal? [![cereal tests](https://github.com/commaai/cereal/workflows/tests/badge.svg?event=push)](https://github.com/commaai/cereal/actions) [![codecov](https://codecov.io/gh/commaai/cereal/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/cereal)
+# What is cereal?
-cereal is both a messaging spec for robotics systems as well as generic high performance IPC pub sub messaging with a single publisher and multiple subscribers.
+cereal is the messaging system for openpilot. It uses [msgq](https://github.com/commaai/msgq) as a pub/sub backend, and [Cap'n proto](https://capnproto.org/capnp-tool.html) for serialization of the structs.
 Imagine this use case:
 * A sensor process reads gyro measurements directly from an IMU and publishes a `sensorEvents` packet
 * A calibration process subscribes to the `sensorEvents` packet to use the IMU
 * A localization process subscribes to the `sensorEvents` packet to use the IMU also
 ## Messaging Spec
@ -32,11 +27,7 @@ Forks of [openpilot](https://github.com/commaai/openpilot) might want to add thi
 spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot
 then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in
 [custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
-fork will remain backwards-compatible with all versions of mainline cereal/openpilot and your fork.**
+fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**
 ## Pub Sub Backends
 cereal supports two backends, one based on [zmq](https://zeromq.org/) and another called [msgq](messaging/msgq.cc), a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel.
 Example
 ---
--- a/cereal/SConscript
+++ b/cereal/SConscript
@ -1,31 +1,20 @@
-Import('env', 'envCython', 'arch', 'common', 'messaging')
+Import('env', 'common', 'msgq')
 import shutil
 cereal_dir = Dir('.')
 gen_dir = Dir('gen')
 other_dir = Dir('#msgq/messaging')
 # Build cereal
 schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
 env.Command(["gen/c/include/c++.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
 env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
            schema_files,
            f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
-# TODO: remove non shared cereal and messaging
+cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
 cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files])
 cereal = env.Library('cereal', cereal_objects)
 env.SharedLibrary('cereal_shared', cereal_objects)
 # Build messaging
 services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging, 'zmq', common])
+env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread'])
-socketmaster = env.SharedObject(['messaging/socketmaster.cc'])
+socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
 socketmaster = env.Library('socketmaster', socketmaster)
 Export('cereal', 'socketmaster')
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@ -1,706 +0,0 @@
 using Cxx = import "./include/c++.capnp";
 $Cxx.namespace("cereal");
@0x8e2af1e708af8b8d;
 # ******* events causing controls state machine transition *******
 struct CarEvent @0x9b1657f34caf3ad3 {
  name @0 :EventName;
  # event types
  enable @1 :Bool;
  noEntry @2 :Bool;
  warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
  userDisable @4 :Bool;
  softDisable @5 :Bool;
  immediateDisable @6 :Bool;
  preEnable @7 :Bool;
  permanent @8 :Bool; # alerts presented regardless of openpilot state
  overrideLateral @10 :Bool;
  overrideLongitudinal @9 :Bool;
  enum EventName @0xbaa8c5d505f727de {
    canError @0;
    steerUnavailable @1;
    wrongGear @4;
    doorOpen @5;
    seatbeltNotLatched @6;
    espDisabled @7;
    wrongCarMode @8;
    steerTempUnavailable @9;
    reverseGear @10;
    buttonCancel @11;
    buttonEnable @12;
    pedalPressed @13;  # exits active state
    preEnableStandstill @73;  # added during pre-enable state with brake
    gasPressedOverride @108;  # added when user is pressing gas with no disengage on gas
    steerOverride @114;
    cruiseDisabled @14;
    speedTooLow @17;
    outOfSpace @18;
    overheat @19;
    calibrationIncomplete @20;
    calibrationInvalid @21;
    calibrationRecalibrating @117;
    controlsMismatch @22;
    pcmEnable @23;
    pcmDisable @24;
    radarFault @26;
    brakeHold @28;
    parkBrake @29;
    manualRestart @30;
    lowSpeedLockout @31;
    joystickDebug @34;
    steerTempUnavailableSilent @35;
    resumeRequired @36;
    preDriverDistracted @37;
    promptDriverDistracted @38;
    driverDistracted @39;
    preDriverUnresponsive @43;
    promptDriverUnresponsive @44;
    driverUnresponsive @45;
    belowSteerSpeed @46;
    lowBattery @48;
    accFaulted @51;
    sensorDataInvalid @52;
    commIssue @53;
    commIssueAvgFreq @109;
    tooDistracted @54;
    posenetInvalid @55;
    soundsUnavailable @56;
    preLaneChangeLeft @57;
    preLaneChangeRight @58;
    laneChange @59;
    lowMemory @63;
    stockAeb @64;
    ldw @65;
    carUnrecognized @66;
    invalidLkasSetting @69;
    speedTooHigh @70;
    laneChangeBlocked @71;
    relayMalfunction @72;
    stockFcw @74;
    startup @75;
    startupNoCar @76;
    startupNoControl @77;
    startupMaster @78;
    startupNoFw @104;
    fcw @79;
    steerSaturated @80;
    belowEngageSpeed @84;
    noGps @85;
    wrongCruiseMode @87;
    modeldLagging @89;
    deviceFalling @90;
    fanMalfunction @91;
    cameraMalfunction @92;
    cameraFrameRate @110;
    processNotRunning @95;
    dashcamMode @96;
    controlsInitializing @98;
    usbError @99;
    roadCameraError @100;
    driverCameraError @101;
    wideRoadCameraError @102;
    highCpuUsage @105;
    cruiseMismatch @106;
    lkasDisabled @107;
    canBusMissing @111;
    controlsdLagging @112;
    resumeBlocked @113;
    steerTimeLimit @115;
    vehicleSensorsInvalid @116;
    locationdTemporaryError @103;
    locationdPermanentError @118;
    paramsdTemporaryError @50;
    paramsdPermanentError @119;
    actuatorsApiUnavailable @120;
    radarCanErrorDEPRECATED @15;
    communityFeatureDisallowedDEPRECATED @62;
    radarCommIssueDEPRECATED @67;
    driverMonitorLowAccDEPRECATED @68;
    gasUnavailableDEPRECATED @3;
    dataNeededDEPRECATED @16;
    modelCommIssueDEPRECATED @27;
    ipasOverrideDEPRECATED @33;
    geofenceDEPRECATED @40;
    driverMonitorOnDEPRECATED @41;
    driverMonitorOffDEPRECATED @42;
    calibrationProgressDEPRECATED @47;
    invalidGiraffeHondaDEPRECATED @49;
    invalidGiraffeToyotaDEPRECATED @60;
    internetConnectivityNeededDEPRECATED @61;
    whitePandaUnsupportedDEPRECATED @81;
    commIssueWarningDEPRECATED @83;
    focusRecoverActiveDEPRECATED @86;
    neosUpdateRequiredDEPRECATED @88;
    modelLagWarningDEPRECATED @93;
    startupOneplusDEPRECATED @82;
    startupFuzzyFingerprintDEPRECATED @97;
    noTargetDEPRECATED @25;
    brakeUnavailableDEPRECATED @2;
    plannerErrorDEPRECATED @32;
    gpsMalfunctionDEPRECATED @94;
  }
 }
 # ******* main car state @ 100hz *******
 # all speeds in m/s
 struct CarState {
  events @13 :List(CarEvent);
  # CAN health
  canValid @26 :Bool;       # invalid counter/checksums
  canTimeout @40 :Bool;     # CAN bus dropped out
  canErrorCounter @48 :UInt32;
  # car speed
  vEgo @1 :Float32;          # best estimate of speed
  aEgo @16 :Float32;         # best estimate of acceleration
  vEgoRaw @17 :Float32;      # unfiltered speed from CAN sensors
  vEgoCluster @44 :Float32;  # best estimate of speed shown on car's instrument cluster, used for UI
  yawRate @22 :Float32;     # best estimate of yaw rate
  standstill @18 :Bool;
  wheelSpeeds @2 :WheelSpeeds;
  # gas pedal, 0.0-1.0
  gas @3 :Float32;        # this is user pedal only
  gasPressed @4 :Bool;    # this is user pedal only
  engineRpm @46 :Float32;
  # brake pedal, 0.0-1.0
  brake @5 :Float32;      # this is user pedal only
  brakePressed @6 :Bool;  # this is user pedal only
  regenBraking @45 :Bool; # this is user pedal only
  parkingBrake @39 :Bool;
  brakeHoldActive @38 :Bool;
  # steering wheel
  steeringAngleDeg @7 :Float32;
  steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple
  steeringRateDeg @15 :Float32;
  steeringTorque @8 :Float32;      # TODO: standardize units
  steeringTorqueEps @27 :Float32;  # TODO: standardize units
  steeringPressed @9 :Bool;        # if the user is using the steering wheel
  steerFaultTemporary @35 :Bool;   # temporary EPS fault
  steerFaultPermanent @36 :Bool;   # permanent EPS fault
  stockAeb @30 :Bool;
  stockFcw @31 :Bool;
  espDisabled @32 :Bool;
  accFaulted @42 :Bool;
  carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable
  # cruise state
  cruiseState @10 :CruiseState;
  # gear
  gearShifter @14 :GearShifter;
  # button presses
  buttonEvents @11 :List(ButtonEvent);
  leftBlinker @20 :Bool;
  rightBlinker @21 :Bool;
  genericToggle @23 :Bool;
  # lock info
  doorOpen @24 :Bool;
  seatbeltUnlatched @25 :Bool;
  # clutch (manual transmission only)
  clutchPressed @28 :Bool;
  # blindspot sensors
  leftBlindspot @33 :Bool; # Is there something blocking the left lane change
  rightBlindspot @34 :Bool; # Is there something blocking the right lane change
  fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0
  charging @43 :Bool;
  # process meta
  cumLagMs @50 :Float32;
  struct WheelSpeeds {
    # optional wheel speeds
    fl @0 :Float32;
    fr @1 :Float32;
    rl @2 :Float32;
    rr @3 :Float32;
  }
  struct CruiseState {
    enabled @0 :Bool;
    speed @1 :Float32;
    speedCluster @6 :Float32;  # Set speed as shown on instrument cluster
    available @2 :Bool;
    speedOffset @3 :Float32;
    standstill @4 :Bool;
    nonAdaptive @5 :Bool;
  }
  enum GearShifter {
    unknown @0;
    park @1;
    drive @2;
    neutral @3;
    reverse @4;
    sport @5;
    low @6;
    brake @7;
    eco @8;
    manumatic @9;
  }
  # send on change
  struct ButtonEvent {
    pressed @0 :Bool;
    type @1 :Type;
    enum Type {
      unknown @0;
      leftBlinker @1;
      rightBlinker @2;
      accelCruise @3;
      decelCruise @4;
      cancel @5;
      altButton1 @6;
      altButton2 @7;
      altButton3 @8;
      setCruise @9;
      resumeCruise @10;
      gapAdjustCruise @11;
    }
  }
  # deprecated
  errorsDEPRECATED @0 :List(CarEvent.EventName);
  brakeLightsDEPRECATED @19 :Bool;
  steeringRateLimitedDEPRECATED @29 :Bool;
  canMonoTimesDEPRECATED @12: List(UInt64);
  canRcvTimeoutDEPRECATED @49 :Bool;
 }
 # ******* radar state @ 20hz *******
 struct RadarData @0x888ad6581cf0aacb {
  errors @0 :List(Error);
  points @1 :List(RadarPoint);
  enum Error {
    canError @0;
    fault @1;
    wrongConfig @2;
  }
  # similar to LiveTracks
  # is one timestamp valid for all? I think so
  struct RadarPoint {
    trackId @0 :UInt64;  # no trackId reuse
    # these 3 are the minimum required
    dRel @1 :Float32; # m from the front bumper of the car
    yRel @2 :Float32; # m
    vRel @3 :Float32; # m/s
    # these are optional and valid if they are not NaN
    aRel @4 :Float32; # m/s^2
    yvRel @5 :Float32; # m/s
    # some radars flag measurements VS estimates
    measured @6 :Bool;
  }
  # deprecated
  canMonoTimesDEPRECATED @2 :List(UInt64);
 }
 # ******* car controls @ 100hz *******
 struct CarControl {
  # must be true for any actuator commands to work
  enabled @0 :Bool;
  latActive @11: Bool;
  longActive @12: Bool;
  # Actuator commands as computed by controlsd
  actuators @6 :Actuators;
  # moved to CarOutput
  actuatorsOutputDEPRECATED @10 :Actuators;
  leftBlinker @15: Bool;
  rightBlinker @16: Bool;
  orientationNED @13 :List(Float32);
  angularVelocity @14 :List(Float32);
  cruiseControl @4 :CruiseControl;
  hudControl @5 :HUDControl;
  struct Actuators {
    # range from 0.0 - 1.0
    gas @0: Float32;
    brake @1: Float32;
    # range from -1.0 - 1.0
    steer @2: Float32;
    # value sent over can to the car
    steerOutputCan @8: Float32;
    steeringAngleDeg @3: Float32;
    curvature @7: Float32;
    speed @6: Float32; # m/s
    accel @4: Float32; # m/s^2
    longControlState @5: LongControlState;
    enum LongControlState @0xe40f3a917d908282{
      off @0;
      pid @1;
      stopping @2;
      starting @3;
    }
  }
  struct CruiseControl {
    cancel @0: Bool;
    resume @1: Bool;
    override @4: Bool;
    speedOverrideDEPRECATED @2: Float32;
    accelOverrideDEPRECATED @3: Float32;
  }
  struct HUDControl {
    speedVisible @0: Bool;
    setSpeed @1: Float32;
    lanesVisible @2: Bool;
    leadVisible @3: Bool;
    visualAlert @4: VisualAlert;
    audibleAlert @5: AudibleAlert;
    rightLaneVisible @6: Bool;
    leftLaneVisible @7: Bool;
    rightLaneDepart @8: Bool;
    leftLaneDepart @9: Bool;
    leadDistanceBars @10: Int8;  # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead
    enum VisualAlert {
      # these are the choices from the Honda
      # map as good as you can for your car
      none @0;
      fcw @1;
      steerRequired @2;
      brakePressed @3;
      wrongGear @4;
      seatbeltUnbuckled @5;
      speedTooHigh @6;
      ldw @7;
    }
    enum AudibleAlert {
      none @0;
      engage @1;
      disengage @2;
      refuse @3;
      warningSoft @4;
      warningImmediate @5;
      prompt @6;
      promptRepeat @7;
      promptDistracted @8;
    }
  }
  gasDEPRECATED @1 :Float32;
  brakeDEPRECATED @2 :Float32;
  steeringTorqueDEPRECATED @3 :Float32;
  activeDEPRECATED @7 :Bool;
  rollDEPRECATED @8 :Float32;
  pitchDEPRECATED @9 :Float32;
 }
 struct CarOutput {
  # Any car specific rate limits or quirks applied by
  # the CarController are reflected in actuatorsOutput
  # and matches what is sent to the car
  actuatorsOutput @0 :CarControl.Actuators;
 }
 # ****** car param ******
 struct CarParams {
  carName @0 :Text;
  carFingerprint @1 :Text;
  fuzzyFingerprint @55 :Bool;
  notCar @66 :Bool;  # flag for non-car robotics platforms
  pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
  enableDsu @5 :Bool;        # driving support unit
  enableBsm @56 :Bool;       # blind spot monitoring
  flags @64 :UInt32;         # flags for car specific quirks
  experimentalLongitudinalAvailable @71 :Bool;
  minEnableSpeed @7 :Float32;
  minSteerSpeed @8 :Float32;
  safetyConfigs @62 :List(SafetyConfig);
  alternativeExperience @65 :Int16;      # panda flag for features like no disengage on gas
  # Car docs fields
  maxLateralAccel @68 :Float32;
  autoResumeSng @69 :Bool;               # describes whether car can resume from a stop automatically
  # things about the car in the manual
  mass @17 :Float32;            # [kg] curb weight: all fluids no cargo
  wheelbase @18 :Float32;       # [m] distance from rear axle to front axle
  centerToFront @19 :Float32;   # [m] distance from center of mass to front axle
  steerRatio @20 :Float32;      # [] ratio of steering wheel angle to front wheel angle
  steerRatioRear @21 :Float32;  # [] ratio of steering wheel angle to rear wheel angle (usually 0)
  # things we can derive
  rotationalInertia @22 :Float32;    # [kg*m2] body rotational inertia
  tireStiffnessFactor @72 :Float32;  # scaling factor used in calculating tireStiffness[Front,Rear]
  tireStiffnessFront @23 :Float32;   # [N/rad] front tire coeff of stiff
  tireStiffnessRear @24 :Float32;    # [N/rad] rear tire coeff of stiff
  longitudinalTuning @25 :LongitudinalPIDTuning;
  lateralParams @48 :LateralParams;
  lateralTuning :union {
    pid @26 :LateralPIDTuning;
    indiDEPRECATED @27 :LateralINDITuning;
    lqrDEPRECATED @40 :LateralLQRTuning;
    torque @67 :LateralTorqueTuning;
  }
  steerLimitAlert @28 :Bool;
  steerLimitTimer @47 :Float32;  # time before steerLimitAlert is issued
  vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
  vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
  stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
  steerControlType @34 :SteerControlType;
  radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out
  stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
  stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
  startAccel @32 :Float32; # Required acceleration to get car moving
  startingState @70 :Bool; # Does this car make use of special starting state
  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
  longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound
  longitudinalActuatorDelayUpperBound @58 :Float32; # Gas/Brake actuator delay in seconds, upper bound
  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
  carVin @38 :Text; # VIN number queried during fingerprinting
  dashcamOnly @41: Bool;
  passive @73: Bool;   # is openpilot in control?
  transmissionType @43 :TransmissionType;
  carFw @44 :List(CarFw);
  radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
  fingerprintSource @49: FingerprintSource;
  networkLocation @50 :NetworkLocation;  # Where Panda/C2 is integrated into the car's CAN network
  wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
  struct SafetyConfig {
    safetyModel @0 :SafetyModel;
    safetyParam @3 :UInt16;
    safetyParamDEPRECATED @1 :Int16;
    safetyParam2DEPRECATED @2 :UInt32;
  }
  struct LateralParams {
    torqueBP @0 :List(Int32);
    torqueV @1 :List(Int32);
  }
  struct LateralPIDTuning {
    kpBP @0 :List(Float32);
    kpV @1 :List(Float32);
    kiBP @2 :List(Float32);
    kiV @3 :List(Float32);
    kf @4 :Float32;
  }
  struct LateralTorqueTuning {
    useSteeringAngle @0 :Bool;
    kp @1 :Float32;
    ki @2 :Float32;
    friction @3 :Float32;
    kf @4 :Float32;
    steeringAngleDeadzoneDeg @5 :Float32;
    latAccelFactor @6 :Float32;
    latAccelOffset @7 :Float32;
  }
  struct LongitudinalPIDTuning {
    kpBP @0 :List(Float32);
    kpV @1 :List(Float32);
    kiBP @2 :List(Float32);
    kiV @3 :List(Float32);
    kf @6 :Float32;
    deadzoneBP @4 :List(Float32);
    deadzoneV @5 :List(Float32);
  }
  struct LateralINDITuning {
    outerLoopGainBP @4 :List(Float32);
    outerLoopGainV @5 :List(Float32);
    innerLoopGainBP @6 :List(Float32);
    innerLoopGainV @7 :List(Float32);
    timeConstantBP @8 :List(Float32);
    timeConstantV @9 :List(Float32);
    actuatorEffectivenessBP @10 :List(Float32);
    actuatorEffectivenessV @11 :List(Float32);
    outerLoopGainDEPRECATED @0 :Float32;
    innerLoopGainDEPRECATED @1 :Float32;
    timeConstantDEPRECATED @2 :Float32;
    actuatorEffectivenessDEPRECATED @3 :Float32;
  }
  struct LateralLQRTuning {
    scale @0 :Float32;
    ki @1 :Float32;
    dcGain @2 :Float32;
    # State space system
    a @3 :List(Float32);
    b @4 :List(Float32);
    c @5 :List(Float32);
    k @6 :List(Float32);  # LQR gain
    l @7 :List(Float32);  # Kalman gain
  }
  enum SafetyModel {
    silent @0;
    hondaNidec @1;
    toyota @2;
    elm327 @3;
    gm @4;
    hondaBoschGiraffe @5;
    ford @6;
    cadillac @7;
    hyundai @8;
    chrysler @9;
    tesla @10;
    subaru @11;
    gmPassive @12;
    mazda @13;
    nissan @14;
    volkswagen @15;
    toyotaIpas @16;
    allOutput @17;
    gmAscm @18;
    noOutput @19;  # like silent but without silent CAN TXs
    hondaBosch @20;
    volkswagenPq @21;
    subaruPreglobal @22;  # pre-Global platform
    hyundaiLegacy @23;
    hyundaiCommunity @24;
    volkswagenMlb @25;
    hongqi @26;
    body @27;
    hyundaiCanfd @28;
    volkswagenMqbEvo @29;
    chryslerCusw @30;
    psa @31;
  }
  enum SteerControlType {
    torque @0;
    angle @1;
    curvatureDEPRECATED @2;
  }
  enum TransmissionType {
    unknown @0;
    automatic @1;  # Traditional auto, including DSG
    manual @2;  # True "stick shift" only
    direct @3;  # Electric vehicle or other direct drive
    cvt @4;
  }
  struct CarFw {
    ecu @0 :Ecu;
    fwVersion @1 :Data;
    address @2 :UInt32;
    subAddress @3 :UInt8;
    responseAddress @4 :UInt32;
    request @5 :List(Data);
    brand @6 :Text;
    bus @7 :UInt8;
    logging @8 :Bool;
    obdMultiplexing @9 :Bool;
  }
  enum Ecu {
    eps @0;
    abs @1;
    fwdRadar @2;
    fwdCamera @3;
    engine @4;
    unknown @5;
    transmission @8; # Transmission Control Module
    hybrid @18; # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer
    srs @9; # airbag
    gateway @10; # can gateway
    hud @11; # heads up display
    combinationMeter @12; # instrument cluster
    electricBrakeBooster @15;
    shiftByWire @16;
    adas @19;
    cornerRadar @21;
    hvac @20;
    parkingAdas @7;  # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.
    epb @22;  # electronic parking brake
    telematics @23;
    body @24;  # body control module
    # Toyota only
    dsu @6;
    # Honda only
    vsa @13; # Vehicle Stability Assist
    programmedFuelInjection @14;
    debug @17;
  }
  enum FingerprintSource {
    can @0;
    fw @1;
    fixed @2;
  }
  enum NetworkLocation {
    fwdCamera @0;  # Standard/default integration at LKAS camera
    gateway @1;    # Integration at vehicle's CAN gateway
  }
  enableGasInterceptorDEPRECATED @2 :Bool;
  enableCameraDEPRECATED @4 :Bool;
  enableApgsDEPRECATED @6 :Bool;
  steerRateCostDEPRECATED @33 :Float32;
  isPandaBlackDEPRECATED @39 :Bool;
  hasStockCameraDEPRECATED @57 :Bool;
  safetyParamDEPRECATED @10 :Int16;
  safetyModelDEPRECATED @9 :SafetyModel;
  safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
  minSpeedCanDEPRECATED @51 :Float32;
  communityFeatureDEPRECATED @46: Bool;
  startingAccelRateDEPRECATED @53 :Float32;
  steerMaxBPDEPRECATED @11 :List(Float32);
  steerMaxVDEPRECATED @12 :List(Float32);
  gasMaxBPDEPRECATED @13 :List(Float32);
  gasMaxVDEPRECATED @14 :List(Float32);
  brakeMaxBPDEPRECATED @15 :List(Float32);
  brakeMaxVDEPRECATED @16 :List(Float32);
  directAccelControlDEPRECATED @30 :Bool;
  maxSteeringAngleDegDEPRECATED @54 :Float32;
 }
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@ -0,0 +1 @@
 ../opendbc_repo/opendbc/car/car.capnp
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@ -17,6 +17,119 @@ struct Map(Key, Value) {
  }
 }
 struct OnroadEvent @0xc4fa6047f024e718 {
  name @0 :EventName;
  # event types
  enable @1 :Bool;
  noEntry @2 :Bool;
  warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
  userDisable @4 :Bool;
  softDisable @5 :Bool;
  immediateDisable @6 :Bool;
  preEnable @7 :Bool;
  permanent @8 :Bool; # alerts presented regardless of openpilot state
  overrideLateral @10 :Bool;
  overrideLongitudinal @9 :Bool;
  enum EventName @0x91f1992a1f77fb03 {
    canError @0;
    steerUnavailable @1;
    wrongGear @2;
    doorOpen @3;
    seatbeltNotLatched @4;
    espDisabled @5;
    wrongCarMode @6;
    steerTempUnavailable @7;
    reverseGear @8;
    buttonCancel @9;
    buttonEnable @10;
    pedalPressed @11;  # exits active state
    preEnableStandstill @12;  # added during pre-enable state with brake
    gasPressedOverride @13;  # added when user is pressing gas with no disengage on gas
    steerOverride @14;
    cruiseDisabled @15;
    speedTooLow @16;
    outOfSpace @17;
    overheat @18;
    calibrationIncomplete @19;
    calibrationInvalid @20;
    calibrationRecalibrating @21;
    controlsMismatch @22;
    pcmEnable @23;
    pcmDisable @24;
    radarFault @25;
    brakeHold @26;
    parkBrake @27;
    manualRestart @28;
    joystickDebug @29;
    longitudinalManeuver @30;
    steerTempUnavailableSilent @31;
    resumeRequired @32;
    preDriverDistracted @33;
    promptDriverDistracted @34;
    driverDistracted @35;
    preDriverUnresponsive @36;
    promptDriverUnresponsive @37;
    driverUnresponsive @38;
    belowSteerSpeed @39;
    lowBattery @40;
    accFaulted @41;
    sensorDataInvalid @42;
    commIssue @43;
    commIssueAvgFreq @44;
    tooDistracted @45;
    posenetInvalid @46;
    preLaneChangeLeft @48;
    preLaneChangeRight @49;
    laneChange @50;
    lowMemory @51;
    stockAeb @52;
    ldw @53;
    carUnrecognized @54;
    invalidLkasSetting @55;
    speedTooHigh @56;
    laneChangeBlocked @57;
    relayMalfunction @58;
    stockFcw @59;
    startup @60;
    startupNoCar @61;
    startupNoControl @62;
    startupNoSecOcKey @63;
    startupMaster @64;
    fcw @65;
    steerSaturated @66;
    belowEngageSpeed @67;
    noGps @68;
    wrongCruiseMode @69;
    modeldLagging @70;
    deviceFalling @71;
    fanMalfunction @72;
    cameraMalfunction @73;
    cameraFrameRate @74;
    processNotRunning @75;
    dashcamMode @76;
    selfdriveInitializing @77;
    usbError @78;
    cruiseMismatch @79;
    canBusMissing @80;
    selfdrivedLagging @81;
    resumeBlocked @82;
    steerTimeLimit @83;
    vehicleSensorsInvalid @84;
    locationdTemporaryError @85;
    locationdPermanentError @86;
    paramsdTemporaryError @87;
    paramsdPermanentError @88;
    actuatorsApiUnavailable @89;
    espActive @90;
    personalityChanged @91;
    aeb @92;
    soundsUnavailableDEPRECATED @47;
  }
 }
 enum LongitudinalPersonality {
  aggressive @0;
  standard @1;
@ -137,8 +250,6 @@ struct FrameData {
  requestId @28 :UInt32;
  encodeId @1 :UInt32;
  frameType @7 :FrameType;
  # Timestamps
  timestampEof @2 :UInt64;
  timestampSof @8 :UInt64;
@ -158,7 +269,7 @@ struct FrameData {
  temperaturesC @24 :List(Float32);
-  enum FrameType {
+  enum FrameTypeDEPRECATED {
    unknown @0;
    neo @1;
    chffrAndroid @2;
@ -175,6 +286,7 @@ struct FrameData {
  frameLengthDEPRECATED @3 :Int32;
  globalGainDEPRECATED @5 :Int32;
  frameTypeDEPRECATED @7 :FrameTypeDEPRECATED;
  androidCaptureResultDEPRECATED @9 :AndroidCaptureResult;
  lensPosDEPRECATED @11 :Int32;
  lensSagDEPRECATED @12 :Float32;
@ -297,6 +409,7 @@ struct GpsLocationData {
  speedAccuracy @12 :Float32;
  hasFix @13 :Bool;
  satelliteCount @14 :Int8;
  enum SensorSource {
    android @0;
@ -337,9 +450,9 @@ enum LaneChangeDirection {
 struct CanData {
  address @0 :UInt32;
  busTime @1 :UInt16;
  dat     @2 :Data;
  src     @3 :UInt8;
  busTimeDEPRECATED @1 :UInt16;
 }
 struct DeviceState @0xa4d8b5af2aa492eb {
@ -374,6 +487,9 @@ struct DeviceState @0xa4d8b5af2aa492eb {
  nvmeTempC @35 :List(Float32);
  modemTempC @36 :List(Float32);
  pmicTempC @39 :List(Float32);
  intakeTempC @46 :Float32;
  exhaustTempC @47 :Float32;
  caseTempC @48 :Float32;
  maxTempC @44 :Float32;  # max of other temps, used to control fan
  thermalZones @38 :List(ThermalZone);
  thermalStatus @14 :ThermalStatus;
@ -612,7 +728,6 @@ struct RadarState @0x9a185389d6fdd05f {
  leadOne @3 :LeadData;
  leadTwo @4 :LeadData;
  cumLagMs @5 :Float32;
  struct LeadData {
    dRel @0 :Float32;
@ -642,6 +757,7 @@ struct RadarState @0x9a185389d6fdd05f {
  calCycleDEPRECATED @8 :Int32;
  calPercDEPRECATED @9 :Int8;
  canMonoTimesDEPRECATED @10 :List(UInt64);
  cumLagMsDEPRECATED @5 :Float32;
 }
 struct LiveCalibrationData {
@ -672,7 +788,7 @@ struct LiveCalibrationData {
  }
 }
-struct LiveTracks {
+struct LiveTracksDEPRECATED {
  trackId @0 :Int32;
  dRel @1 :Float32;
  yRel @2 :Float32;
@ -685,45 +801,61 @@ struct LiveTracks {
  oncoming @9 :Bool;
 }
 struct SelfdriveState {
  # high level system state
  state @0 :OpenpilotState;
  enabled @1 :Bool;
  active @2 :Bool;
  engageable @9 :Bool;  # can OP be engaged?
  # UI alerts
  alertText1 @3 :Text;
  alertText2 @4 :Text;
  alertStatus @5 :AlertStatus;
  alertSize @6 :AlertSize;
  alertType @7 :Text;
  alertSound @8 :Car.CarControl.HUDControl.AudibleAlert;
  alertHudVisual @12 :Car.CarControl.HUDControl.VisualAlert;
  # configurable driving settings
  experimentalMode @10 :Bool;
  personality @11 :LongitudinalPersonality;
  enum OpenpilotState @0xdbe58b96d2d1ac61 {
    disabled @0;
    preEnabled @1;
    enabled @2;
    softDisabling @3;
    overriding @4;  # superset of overriding with steering or accelerator
  }
  enum AlertStatus @0xa0d0dcd113193c62 {
    normal @0;
    userPrompt @1;
    critical @2;
  }
  enum AlertSize @0xe98bb99d6e985f64 {
    none @0;
    small @1;
    mid @2;
    full @3;
  }
 }
 struct ControlsState @0x97ff69c53601abf1 {
  startMonoTime @48 :UInt64;
  longitudinalPlanMonoTime @28 :UInt64;
  lateralPlanMonoTime @50 :UInt64;
  state @31 :OpenpilotState;
  enabled @19 :Bool;
  active @36 :Bool;
  experimentalMode @64 :Bool;
  personality @66 :LongitudinalPersonality;
  longControlState @30 :Car.CarControl.Actuators.LongControlState;
  vPid @2 :Float32;
  vTargetLead @3 :Float32;
  vCruise @22 :Float32;  # actual set speed
  vCruiseCluster @63 :Float32;  # set speed to display in the UI
  upAccelCmd @4 :Float32;
  uiAccelCmd @5 :Float32;
  ufAccelCmd @33 :Float32;
  aTarget @35 :Float32;
  curvature @37 :Float32;  # path curvature from vehicle model
  desiredCurvature @61 :Float32;  # lag adjusted curvatures used by lateral controllers
  forceDecel @51 :Bool;
  # UI alerts
  alertText1 @24 :Text;
  alertText2 @25 :Text;
  alertStatus @38 :AlertStatus;
  alertSize @39 :AlertSize;
  alertBlinkingRate @42 :Float32;
  alertType @44 :Text;
  alertSound @56 :Car.CarControl.HUDControl.AudibleAlert;
  engageable @41 :Bool;  # can OP be engaged?
  cumLagMs @15 :Float32;
  lateralControlState :union {
    indiState @52 :LateralINDIState;
    pidState @53 :LateralPIDState;
    angleState @58 :LateralAngleState;
    debugState @59 :LateralDebugState;
@ -731,27 +863,7 @@ struct ControlsState @0x97ff69c53601abf1 {
    curvatureStateDEPRECATED @65 :LateralCurvatureState;
    lqrStateDEPRECATED @55 :LateralLQRState;
-  }
+    indiStateDEPRECATED @52 :LateralINDIState;
  enum OpenpilotState @0xdbe58b96d2d1ac61 {
    disabled @0;
    preEnabled @1;
    enabled @2;
    softDisabling @3;
    overriding @4;  # superset of overriding with steering or accelerator
  }
  enum AlertStatus {
    normal @0;       # low priority alert for user's convenience
    userPrompt @1;   # mid priority alert that might require user intervention
    critical @2;     # high priority alert that needs immediate user intervention
  }
  enum AlertSize {
    none @0;    # don't display the alert
    small @1;   # small box
    mid @2;     # mid screen
    full @3;    # full screen
  }
  struct LateralINDIState {
@ -866,6 +978,58 @@ struct ControlsState @0x97ff69c53601abf1 {
  canMonoTimesDEPRECATED @21 :List(UInt64);
  desiredCurvatureRateDEPRECATED @62 :Float32;
  canErrorCounterDEPRECATED @57 :UInt32;
  vPidDEPRECATED @2 :Float32;
  alertBlinkingRateDEPRECATED @42 :Float32;
  alertText1DEPRECATED @24 :Text;
  alertText2DEPRECATED @25 :Text;
  alertStatusDEPRECATED @38 :SelfdriveState.AlertStatus;
  alertSizeDEPRECATED @39 :SelfdriveState.AlertSize;
  alertTypeDEPRECATED @44 :Text;
  alertSound2DEPRECATED @56 :Car.CarControl.HUDControl.AudibleAlert;
  engageableDEPRECATED @41 :Bool;  # can OP be engaged?
  stateDEPRECATED @31 :SelfdriveState.OpenpilotState;
  enabledDEPRECATED @19 :Bool;
  activeDEPRECATED @36 :Bool;
  experimentalModeDEPRECATED @64 :Bool;
  personalityDEPRECATED @66 :LongitudinalPersonality;
  vCruiseDEPRECATED @22 :Float32;  # actual set speed
  vCruiseClusterDEPRECATED @63 :Float32;  # set speed to display in the UI
  startMonoTimeDEPRECATED @48 :UInt64;
  cumLagMsDEPRECATED @15 :Float32;
  aTargetDEPRECATED @35 :Float32;
  vTargetLeadDEPRECATED @3 :Float32;
 }
 struct DrivingModelData {
  frameId @0 :UInt32;
  frameIdExtra @1 :UInt32;
  frameDropPerc @6 :Float32;
  modelExecutionTime @7 :Float32;
  action @2 :ModelDataV2.Action;
  laneLineMeta @3 :LaneLineMeta;
  meta @4 :MetaData;
  path @5 :PolyPath;
  struct PolyPath {
    xCoefficients @0 :List(Float32);
    yCoefficients @1 :List(Float32);
    zCoefficients @2 :List(Float32);
  }
  struct LaneLineMeta {
    leftY @0 :Float32;
    rightY @1 :Float32;
    leftProb @2 :Float32;
    rightProb @3 :Float32;
  }
  struct MetaData {
    laneChangeState @0 :LaneChangeState;
    laneChangeDirection @1 :LaneChangeDirection;
  }
 }
 # All SI units and in device frame
@ -886,7 +1050,6 @@ struct ModelDataV2 {
  frameDropPerc @2 :Float32;
  timestampEof @3 :UInt64;
  modelExecutionTime @15 :Float32;
  gpuExecutionTime @17 :Float32;
  rawPredictions @16 :Data;
  # predicted future position, orientation, etc..
@ -913,12 +1076,13 @@ struct ModelDataV2 {
  # Model perceived motion
  temporalPose @21 :Pose;
  # e2e lateral planner
  action @26: Action;
  gpuExecutionTimeDEPRECATED @17 :Float32;
  navEnabledDEPRECATED @22 :Bool;
  locationMonoTimeDEPRECATED @24 :UInt64;
  # e2e lateral planner
  lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution;
  action @26: Action;
  struct LeadDataV2 {
    prob @0 :Float32; # probability that car is your lead at time t
@ -980,6 +1144,8 @@ struct ModelDataV2 {
    brake3MetersPerSecondSquaredProbs @4 :List(Float32);
    brake4MetersPerSecondSquaredProbs @5 :List(Float32);
    brake5MetersPerSecondSquaredProbs @6 :List(Float32);
    gasPressProbs @7 :List(Float32);
    brakePressProbs @8 :List(Float32);
  }
  struct Pose {
@ -1049,6 +1215,14 @@ struct AndroidLogEntry {
  message @6 :Text;
 }
 struct DriverAssistance {
  # Lane Departure Warnings
  leftLaneDeparture @0 :Bool;
  rightLaneDeparture @1 :Bool;
  # FCW, AEB, etc. will go here
 }
 struct LongitudinalPlan @0xe00b5b3eba12876c {
  modelMonoTime @9 :UInt64;
  hasLead @7 :Bool;
@ -1060,6 +1234,11 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
  accels @32 :List(Float32);
  speeds @33 :List(Float32);
  jerks @34 :List(Float32);
  aTarget @18 :Float32;
  shouldStop @37: Bool;
  allowThrottle @38: Bool;
  allowBrake @39: Bool;
  solverExecutionTime @35 :Float32;
@ -1076,7 +1255,6 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
  aCruiseDEPRECATED @17 :Float32;
  vTargetDEPRECATED @3 :Float32;
  vTargetFutureDEPRECATED @14 :Float32;
  aTargetDEPRECATED @18 :Float32;
  vStartDEPRECATED @26 :Float32;
  aStartDEPRECATED @27 :Float32;
  vMaxDEPRECATED @20 :Float32;
@ -1096,7 +1274,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
  radarValidDEPRECATED @28 :Bool;
  radarCanErrorDEPRECATED @30 :Bool;
  commIssueDEPRECATED @31 :Bool;
-  eventsDEPRECATED @13 :List(Car.CarEvent);
+  eventsDEPRECATED @13 :List(Car.OnroadEventDEPRECATED);
  gpsTrajectoryDEPRECATED @12 :GpsTrajectory;
  gpsPlannerActiveDEPRECATED @19 :Bool;
  personalityDEPRECATED @36 :LongitudinalPersonality;
@ -1217,6 +1395,46 @@ struct LiveLocationKalman {
  }
 }
 struct LivePose {
  # More info on reference frames:
  # https://github.com/commaai/openpilot/tree/master/common/transformations
  orientationNED @0 :XYZMeasurement;
  velocityDevice @1 :XYZMeasurement;
  accelerationDevice @2 :XYZMeasurement;
  angularVelocityDevice @3 :XYZMeasurement;
  inputsOK @4 :Bool = false;
  posenetOK @5 :Bool = false;
  sensorsOK @6 :Bool = false;
  debugFilterState @7 :FilterState;
  struct XYZMeasurement {
    x @0 :Float32;
    y @1 :Float32;
    z @2 :Float32;
    xStd @3 :Float32;
    yStd @4 :Float32;
    zStd @5 :Float32;
    valid @6 :Bool;
  }
  struct FilterState {
    value @0 : List(Float64);
    std @1 : List(Float64);
    valid @2 : Bool;
    observations @3 :List(Observation);
    struct Observation {
      kind @0 :Int32;
      value @1 :List(Float32);
      error @2 :List(Float32);
    }
  }
 }
 struct ProcLog {
  cpuTimes @0 :List(CPUTimes);
  mem @1 :Mem;
@ -1911,7 +2129,8 @@ struct Joystick {
 struct DriverStateV2 {
  frameId @0 :UInt32;
  modelExecutionTime @1 :Float32;
-  dspExecutionTime @2 :Float32;
+  dspExecutionTimeDEPRECATED @2 :Float32;
  gpuExecutionTime @8 :Float32;
  rawPredictions @3 :Data;
  poorVisionProb @4 :Float32;
@ -1970,7 +2189,7 @@ struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
 }
 struct DriverMonitoringState @0xb83cda094a1da284 {
-  events @0 :List(Car.CarEvent);
+  events @18 :List(OnroadEvent);
  faceDetected @1 :Bool;
  isDistracted @2 :Bool;
  distractedType @17 :UInt32;
@ -1989,6 +2208,7 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
  isPreviewDEPRECATED @15 :Bool;
  rhdCheckedDEPRECATED @5 :Bool;
  eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED);
 }
 struct Boot {
@ -2016,9 +2236,15 @@ struct LiveParametersData {
  stiffnessFactorStd @12 :Float32;
  steerRatioStd @13 :Float32;
  roll @14 :Float32;
-  filterState @15 :LiveLocationKalman.Measurement;
+  debugFilterState @16 :FilterState;
  yawRateDEPRECATED @7 :Float32;
  filterStateDEPRECATED @15 :LiveLocationKalman.Measurement;
  struct FilterState {
    value @0 : List(Float64);
    std @1 : List(Float64);
  }
 }
 struct LiveTorqueParametersData {
@ -2198,6 +2424,11 @@ struct EncodeData {
  height @5 :UInt32;
 }
 struct DebugAlert {
  alertText1 @0 :Text;
  alertText2 @1 :Text;
 }
 struct UserFlag {
 }
@ -2210,6 +2441,14 @@ struct Microphone {
  filteredSoundPressureWeightedDb @2 :Float32;
 }
 struct Touch {
  sec @0 :Int64;
  usec @1 :Int64;
  type @2 :UInt8;
  code @3 :Int32;
  value @4 :Int32;
 }
 struct Event {
  logMonoTime @0 :UInt64;  # nanoseconds
  valid @67 :Bool = true;
@ -2226,6 +2465,7 @@ struct Event {
    gpsNMEA @3 :GPSNMEAData;
    can @5 :List(CanData);
    controlsState @7 :ControlsState;
    selfdriveState @130 :SelfdriveState;
    gyroscope @99 :SensorEventData;
    gyroscope2 @100 :SensorEventData;
    accelerometer @98 :SensorEventData;
@ -2237,14 +2477,14 @@ struct Event {
    pandaStates @81 :List(PandaState);
    peripheralState @80 :PeripheralState;
    radarState @13 :RadarState;
-    liveTracks @16 :List(LiveTracks);
+    liveTracks @131 :Car.RadarData;
    sendcan @17 :List(CanData);
    liveCalibration @19 :LiveCalibrationData;
    carState @22 :Car.CarState;
    carControl @23 :Car.CarControl;
    carOutput @127 :Car.CarOutput;
    longitudinalPlan @24 :LongitudinalPlan;
-    uiPlan @106 :UiPlan;
+    driverAssistance @132 :DriverAssistance;
    ubloxGnss @34 :UbloxGnss;
    ubloxRaw @39 :Data;
    qcomGnss @31 :QcomGnss;
@ -2255,11 +2495,12 @@ struct Event {
    liveTorqueParameters @94 :LiveTorqueParametersData;
    cameraOdometry @63 :CameraOdometry;
    thumbnail @66: Thumbnail;
-    onroadEvents @68: List(Car.CarEvent);
+    onroadEvents @134: List(OnroadEvent);
    carParams @69: Car.CarParams;
    driverMonitoringState @71: DriverMonitoringState;
-    liveLocationKalman @72 :LiveLocationKalman;
+    livePose @129 :LivePose;
    modelV2 @75 :ModelDataV2;
    drivingModelData @128 :DrivingModelData;
    driverStateV2 @92 :DriverStateV2;
    # camera stuff, each camera state has a matching encode idx
@ -2288,6 +2529,9 @@ struct Event {
    logMessage @18 :Text;
    errorLogMessage @85 :Text;
    # touch frame
    touch @135 :List(Touch);
    # navigation
    navInstruction @82 :NavInstruction;
    navRoute @83 :NavRoute;
@ -2304,6 +2548,7 @@ struct Event {
    driverEncodeData @87 :EncodeData;
    wideRoadEncodeData @88 :EncodeData;
    qRoadEncodeData @89 :EncodeData;
    alertDebug @133 :DebugAlert;
    livestreamRoadEncodeData @120 :EncodeData;
    livestreamWideRoadEncodeData @121 :EncodeData;
@ -2329,7 +2574,7 @@ struct Event {
    model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
    liveMpcDEPRECATED @36 :LiveMpcData;
    liveLongitudinalMpcDEPRECATED @37 :LiveLongitudinalMpcData;
-    liveLocationKalmanDEPRECATED @51 :Legacy.LiveLocationData;
+    liveLocationKalmanLegacyDEPRECATED @51 :Legacy.LiveLocationData;
    orbslamCorrectionDEPRECATED @45 :Legacy.OrbslamCorrection;
    liveUIDEPRECATED @14 :Legacy.LiveUI;
    sensorEventDEPRECATED @4 :SensorEventData;
@ -2365,5 +2610,9 @@ struct Event {
    sensorEventsDEPRECATED @11 :List(SensorEventData);
    lateralPlanDEPRECATED @64 :LateralPlan;
    navModelDEPRECATED @104 :NavModelData;
    uiPlanDEPRECATED @106 :UiPlan;
    liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
    liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
    onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED);
  }
 }
--- a/cereal/maptile.capnp
+++ b/cereal/maptile.capnp
@ -1,49 +0,0 @@
 using Cxx = import "./include/c++.capnp";
 $Cxx.namespace("cereal");
@0xa086df597ef5d7a0;
 # Geometry
 struct Point {
  x @0: Float64;
  y @1: Float64;
  z @2: Float64;
 }
 struct PolyLine {
  points @0: List(Point);
 }
 # Map features
 struct Lane {
  id @0 :Text;
  leftBoundary @1 :LaneBoundary;
  rightBoundary @2 :LaneBoundary;
  leftAdjacentId @3 :Text;
  rightAdjacentId @4 :Text;
  inboundIds @5 :List(Text);
  outboundIds @6 :List(Text);
  struct LaneBoundary {
    polyLine @0 :PolyLine;
    startHeading @1 :Float32; # WRT north
  }
 }
 # Map tiles
 struct TileSummary {
  version @0 :Text;
  updatedAt @1 :UInt64; # Millis since epoch
  level @2 :UInt8;
  x @3 :UInt16;
  y @4 :UInt16;
 }
 struct MapTile {
  summary @0 :TileSummary;
  lanes @1 :List(Lane);
 }
--- a/cereal/messaging/.gitignore
+++ b/cereal/messaging/.gitignore
@ -1,10 +0,0 @@
 demo
 bridge
 test_runner
 *.o
 *.os
 *.d
 *.a
 *.so
 messaging_pyx.cpp
 build/
--- a/cereal/messaging/init.py
+++ b/cereal/messaging/init.py
@ -1,7 +1,9 @@
 # must be built with scons
-from msgq.messaging.messaging_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
+from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
                                set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
-from msgq.messaging.messaging_pyx import MultiplePublishersError, MessagingError
+from msgq.ipc_pyx import MultiplePublishersError, IpcError
 from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw
 import msgq
 import os
 import capnp
@ -13,30 +15,15 @@ from collections import deque
 from cereal import log
 from cereal.services import SERVICE_LIST
 assert MultiplePublishersError
 assert MessagingError
 assert toggle_fake_events
 assert set_fake_prefix
 assert get_fake_prefix
 assert delete_fake_prefix
 assert wait_for_one_event
 NO_TRAVERSAL_LIMIT = 2**64-1
 context = Context()
 def fake_event_handle(endpoint: str, identifier: Optional[str] = None, override: bool = True, enable: bool = False) -> SocketEventHandle:
  identifier = identifier or get_fake_prefix()
  handle = SocketEventHandle(endpoint, identifier, override)
  if override:
    handle.enabled = enable
-  return handle
+def reset_context():
  msgq.context = Context()
-def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
+def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event) -> capnp.lib.capnp._DynamicStructReader:
-  with log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
+  with struct.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
    return msg
@ -55,42 +42,6 @@ def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) ->
  return dat
 def pub_sock(endpoint: str) -> PubSocket:
  sock = PubSocket()
  sock.connect(context, endpoint)
  return sock
 def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
  sock = SubSocket()
  sock.connect(context, endpoint, addr.encode('utf8'), conflate)
  if timeout is not None:
    sock.setTimeout(timeout)
  if poller is not None:
    poller.registerSocket(sock)
  return sock
 def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
  """Receive all message currently available on the queue"""
  ret: List[bytes] = []
  while 1:
    if wait_for_one and len(ret) == 0:
      dat = sock.receive()
    else:
      dat = sock.receive(non_blocking=True)
    if dat is None:
      break
    ret.append(dat)
  return ret
 def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
  """Receive all message currently available on the queue"""
  msgs = drain_sock_raw(sock, wait_for_one=wait_for_one)
@ -141,26 +92,76 @@ def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
      return log_from_bytes(dat)
 class FrequencyTracker:
  def __init__(self, service_freq: float, update_freq: float, is_poll: bool):
    freq = max(min(service_freq, update_freq), 1.)
    if is_poll:
      min_freq = max_freq = freq
    else:
      max_freq = min(freq, update_freq)
      if service_freq >= 2 * update_freq:
        min_freq = update_freq
      elif update_freq >= 2* service_freq:
        min_freq = freq
      else:
        min_freq = min(freq, freq / 2.)
    self.min_freq = min_freq * 0.8
    self.max_freq = max_freq * 1.2
    self.recv_dts: Deque[float] = deque(maxlen=int(10 * freq))
    self.recv_dts_sum = 0.0
    self.recent_recv_dts: Deque[float] = deque(maxlen=int(freq))
    self.recent_recv_dts_sum = 0.0
    self.prev_time = 0.0
  def record_recv_time(self, cur_time: float) -> None:
    # TODO: Handle case where cur_time is less than prev_time
    if self.prev_time > 1e-5:
      dt = cur_time - self.prev_time
      if len(self.recv_dts) == self.recv_dts.maxlen:
        self.recv_dts_sum -= self.recv_dts[0]
      self.recv_dts.append(dt)
      self.recv_dts_sum += dt
      if len(self.recent_recv_dts) == self.recent_recv_dts.maxlen:
        self.recent_recv_dts_sum -= self.recent_recv_dts[0]
      self.recent_recv_dts.append(dt)
      self.recent_recv_dts_sum += dt
    self.prev_time = cur_time
  @property
  def valid(self) -> bool:
    if not self.recv_dts:
      return False
    avg_freq = len(self.recv_dts) / self.recv_dts_sum
    if self.min_freq <= avg_freq <= self.max_freq:
      return True
    avg_freq_recent = len(self.recent_recv_dts) / self.recent_recv_dts_sum
    return self.min_freq <= avg_freq_recent <= self.max_freq
 class SubMaster:
  def __init__(self, services: List[str], poll: Optional[str] = None,
               ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
               ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
    self.frame = -1
    self.services = services
    self.seen = {s: False for s in services}
    self.updated = {s: False for s in services}
    self.recv_time = {s: 0. for s in services}
    self.recv_frame = {s: 0 for s in services}
    self.alive = {s: False for s in services}
    self.freq_ok = {s: False for s in services}
    self.recv_dts: Dict[str, Deque[float]] = {}
    self.sock = {}
    self.data = {}
    self.valid = {}
    self.logMonoTime = {}
-    self.max_freq = {}
+    self.freq_tracker: Dict[str, FrequencyTracker] = {}
    self.min_freq = {}
    self.poller = Poller()
    polled_services = set([poll, ] if poll is not None else services)
    self.non_polled_services = set(services) - polled_services
@ -186,23 +187,8 @@ class SubMaster:
      self.data[s] = getattr(data.as_reader(), s)
      self.logMonoTime[s] = 0
-      self.valid[s] = True  # FIXME: this should default to False
+      self.valid[s] = False
-
+      self.freq_tracker[s] = FrequencyTracker(SERVICE_LIST[s].frequency, self.update_freq, s == poll)
      freq = max(min([SERVICE_LIST[s].frequency, self.update_freq]), 1.)
      if s == poll:
        max_freq = freq
        min_freq = freq
      else:
        max_freq = min(freq, self.update_freq)
        if SERVICE_LIST[s].frequency >= 2*self.update_freq:
          min_freq = self.update_freq
        elif self.update_freq >= 2*SERVICE_LIST[s].frequency:
          min_freq = freq
        else:
          min_freq = min(freq, freq / 2.)
      self.max_freq[s] = max_freq*1.2
      self.min_freq[s] = min_freq*0.8
      self.recv_dts[s] = deque(maxlen=int(10*freq))
  def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
    return self.data[s]
@ -222,7 +208,7 @@ class SubMaster:
  def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
    self.frame += 1
-    self.updated = dict.fromkeys(self.updated, False)
+    self.updated = dict.fromkeys(self.services, False)
    for msg in msgs:
      if msg is None:
        continue
@ -231,54 +217,30 @@ class SubMaster:
      self.seen[s] = True
      self.updated[s] = True
-      if self.recv_time[s] > 1e-5:
+      self.freq_tracker[s].record_recv_time(cur_time)
        self.recv_dts[s].append(cur_time - self.recv_time[s])
      self.recv_time[s] = cur_time
      self.recv_frame[s] = self.frame
      self.data[s] = getattr(msg, s)
      self.logMonoTime[s] = msg.logMonoTime
      self.valid[s] = msg.valid
-    for s in self.data:
+    for s in self.services:
      if SERVICE_LIST[s].frequency > 1e-5 and not self.simulation:
        # alive if delay is within 10x the expected frequency
        self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency)
-
+        self.freq_ok[s] = self.freq_tracker[s].valid
        # check average frequency; slow to fall, quick to recover
        dts = self.recv_dts[s]
        assert dts.maxlen is not None
        recent_dts = list(dts)[-int(dts.maxlen / 10):]
        try:
          avg_freq = 1 / (sum(dts) / len(dts))
          avg_freq_recent = 1 / (sum(recent_dts) / len(recent_dts))
        except ZeroDivisionError:
          avg_freq = 0
          avg_freq_recent = 0
        avg_freq_ok = self.min_freq[s] <= avg_freq <= self.max_freq[s]
        recent_freq_ok = self.min_freq[s] <= avg_freq_recent <= self.max_freq[s]
        self.freq_ok[s] = avg_freq_ok or recent_freq_ok
      else:
        self.freq_ok[s] = True
-        if self.simulation:
+        self.alive[s] = self.seen[s] if self.simulation else True
          self.alive[s] = self.seen[s] # alive is defined as seen when simulation flag set
        else:
          self.alive[s] = True
  def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
-    if service_list is None:
+    return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)
      service_list = list(self.sock.keys())
    return all(self.alive[s] for s in service_list if s not in self.ignore_alive)
  def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool:
-    if service_list is None:
+    return all(self.freq_ok[s] for s in (service_list or self.services) if self._check_avg_freq(s))
      service_list = list(self.sock.keys())
    return all(self.freq_ok[s] for s in service_list if self._check_avg_freq(s))
  def all_valid(self, service_list: Optional[List[str]] = None) -> bool:
-    if service_list is None:
+    return all(self.valid[s] for s in (service_list or self.services) if s not in self.ignore_valid)
      service_list = list(self.sock.keys())
    return all(self.valid[s] for s in service_list if s not in self.ignore_valid)
  def all_checks(self, service_list: Optional[List[str]] = None) -> bool:
    return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list)
--- a/cereal/messaging/bridge.cc
+++ b/cereal/messaging/bridge.cc
@ -1,25 +1,10 @@
 #include <algorithm>
 #include <cassert>
 #include <csignal>
 #include <iostream>
 #include <map>
 #include <string>
 typedef void (*sighandler_t)(int sig);
 #include "cereal/messaging/msgq_to_zmq.h"
 #include "cereal/services.h"
-#include "msgq/messaging/impl_msgq.h"
+#include "common/util.h"
 #include "msgq/messaging/impl_zmq.h"
-std::atomic<bool> do_exit = false;
+ExitHandler do_exit;
 static void set_do_exit(int sig) {
  do_exit = true;
 }
 void sigpipe_handler(int sig) {
  assert(sig == SIGPIPE);
  std::cout << "SIGPIPE received" << std::endl;
 }
 static std::vector<std::string> get_services(std::string whitelist_str, bool zmq_to_msgq) {
  std::vector<std::string> service_list;
@ -34,41 +19,22 @@ static std::vector<std::string> get_services(std::string whitelist_str, bool zmq
  return service_list;
 }
-int main(int argc, char** argv) {
+void msgq_to_zmq(const std::vector<std::string> &endpoints, const std::string &ip) {
-  signal(SIGPIPE, (sighandler_t)sigpipe_handler);
+  MsgqToZmq bridge;
-  signal(SIGINT, (sighandler_t)set_do_exit);
+  bridge.run(endpoints, ip);
  signal(SIGTERM, (sighandler_t)set_do_exit);
  bool zmq_to_msgq = argc > 2;
  std::string ip = zmq_to_msgq ? argv[1] : "127.0.0.1";
  std::string whitelist_str = zmq_to_msgq ? std::string(argv[2]) : "";
  Poller *poller;
  Context *pub_context;
  Context *sub_context;
  if (zmq_to_msgq) {  // republishes zmq debugging messages as msgq
    poller = new ZMQPoller();
    pub_context = new MSGQContext();
    sub_context = new ZMQContext();
  } else {
    poller = new MSGQPoller();
    pub_context = new ZMQContext();
    sub_context = new MSGQContext();
 }
 void zmq_to_msgq(const std::vector<std::string> &endpoints, const std::string &ip) {
  auto poller = std::make_unique<ZMQPoller>();
  auto pub_context = std::make_unique<MSGQContext>();
  auto sub_context = std::make_unique<ZMQContext>();
  std::map<SubSocket *, PubSocket *> sub2pub;
-  for (auto endpoint : get_services(whitelist_str, zmq_to_msgq)) {
+
-    PubSocket * pub_sock;
+  for (auto endpoint : endpoints) {
-    SubSocket * sub_sock;
+    auto pub_sock = new MSGQPubSocket();
-    if (zmq_to_msgq) {
+    auto sub_sock = new ZMQSubSocket();
-      pub_sock = new MSGQPubSocket();
+    pub_sock->connect(pub_context.get(), endpoint);
-      sub_sock = new ZMQSubSocket();
+    sub_sock->connect(sub_context.get(), endpoint, ip, false);
    } else {
      pub_sock = new ZMQPubSocket();
      sub_sock = new MSGQSubSocket();
    }
    pub_sock->connect(pub_context, endpoint);
    sub_sock->connect(sub_context, endpoint, ip, false);
    poller->registerSocket(sub_sock);
    sub2pub[sub_sock] = pub_sock;
@ -76,17 +42,30 @@ int main(int argc, char** argv) {
  while (!do_exit) {
    for (auto sub_sock : poller->poll(100)) {
-      Message * msg = sub_sock->receive();
+      std::unique_ptr<Message> msg(sub_sock->receive(true));
-      if (msg == NULL) continue;
+      if (msg) {
-      int ret;
+        sub2pub[sub_sock]->sendMessage(msg.get());
-      do {
+      }
-        ret = sub2pub[sub_sock]->sendMessage(msg);
+    }
-      } while (ret == -1 && errno == EINTR && !do_exit);
+  }
      assert(ret >= 0 || do_exit);
      delete msg;
-      if (do_exit) break;
+  // Clean up allocated sockets
  for (auto &[sub_sock, pub_sock] : sub2pub) {
    delete sub_sock;
    delete pub_sock;
  }
 }
 int main(int argc, char **argv) {
  bool is_zmq_to_msgq = argc > 2;
  std::string ip = is_zmq_to_msgq ? argv[1] : "127.0.0.1";
  std::string whitelist_str = is_zmq_to_msgq ? std::string(argv[2]) : "";
  std::vector<std::string> endpoints = get_services(whitelist_str, is_zmq_to_msgq);
  if (is_zmq_to_msgq) {
    zmq_to_msgq(endpoints, ip);
  } else {
    msgq_to_zmq(endpoints, ip);
  }
  return 0;
 }
--- a/cereal/messaging/messaging.h
+++ b/cereal/messaging/messaging.h
@ -5,19 +5,12 @@
 #include <string>
 #include <vector>
 #include <utility>
 #include <time.h>
 #include <capnp/serialize.h>
 #include "cereal/gen/cpp/log.capnp.h"
-#include "msgq/messaging/messaging.h"
+#include "common/timing.h"
-
+#include "msgq/ipc.h"
 #ifdef __APPLE__
 #define CLOCK_BOOTTIME CLOCK_MONOTONIC
 #endif
 #define MSG_MULTIPLE_PUBLISHERS 100
 class SubMaster {
 public:
@ -53,10 +46,7 @@ public:
  cereal::Event::Builder initEvent(bool valid = true) {
    cereal::Event::Builder event = initRoot<cereal::Event>();
-    struct timespec t;
+    event.setLogMonoTime(nanos_since_boot());
    clock_gettime(CLOCK_BOOTTIME, &t);
    uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec;
    event.setLogMonoTime(current_time);
    event.setValid(valid);
    return event;
  }
--- a/cereal/messaging/msgq_to_zmq.cc
+++ b/cereal/messaging/msgq_to_zmq.cc
@ -0,0 +1,144 @@
 #include "cereal/messaging/msgq_to_zmq.h"
 #include <cassert>
 #include "common/util.h"
 extern ExitHandler do_exit;
 // Max messages to process per socket per poll
 constexpr int MAX_MESSAGES_PER_SOCKET = 50;
 static std::string recv_zmq_msg(void *sock) {
  zmq_msg_t msg;
  zmq_msg_init(&msg);
  std::string ret;
  if (zmq_msg_recv(&msg, sock, 0) > 0) {
    ret.assign((char *)zmq_msg_data(&msg), zmq_msg_size(&msg));
  }
  zmq_msg_close(&msg);
  return ret;
 }
 void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string &ip) {
  zmq_context = std::make_unique<ZMQContext>();
  msgq_context = std::make_unique<MSGQContext>();
  // Create ZMQPubSockets for each endpoint
  for (const auto &endpoint : endpoints) {
    auto &socket_pair = socket_pairs.emplace_back();
    socket_pair.endpoint = endpoint;
    socket_pair.pub_sock = std::make_unique<ZMQPubSocket>();
    int ret = socket_pair.pub_sock->connect(zmq_context.get(), endpoint);
    if (ret != 0) {
      printf("Failed to create ZMQ publisher for [%s]: %s\n", endpoint.c_str(), zmq_strerror(zmq_errno()));
      return;
    }
  }
  // Start ZMQ monitoring thread to monitor socket events
  std::thread thread(&MsgqToZmq::zmqMonitorThread, this);
  // Main loop for processing messages
  while (!do_exit) {
    {
      std::unique_lock lk(mutex);
      cv.wait(lk, [this]() { return do_exit || !sub2pub.empty(); });
      if (do_exit) break;
      for (auto sub_sock : msgq_poller->poll(100)) {
        // Process messages for each socket
        ZMQPubSocket *pub_sock = sub2pub.at(sub_sock);
        for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
          auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
          if (!msg) break;
          while (pub_sock->sendMessage(msg.get()) == -1) {
            if (errno != EINTR) break;
          }
        }
      }
    }
    util::sleep_for(1);  // Give zmqMonitorThread a chance to acquire the mutex
  }
  thread.join();
 }
 void MsgqToZmq::zmqMonitorThread() {
  std::vector<zmq_pollitem_t> pollitems;
  // Set up ZMQ monitor for each pub socket
  for (int i = 0; i < socket_pairs.size(); ++i) {
    std::string addr = "inproc://op-bridge-monitor-" + std::to_string(i);
    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
    void *monitor_socket = zmq_socket(zmq_context->getRawContext(), ZMQ_PAIR);
    zmq_connect(monitor_socket, addr.c_str());
    pollitems.emplace_back(zmq_pollitem_t{.socket = monitor_socket, .events = ZMQ_POLLIN});
  }
  while (!do_exit) {
    int ret = zmq_poll(pollitems.data(), pollitems.size(), 1000);
    if (ret < 0) {
      if (errno == EINTR) {
        // Due to frequent EINTR signals from msgq, introduce a brief delay (200 ms)
        // to reduce CPU usage during retry attempts.
        util::sleep_for(200);
      }
      continue;
    }
    for (int i = 0; i < pollitems.size(); ++i) {
      if (pollitems[i].revents & ZMQ_POLLIN) {
        // First frame in message contains event number and value
        std::string frame = recv_zmq_msg(pollitems[i].socket);
        if (frame.empty()) continue;
        uint16_t event_type = *(uint16_t *)(frame.data());
        // Second frame in message contains event address
        frame = recv_zmq_msg(pollitems[i].socket);
        if (frame.empty()) continue;
        std::unique_lock lk(mutex);
        auto &pair = socket_pairs[i];
        if (event_type & ZMQ_EVENT_ACCEPTED) {
          printf("socket [%s] connected\n", pair.endpoint.c_str());
          if (++pair.connected_clients == 1) {
            // Create new MSGQ subscriber socket and map to ZMQ publisher
            pair.sub_sock = std::make_unique<MSGQSubSocket>();
            pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1");
            sub2pub[pair.sub_sock.get()] = pair.pub_sock.get();
            registerSockets();
          }
        } else if (event_type & ZMQ_EVENT_DISCONNECTED) {
          printf("socket [%s] disconnected\n", pair.endpoint.c_str());
          if (pair.connected_clients == 0 || --pair.connected_clients == 0) {
            // Remove MSGQ subscriber socket from mapping and reset it
            sub2pub.erase(pair.sub_sock.get());
            pair.sub_sock.reset(nullptr);
            registerSockets();
          }
        }
        cv.notify_one();
      }
    }
  }
  // Clean up monitor sockets
  for (int i = 0; i < pollitems.size(); ++i) {
    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, nullptr, 0);
    zmq_close(pollitems[i].socket);
  }
  cv.notify_one();
 }
 void MsgqToZmq::registerSockets() {
  msgq_poller = std::make_unique<MSGQPoller>();
  for (const auto &socket_pair : socket_pairs) {
    if (socket_pair.sub_sock) {
      msgq_poller->registerSocket(socket_pair.sub_sock.get());
    }
  }
 }
--- a/cereal/messaging/msgq_to_zmq.h
+++ b/cereal/messaging/msgq_to_zmq.h
@ -0,0 +1,37 @@
 #pragma once
 #include <condition_variable>
 #include <map>
 #include <memory>
 #include <mutex>
 #include <string>
 #include <vector>
 #define private public
 #include "msgq/impl_msgq.h"
 #include "msgq/impl_zmq.h"
 class MsgqToZmq {
 public:
  MsgqToZmq() {}
  void run(const std::vector<std::string> &endpoints, const std::string &ip);
 protected:
  void registerSockets();
  void zmqMonitorThread();
  struct SocketPair {
    std::string endpoint;
    std::unique_ptr<ZMQPubSocket> pub_sock;
    std::unique_ptr<MSGQSubSocket> sub_sock;
    int connected_clients = 0;
  };
  std::unique_ptr<MSGQContext> msgq_context;
  std::unique_ptr<ZMQContext> zmq_context;
  std::mutex mutex;
  std::condition_variable cv;
  std::unique_ptr<MSGQPoller> msgq_poller;
  std::map<SubSocket *, ZMQPubSocket *> sub2pub;
  std::vector<SocketPair> socket_pairs;
 };
--- a/cereal/messaging/socketmaster.cc
+++ b/cereal/messaging/socketmaster.cc
@ -1,4 +1,3 @@
 #include <time.h>
 #include <assert.h>
 #include <stdlib.h>
 #include <string>
@ -7,15 +6,8 @@
 #include "cereal/services.h"
 #include "cereal/messaging/messaging.h"
 const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
 static inline uint64_t nanos_since_boot() {
  struct timespec t;
  clock_gettime(CLOCK_BOOTTIME, &t);
  return t.tv_sec * 1000000000ULL + t.tv_nsec;
 }
 static inline bool inList(const std::vector<const char *> &list, const char *value) {
  for (auto &v : list) {
    if (strcmp(value, v) == 0) return true;
@ -42,7 +34,7 @@ struct SubMaster::SubMessage {
  std::string name;
  SubSocket *socket = nullptr;
  int freq = 0;
-  bool updated = false, alive = false, valid = true, ignore_alive;
+  bool updated = false, alive = false, valid = false, ignore_alive;
  uint64_t rcv_time = 0, rcv_frame = 0;
  void *allocated_msg_reader = nullptr;
  bool is_polled = false;
--- a/cereal/messaging/tests/test_fake.py
+++ b/cereal/messaging/tests/test_fake.py
@ -1,193 +0,0 @@
 import os
 import unittest
 import multiprocessing
 import platform
 from parameterized import parameterized_class
 from typing import Optional
 import cereal.messaging as messaging
 WAIT_TIMEOUT = 5
@unittest.skipIf(platform.system() == "Darwin", "Events not supported on macOS")
 class TestEvents(unittest.TestCase):
  def test_mutation(self):
    handle = messaging.fake_event_handle("carState")
    event = handle.recv_called_event
    self.assertFalse(event.peek())
    event.set()
    self.assertTrue(event.peek())
    event.clear()
    self.assertFalse(event.peek())
    del event
  def test_wait(self):
    handle = messaging.fake_event_handle("carState")
    event = handle.recv_called_event
    event.set()
    try:
      event.wait(WAIT_TIMEOUT)
      self.assertTrue(event.peek())
    except RuntimeError:
      self.fail("event.wait() timed out")
  def test_wait_multiprocess(self):
    handle = messaging.fake_event_handle("carState")
    event = handle.recv_called_event
    def set_event_run():
      event.set()
    try:
      p = multiprocessing.Process(target=set_event_run)
      p.start()
      event.wait(WAIT_TIMEOUT)
      self.assertTrue(event.peek())
    except RuntimeError:
      self.fail("event.wait() timed out")
    p.kill()
  def test_wait_zero_timeout(self):
    handle = messaging.fake_event_handle("carState")
    event = handle.recv_called_event
    try:
      event.wait(0)
      self.fail("event.wait() did not time out")
    except RuntimeError:
      self.assertFalse(event.peek())
@unittest.skipIf(platform.system() == "Darwin", "FakeSockets not supported on macOS")
@unittest.skipIf("ZMQ" in os.environ, "FakeSockets not supported on ZMQ")
@parameterized_class([{"prefix": None}, {"prefix": "test"}])
 class TestFakeSockets(unittest.TestCase):
  prefix: Optional[str] = None
  def setUp(self):
    messaging.toggle_fake_events(True)
    if self.prefix is not None:
      messaging.set_fake_prefix(self.prefix)
    else:
      messaging.delete_fake_prefix()
  def tearDown(self):
    messaging.toggle_fake_events(False)
    messaging.delete_fake_prefix()
  def test_event_handle_init(self):
    handle = messaging.fake_event_handle("controlsState", override=True)
    self.assertFalse(handle.enabled)
    self.assertGreaterEqual(handle.recv_called_event.fd, 0)
    self.assertGreaterEqual(handle.recv_ready_event.fd, 0)
  def test_non_managed_socket_state(self):
    # non managed socket should have zero state
    _ = messaging.pub_sock("ubloxGnss")
    handle = messaging.fake_event_handle("ubloxGnss", override=False)
    self.assertFalse(handle.enabled)
    self.assertEqual(handle.recv_called_event.fd, 0)
    self.assertEqual(handle.recv_ready_event.fd, 0)
  def test_managed_socket_state(self):
    # managed socket should not change anything about the state
    handle = messaging.fake_event_handle("ubloxGnss")
    handle.enabled = True
    expected_enabled = handle.enabled
    expected_recv_called_fd = handle.recv_called_event.fd
    expected_recv_ready_fd = handle.recv_ready_event.fd
    _ = messaging.pub_sock("ubloxGnss")
    self.assertEqual(handle.enabled, expected_enabled)
    self.assertEqual(handle.recv_called_event.fd, expected_recv_called_fd)
    self.assertEqual(handle.recv_ready_event.fd, expected_recv_ready_fd)
  def test_sockets_enable_disable(self):
    carState_handle = messaging.fake_event_handle("ubloxGnss", enable=True)
    recv_called = carState_handle.recv_called_event
    recv_ready = carState_handle.recv_ready_event
    pub_sock = messaging.pub_sock("ubloxGnss")
    sub_sock = messaging.sub_sock("ubloxGnss")
    try:
      carState_handle.enabled = True
      recv_ready.set()
      pub_sock.send(b"test")
      _ = sub_sock.receive()
      self.assertTrue(recv_called.peek())
      recv_called.clear()
      carState_handle.enabled = False
      recv_ready.set()
      pub_sock.send(b"test")
      _ = sub_sock.receive()
      self.assertFalse(recv_called.peek())
    except RuntimeError:
      self.fail("event.wait() timed out")
  def test_synced_pub_sub(self):
    def daemon_repub_process_run():
      pub_sock = messaging.pub_sock("ubloxGnss")
      sub_sock = messaging.sub_sock("carState")
      frame = -1
      while True:
        frame += 1
        msg = sub_sock.receive(non_blocking=True)
        if msg is None:
          print("none received")
          continue
        bts = frame.to_bytes(8, 'little')
        pub_sock.send(bts)
    carState_handle = messaging.fake_event_handle("carState", enable=True)
    recv_called = carState_handle.recv_called_event
    recv_ready = carState_handle.recv_ready_event
    p = multiprocessing.Process(target=daemon_repub_process_run)
    p.start()
    pub_sock = messaging.pub_sock("carState")
    sub_sock = messaging.sub_sock("ubloxGnss")
    try:
      for i in range(10):
        recv_called.wait(WAIT_TIMEOUT)
        recv_called.clear()
        if i == 0:
          sub_sock.receive(non_blocking=True)
        bts = i.to_bytes(8, 'little')
        pub_sock.send(bts)
        recv_ready.set()
        recv_called.wait(WAIT_TIMEOUT)
        msg = sub_sock.receive(non_blocking=True)
        self.assertIsNotNone(msg)
        self.assertEqual(len(msg), 8)
        frame = int.from_bytes(msg, 'little')
        self.assertEqual(frame, i)
    except RuntimeError:
      self.fail("event.wait() timed out")
    finally:
      p.kill()
 if __name__ == "__main__":
  unittest.main()
--- a/cereal/messaging/tests/test_messaging.py
+++ b/cereal/messaging/tests/test_messaging.py
@ -1,4 +1,3 @@
 #!/usr/bin/env python3
 import os
 import capnp
 import multiprocessing
@ -6,8 +5,8 @@ import numbers
 import random
 import threading
 import time
 import unittest
 from parameterized import parameterized
 import pytest
 from cereal import log, car
 import cereal.messaging as messaging
@ -28,11 +27,6 @@ def zmq_sleep(t=1):
  if "ZMQ" in os.environ:
    time.sleep(t)
 def zmq_expected_failure(func):
  if "ZMQ" in os.environ:
    return unittest.expectedFailure(func)
  else:
    return func
 # TODO: this should take any capnp struct and returrn a msg with random populated data
 def random_carstate():
@ -56,66 +50,13 @@ def delayed_send(delay, sock, dat):
    sock.send(dat)
  threading.Timer(delay, send_func).start()
 class TestPubSubSockets(unittest.TestCase):
  def setUp(self):
    # ZMQ pub socket takes too long to die
    # sleep to prevent multiple publishers error between tests
    zmq_sleep()
  def test_pub_sub(self):
    sock = random_sock()
    pub_sock = messaging.pub_sock(sock)
    sub_sock = messaging.sub_sock(sock, conflate=False, timeout=None)
    zmq_sleep(3)
    for _ in range(1000):
      msg = random_bytes()
      pub_sock.send(msg)
      recvd = sub_sock.receive()
      self.assertEqual(msg, recvd)
  def test_conflate(self):
    sock = random_sock()
    pub_sock = messaging.pub_sock(sock)
    for conflate in [True, False]:
      for _ in range(10):
        num_msgs = random.randint(3, 10)
        sub_sock = messaging.sub_sock(sock, conflate=conflate, timeout=None)
        zmq_sleep()
        sent_msgs = []
        for __ in range(num_msgs):
          msg = random_bytes()
          pub_sock.send(msg)
          sent_msgs.append(msg)
        time.sleep(0.1)
        recvd_msgs = messaging.drain_sock_raw(sub_sock)
        if conflate:
          self.assertEqual(len(recvd_msgs), 1)
        else:
          # TODO: compare actual data
          self.assertEqual(len(recvd_msgs), len(sent_msgs))
  def test_receive_timeout(self):
    sock = random_sock()
    for _ in range(10):
      timeout = random.randrange(200)
      sub_sock = messaging.sub_sock(sock, timeout=timeout)
      zmq_sleep()
      start_time = time.monotonic()
      recvd = sub_sock.receive()
      self.assertLess(time.monotonic() - start_time, 0.2)
      assert recvd is None
 class TestMessaging(unittest.TestCase):
 class TestMessaging:
  def setUp(self):
    # TODO: ZMQ tests are too slow; all sleeps will need to be
    # replaced with logic to block on the necessary condition
    if "ZMQ" in os.environ:
-      raise unittest.SkipTest
+      pytest.skip()
    # ZMQ pub socket takes too long to die
    # sleep to prevent multiple publishers error between tests
@ -127,9 +68,9 @@ class TestMessaging(unittest.TestCase):
      msg = messaging.new_message(evt)
    except capnp.lib.capnp.KjException:
      msg = messaging.new_message(evt, random.randrange(200))
-    self.assertLess(time.monotonic() - msg.logMonoTime, 0.1)
+    assert (time.monotonic() - msg.logMonoTime) < 0.1
-    self.assertFalse(msg.valid)
+    assert not msg.valid
-    self.assertEqual(evt, msg.which())
+    assert evt == msg.which()
  @parameterized.expand(events)
  def test_pub_sock(self, evt):
@ -151,8 +92,8 @@ class TestMessaging(unittest.TestCase):
    # no wait and no msgs in queue
    msgs = func(sub_sock)
-    self.assertIsInstance(msgs, list)
+    assert isinstance(msgs, list)
-    self.assertEqual(len(msgs), 0)
+    assert len(msgs) == 0
    # no wait but msgs are queued up
    num_msgs = random.randrange(3, 10)
@ -160,9 +101,9 @@ class TestMessaging(unittest.TestCase):
      pub_sock.send(messaging.new_message(sock).to_bytes())
    time.sleep(0.1)
    msgs = func(sub_sock)
-    self.assertIsInstance(msgs, list)
+    assert isinstance(msgs, list)
-    self.assertTrue(all(isinstance(msg, expected_type) for msg in msgs))
+    assert all(isinstance(msg, expected_type) for msg in msgs)
-    self.assertEqual(len(msgs), num_msgs)
+    assert len(msgs) == num_msgs
  def test_recv_sock(self):
    sock = "carState"
@ -172,14 +113,14 @@ class TestMessaging(unittest.TestCase):
    # no wait and no msg in queue, socket should timeout
    recvd = messaging.recv_sock(sub_sock)
-    self.assertTrue(recvd is None)
+    assert recvd is None
    # no wait and one msg in queue
    msg = random_carstate()
    pub_sock.send(msg.to_bytes())
    time.sleep(0.01)
    recvd = messaging.recv_sock(sub_sock)
-    self.assertIsInstance(recvd, capnp._DynamicStructReader)
+    assert isinstance(recvd, capnp._DynamicStructReader)
    # https://github.com/python/mypy/issues/13038
    assert_carstate(msg.carState, recvd.carState)
@ -191,16 +132,16 @@ class TestMessaging(unittest.TestCase):
    # no msg in queue, socket should timeout
    recvd = messaging.recv_one(sub_sock)
-    self.assertTrue(recvd is None)
+    assert recvd is None
    # one msg in queue
    msg = random_carstate()
    pub_sock.send(msg.to_bytes())
    recvd = messaging.recv_one(sub_sock)
-    self.assertIsInstance(recvd, capnp._DynamicStructReader)
+    assert isinstance(recvd, capnp._DynamicStructReader)
    assert_carstate(msg.carState, recvd.carState)
-  @zmq_expected_failure
+  @pytest.mark.xfail(condition="ZMQ" in os.environ, reason='ZMQ detected')
  def test_recv_one_or_none(self):
    sock = "carState"
    pub_sock = messaging.pub_sock(sock)
@ -209,13 +150,13 @@ class TestMessaging(unittest.TestCase):
    # no msg in queue, socket shouldn't block
    recvd = messaging.recv_one_or_none(sub_sock)
-    self.assertTrue(recvd is None)
+    assert recvd is None
    # one msg in queue
    msg = random_carstate()
    pub_sock.send(msg.to_bytes())
    recvd = messaging.recv_one_or_none(sub_sock)
-    self.assertIsInstance(recvd, capnp._DynamicStructReader)
+    assert isinstance(recvd, capnp._DynamicStructReader)
    assert_carstate(msg.carState, recvd.carState)
  def test_recv_one_retry(self):
@ -227,21 +168,18 @@ class TestMessaging(unittest.TestCase):
    # this test doesn't work with ZMQ since multiprocessing interrupts it
    if "ZMQ" not in os.environ:
-      # wait 15 socket timeouts and make sure it's still retrying
+      # wait 5 socket timeouts and make sure it's still retrying
      p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
      p.start()
-      time.sleep(sock_timeout*15)
+      time.sleep(sock_timeout*5)
-      self.assertTrue(p.is_alive())
+      assert p.is_alive()
      p.terminate()
-    # wait 15 socket timeouts before sending
+    # wait 5 socket timeouts before sending
    msg = random_carstate()
-    delayed_send(sock_timeout*15, pub_sock, msg.to_bytes())
+    delayed_send(sock_timeout*5, pub_sock, msg.to_bytes())
    start_time = time.monotonic()
    recvd = messaging.recv_one_retry(sub_sock)
-    self.assertGreaterEqual(time.monotonic() - start_time, sock_timeout*15)
+    assert (time.monotonic() - start_time) >= sock_timeout*5
-    self.assertIsInstance(recvd, capnp._DynamicStructReader)
+    assert isinstance(recvd, capnp._DynamicStructReader)
    assert_carstate(msg.carState, recvd.carState)
 if __name__ == "__main__":
  unittest.main()
--- a/cereal/messaging/tests/test_poller.py
+++ b/cereal/messaging/tests/test_poller.py
@ -1,142 +0,0 @@
 import unittest
 import time
 import cereal.messaging as messaging
 import concurrent.futures
 def poller():
  context = messaging.Context()
  p = messaging.Poller()
  sub = messaging.SubSocket()
  sub.connect(context, 'controlsState')
  p.registerSocket(sub)
  socks = p.poll(10000)
  r = [s.receive(non_blocking=True) for s in socks]
  return r
 class TestPoller(unittest.TestCase):
  def test_poll_once(self):
    context = messaging.Context()
    pub = messaging.PubSocket()
    pub.connect(context, 'controlsState')
    with concurrent.futures.ThreadPoolExecutor() as e:
      poll = e.submit(poller)
      time.sleep(0.1)  # Slow joiner syndrome
      # Send message
      pub.send(b"a")
      # Wait for poll result
      result = poll.result()
    del pub
    context.term()
    self.assertEqual(result, [b"a"])
  def test_poll_and_create_many_subscribers(self):
    context = messaging.Context()
    pub = messaging.PubSocket()
    pub.connect(context, 'controlsState')
    with concurrent.futures.ThreadPoolExecutor() as e:
      poll = e.submit(poller)
      time.sleep(0.1)  # Slow joiner syndrome
      c = messaging.Context()
      for _ in range(10):
        messaging.SubSocket().connect(c, 'controlsState')
      time.sleep(0.1)
      # Send message
      pub.send(b"a")
      # Wait for poll result
      result = poll.result()
    del pub
    context.term()
    self.assertEqual(result, [b"a"])
  def test_multiple_publishers_exception(self):
    context = messaging.Context()
    with self.assertRaises(messaging.MultiplePublishersError):
      pub1 = messaging.PubSocket()
      pub1.connect(context, 'controlsState')
      pub2 = messaging.PubSocket()
      pub2.connect(context, 'controlsState')
      pub1.send(b"a")
    del pub1
    del pub2
    context.term()
  def test_multiple_messages(self):
    context = messaging.Context()
    pub = messaging.PubSocket()
    pub.connect(context, 'controlsState')
    sub = messaging.SubSocket()
    sub.connect(context, 'controlsState')
    time.sleep(0.1)  # Slow joiner
    for i in range(1, 100):
      pub.send(b'a'*i)
    msg_seen = False
    i = 1
    while True:
      r = sub.receive(non_blocking=True)
      if r is not None:
        self.assertEqual(b'a'*i, r)
        msg_seen = True
        i += 1
      if r is None and msg_seen:  # ZMQ sometimes receives nothing on the first receive
        break
    del pub
    del sub
    context.term()
  def test_conflate(self):
    context = messaging.Context()
    pub = messaging.PubSocket()
    pub.connect(context, 'controlsState')
    sub = messaging.SubSocket()
    sub.connect(context, 'controlsState', conflate=True)
    time.sleep(0.1)  # Slow joiner
    pub.send(b'a')
    pub.send(b'b')
    self.assertEqual(b'b', sub.receive())
    del pub
    del sub
    context.term()
 if __name__ == "__main__":
  unittest.main()
--- a/cereal/messaging/tests/test_pub_sub_master.py
+++ b/cereal/messaging/tests/test_pub_sub_master.py
@ -1,8 +1,6 @@
 #!/usr/bin/env python3
 import random
 import time
 from typing import Sized, cast
 import unittest
 import cereal.messaging as messaging
 from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
@ -10,9 +8,9 @@ from cereal.messaging.tests.test_messaging import events, random_sock, random_so
                                                  zmq_sleep
-class TestSubMaster(unittest.TestCase):
+class TestSubMaster:
-  def setUp(self):
+  def setup_method(self):
    # ZMQ pub socket takes too long to die
    # sleep to prevent multiple publishers error between tests
    zmq_sleep(3)
@ -21,21 +19,21 @@ class TestSubMaster(unittest.TestCase):
    sm = messaging.SubMaster(events)
    for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
              sm.sock, sm.data, sm.logMonoTime, sm.valid]:
-      self.assertEqual(len(cast(Sized, p)), len(events))
+      assert len(cast(Sized, p)) == len(events)
  def test_init_state(self):
    socks = random_socks()
    sm = messaging.SubMaster(socks)
-    self.assertEqual(sm.frame, -1)
+    assert sm.frame == -1
-    self.assertFalse(any(sm.updated.values()))
+    assert not any(sm.updated.values())
-    self.assertFalse(any(sm.alive.values()))
+    assert not any(sm.alive.values())
-    self.assertTrue(all(t == 0. for t in sm.recv_time.values()))
+    assert all(t == 0. for t in sm.recv_time.values())
-    self.assertTrue(all(f == 0 for f in sm.recv_frame.values()))
+    assert all(f == 0 for f in sm.recv_frame.values())
-    self.assertTrue(all(t == 0 for t in sm.logMonoTime.values()))
+    assert all(t == 0 for t in sm.logMonoTime.values())
    for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
              sm.sock, sm.data, sm.logMonoTime, sm.valid]:
-      self.assertEqual(len(cast(Sized, p)), len(socks))
+      assert len(cast(Sized, p)) == len(socks)
  def test_getitem(self):
    sock = "carState"
@ -59,20 +57,19 @@ class TestSubMaster(unittest.TestCase):
      msg = messaging.new_message(sock)
      pub_sock.send(msg.to_bytes())
      sm.update(1000)
-      self.assertEqual(sm.frame, i)
+      assert sm.frame == i
-      self.assertTrue(all(sm.updated.values()))
+      assert all(sm.updated.values())
  def test_update_timeout(self):
    sock = random_sock()
    sm = messaging.SubMaster([sock,])
-    for _ in range(5):
+    timeout = random.randrange(1000, 3000)
      timeout = random.randrange(1000, 5000)
    start_time = time.monotonic()
    sm.update(timeout)
    t = time.monotonic() - start_time
-      self.assertGreaterEqual(t, timeout/1000.)
+    assert t >= timeout/1000.
-      self.assertLess(t, 5)
+    assert t < 3
-      self.assertFalse(any(sm.updated.values()))
+    assert not any(sm.updated.values())
  def test_avg_frequency_checks(self):
    for poll in (True, False):
@ -91,8 +88,8 @@ class TestSubMaster(unittest.TestCase):
      for service, (max_freq, min_freq) in checks.items():
        if max_freq is not None:
          assert sm._check_avg_freq(service)
-          assert sm.max_freq[service] == max_freq*1.2
+          assert sm.freq_tracker[service].max_freq == max_freq*1.2
-          assert sm.min_freq[service] == min_freq*0.8
+          assert sm.freq_tracker[service].min_freq == min_freq*0.8
        else:
          assert not sm._check_avg_freq(service)
@ -118,12 +115,12 @@ class TestSubMaster(unittest.TestCase):
      pub_sock.send(msg.to_bytes())
      time.sleep(0.01)
    sm.update(1000)
-    self.assertEqual(sm[sock].vEgo, n)
+    assert sm[sock].vEgo == n
-class TestPubMaster(unittest.TestCase):
+class TestPubMaster:
-  def setUp(self):
+  def setup_method(self):
    # ZMQ pub socket takes too long to die
    # sleep to prevent multiple publishers error between tests
    zmq_sleep(3)
@ -156,8 +153,4 @@ class TestPubMaster(unittest.TestCase):
        if capnp:
          msg.clear_write_flag()
          msg = msg.to_bytes()
-        self.assertEqual(msg, recvd, i)
+        assert msg == recvd, i
 if __name__ == "__main__":
  unittest.main()
--- a/cereal/messaging/tests/test_services.py
+++ b/cereal/messaging/tests/test_services.py
@ -1,25 +1,21 @@
 #!/usr/bin/env python3
 import os
 import tempfile
 from typing import Dict
 import unittest
 from parameterized import parameterized
 import cereal.services as services
 from cereal.services import SERVICE_LIST
-class TestServices(unittest.TestCase):
+class TestServices:
  @parameterized.expand(SERVICE_LIST.keys())
  def test_services(self, s):
    service = SERVICE_LIST[s]
-    self.assertTrue(service.frequency <= 104)
+    assert service.frequency <= 104
    assert service.decimation != 0
  def test_generated_header(self):
    with tempfile.NamedTemporaryFile(suffix=".h") as f:
-      ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name}")
+      ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11")
-      self.assertEqual(ret, 0, "generated services header is not valid C")
+      assert ret == 0, "generated services header is not valid C"
 if __name__ == "__main__":
  unittest.main()
--- a/cereal/services.py
+++ b/cereal/services.py
@ -16,14 +16,16 @@ _services: dict[str, tuple] = {
  "gyroscope2": (True, 100., 100),
  "accelerometer": (True, 104., 104),
  "accelerometer2": (True, 100., 100),
-  "magnetometer": (True, 25., 25),
+  "magnetometer": (True, 25.),
  "lightSensor": (True, 100., 100),
  "temperatureSensor": (True, 2., 200),
  "temperatureSensor2": (True, 2., 200),
  "gpsNMEA": (True, 9.),
  "deviceState": (True, 2., 1),
-  "can": (True, 100., 1223),  # decimation gives ~5 msgs in a full segment
+  "touch": (True, 20., 1),
  "can": (True, 100., 2053),  # decimation gives ~3 msgs in a full segment
  "controlsState": (True, 100., 10),
  "selfdriveState": (True, 100., 10),
  "pandaStates": (True, 10., 1),
  "peripheralState": (True, 2., 1),
  "radarState": (True, 20., 5),
@ -38,7 +40,8 @@ _services: dict[str, tuple] = {
  "carState": (True, 100., 10),
  "carControl": (True, 100., 10),
  "carOutput": (True, 100., 10),
-  "longitudinalPlan": (True, 20., 5),
+  "longitudinalPlan": (True, 20., 10),
  "driverAssistance": (True, 20., 20),
  "procLog": (True, 0.5, 15),
  "gpsLocationExternal": (True, 10., 10),
  "gpsLocation": (True, 1., 1),
@ -47,9 +50,9 @@ _services: dict[str, tuple] = {
  "gnssMeasurements": (True, 10., 10),
  "clocks": (True, 0.1, 1),
  "ubloxRaw": (True, 20.),
-  "liveLocationKalman": (True, 20., 5),
+  "livePose": (True, 20., 4),
  "liveParameters": (True, 20., 5),
-  "cameraOdometry": (True, 20., 5),
+  "cameraOdometry": (True, 20., 10),
  "thumbnail": (True, 0.2, 1),
  "onroadEvents": (True, 1., 1),
  "carParams": (True, 0.02, 1),
@ -60,13 +63,13 @@ _services: dict[str, tuple] = {
  "driverMonitoringState": (True, 20., 10),
  "wideRoadEncodeIdx": (False, 20., 1),
  "wideRoadCameraState": (True, 20., 20),
-  "modelV2": (True, 20., 40),
+  "drivingModelData": (True, 20., 10),
  "modelV2": (True, 20.),
  "managerState": (True, 2., 1),
  "uploaderState": (True, 0., 1),
  "navInstruction": (True, 1., 10),
  "navRoute": (True, 0.),
  "navThumbnail": (True, 0.),
  "uiPlan": (True, 20., 40.),
  "qRoadEncodeIdx": (False, 20.),
  "userFlag": (True, 0., 1),
  "microphone": (True, 10., 10),
@ -74,6 +77,7 @@ _services: dict[str, tuple] = {
  # debug
  "uiDebug": (True, 0., 1),
  "testJoystick": (True, 0.),
  "alertDebug": (True, 20., 5),
  "roadEncodeData": (False, 20.),
  "driverEncodeData": (False, 20.),
  "wideRoadEncodeData": (False, 20.),
--- a/common/api/init.py
+++ b/common/api/init.py
@ -1,7 +1,7 @@
 import jwt
 import os
 import requests
-from datetime import datetime, timedelta
+from datetime import datetime, timedelta, UTC
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.version import get_version
@ -23,7 +23,7 @@ class Api:
    return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
  def get_token(self, expiry_hours=1):
-    now = datetime.utcnow()
+    now = datetime.now(UTC).replace(tzinfo=None)
    payload = {
      'identity': self.dongle_id,
      'nbf': now,
--- a/common/clutil.cc
+++ b/common/clutil.cc
@ -79,6 +79,10 @@ cl_context cl_create_context(cl_device_id device_id) {
  return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
 }
 void cl_release_context(cl_context context) {
  clReleaseContext(context);
 }
 cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
  return cl_program_from_source(ctx, device_id, util::read_file(path), args);
 }
--- a/common/clutil.h
+++ b/common/clutil.h
@ -23,6 +23,7 @@
 cl_device_id cl_get_device_id(cl_device_type device_type);
 cl_context cl_create_context(cl_device_id device_id);
 void cl_release_context(cl_context context);
 cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
 cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr);
 cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
--- a/common/gps.py
+++ b/common/gps.py
@ -0,0 +1,8 @@
 from openpilot.common.params import Params
 def get_gps_location_service(params: Params) -> str:
  if params.get_bool("UbloxAvailable"):
    return "gpsLocationExternal"
  else:
    return "gpsLocation"
--- a/common/markdown.py
+++ b/common/markdown.py
@ -0,0 +1,45 @@
 HTML_REPLACEMENTS = [
  (r'&', r'&amp;'),
  (r'"', r'&quot;'),
 ]
 def parse_markdown(text: str, tab_length: int = 2) -> str:
  lines = text.split("\n")
  output: list[str] = []
  list_level = 0
  def end_outstanding_lists(level: int, end_level: int) -> int:
    while level > end_level:
      level -= 1
      output.append("</ul>")
      if level > 0:
        output.append("</li>")
    return end_level
  for i, line in enumerate(lines):
    if i + 1 < len(lines) and lines[i + 1].startswith("==="):  # heading
      output.append(f"<h1>{line}</h1>")
    elif line.startswith("==="):
      pass
    elif line.lstrip().startswith("* "):  # list
      line_level = 1 + line.count(" " * tab_length, 0, line.index("*"))
      if list_level >= line_level:
        list_level = end_outstanding_lists(list_level, line_level)
      else:
        list_level += 1
        if list_level > 1:
          output[-1] = output[-1].replace("</li>", "")
        output.append("<ul>")
      output.append(f"<li>{line.replace('*', '', 1).lstrip()}</li>")
    else:
      list_level = end_outstanding_lists(list_level, 0)
      if len(line) > 0:
        output.append(line)
  end_outstanding_lists(list_level, 0)
  output_str = "\n".join(output) + "\n"
  for (fr, to) in HTML_REPLACEMENTS:
    output_str = output_str.replace(fr, to)
  return output_str
--- a/common/mock/init.py
+++ b/common/mock/init.py
@ -8,12 +8,12 @@ import functools
 import threading
 from cereal.messaging import PubMaster
 from cereal.services import SERVICE_LIST
-from openpilot.common.mock.generators import generate_liveLocationKalman
+from openpilot.common.mock.generators import generate_livePose
 from openpilot.common.realtime import Ratekeeper
 MOCK_GENERATOR = {
-  "liveLocationKalman": generate_liveLocationKalman
+  "livePose": generate_livePose
 }
--- a/common/mock/generators.py
+++ b/common/mock/generators.py
@ -1,20 +1,14 @@
 from cereal import messaging
-LOCATION1 = (32.7174, -117.16277)
+def generate_livePose():
-LOCATION2 = (32.7558, -117.2037)
+  msg = messaging.new_message('livePose')
-
+  meas = {'x': 0.0, 'y': 0.0, 'z': 0.0, 'xStd': 0.0, 'yStd': 0.0, 'zStd': 0.0, 'valid': True}
-LLK_DECIMATION = 10
+  msg.livePose.orientationNED = meas
-RENDER_FRAMES = 15
+  msg.livePose.velocityDevice = meas
-DEFAULT_ITERATIONS = RENDER_FRAMES * LLK_DECIMATION
+  msg.livePose.angularVelocityDevice = meas
-
+  msg.livePose.accelerationDevice = meas
-
+  msg.livePose.inputsOK = True
-def generate_liveLocationKalman(location=LOCATION1):
+  msg.livePose.posenetOK = True
-  msg = messaging.new_message('liveLocationKalman')
+  msg.livePose.sensorsOK = True
  msg.liveLocationKalman.positionGeodetic = {'value': [*location, 0], 'std': [0., 0., 0.], 'valid': True}
  msg.liveLocationKalman.positionECEF = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
  msg.liveLocationKalman.calibratedOrientationNED = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
  msg.liveLocationKalman.velocityCalibrated = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
  msg.liveLocationKalman.status = 'valid'
  msg.liveLocationKalman.gpsOK = True
  return msg
--- a/common/params.cc
+++ b/common/params.cc
@ -24,8 +24,8 @@ int fsync_dir(const std::string &path) {
  int result = -1;
  int fd = HANDLE_EINTR(open(path.c_str(), O_RDONLY, 0755));
  if (fd >= 0) {
-    result = fsync(fd);
+    result = HANDLE_EINTR(fsync(fd));
-    close(fd);
+    HANDLE_EINTR(close(fd));
  }
  return result;
 }
@ -91,7 +91,6 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
    {"AlwaysOnDM", PERSISTENT},
    {"ApiCache_Device", PERSISTENT},
    {"ApiCache_NavDestinations", PERSISTENT},
    {"AssistNowToken", PERSISTENT},
    {"AthenadPid", PERSISTENT},
    {"AthenadUploadQueue", PERSISTENT},
@ -105,7 +104,6 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"CarParamsCache", CLEAR_ON_MANAGER_START},
    {"CarParamsPersistent", PERSISTENT},
    {"CarParamsPrevRoute", PERSISTENT},
    {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
    {"CompletedTrainingVersion", PERSISTENT},
    {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
    {"CurrentBootlog", PERSISTENT},
@ -114,7 +112,6 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"DisablePowerDown", PERSISTENT},
    {"DisableUpdates", PERSISTENT},
    {"DisengageOnAccelerator", PERSISTENT},
    {"DmModelInitialized", CLEAR_ON_ONROAD_TRANSITION},
    {"DongleId", PERSISTENT},
    {"DoReboot", CLEAR_ON_MANAGER_START},
    {"DoShutdown", CLEAR_ON_MANAGER_START},
@ -136,7 +133,6 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"GsmRoaming", PERSISTENT},
    {"HardwareSerial", PERSISTENT},
    {"HasAcceptedTerms", PERSISTENT},
    {"IMEI", PERSISTENT},
    {"InstallDate", PERSISTENT},
    {"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
    {"IsEngaged", PERSISTENT},
@ -159,12 +155,9 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"LastUpdateTime", PERSISTENT},
    {"LiveParameters", PERSISTENT},
    {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
    {"LocationFilterInitialState", PERSISTENT},
    {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
    {"LongitudinalPersonality", PERSISTENT},
    {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
    {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
    {"NavPastDestinations", PERSISTENT},
    {"NavSettingLeftSide", PERSISTENT},
    {"NavSettingTime24h", PERSISTENT},
    {"NetworkMetered", PERSISTENT},
    {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
    {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
@ -187,12 +180,11 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"PrimeType", PERSISTENT},
    {"RecordFront", PERSISTENT},
    {"RecordFrontLock", PERSISTENT},  // for the internal fleet
-    {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"SecOCKey", PERSISTENT | DONT_LOG},
    {"RouteCount", PERSISTENT},
    {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
    {"SshEnabled", PERSISTENT},
    {"TermsVersion", PERSISTENT},
    {"Timezone", PERSISTENT},
    {"TrainingVersion", PERSISTENT},
    {"UbloxAvailable", PERSISTENT},
    {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
--- a/common/params_pyx.pyx
+++ b/common/params_pyx.pyx
@ -36,11 +36,16 @@ class UnknownKeyName(Exception):
 cdef class Params:
  cdef c_Params* p
  cdef str d
  def __cinit__(self, d=""):
    cdef string path = <string>d.encode()
    with nogil:
      self.p = new c_Params(path)
    self.d = d
  def __reduce__(self):
    return (type(self), (self.d,))
  def __dealloc__(self):
    del self.p
--- a/selfdrive/controls/lib/pid.py
+++ b/selfdrive/controls/lib/pid.py
@ -1,9 +1,6 @@
 import numpy as np
 from numbers import Number
 from openpilot.common.numpy_fast import clip, interp
 class PIDController:
  def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
    self._k_p = k_p
@ -28,15 +25,15 @@ class PIDController:
  @property
  def k_p(self):
-    return interp(self.speed, self._k_p[0], self._k_p[1])
+    return np.interp(self.speed, self._k_p[0], self._k_p[1])
  @property
  def k_i(self):
-    return interp(self.speed, self._k_i[0], self._k_i[1])
+    return np.interp(self.speed, self._k_i[0], self._k_i[1])
  @property
  def k_d(self):
-    return interp(self.speed, self._k_d[0], self._k_d[1])
+    return np.interp(self.speed, self._k_d[0], self._k_d[1])
  @property
  def error_integral(self):
@ -59,17 +56,15 @@ class PIDController:
    if override:
      self.i -= self.i_unwind_rate * float(np.sign(self.i))
    else:
-      i = self.i + error * self.k_i * self.i_rate
+      if not freeze_integrator:
-      control = self.p + i + self.d + self.f
+        self.i = self.i + error * self.k_i * self.i_rate
-      # Update when changing i will move the control away from the limits
+        # Clip i to prevent exceeding control limits
-      # or when i will move towards the sign of the error
+        control_no_i = self.p + self.d + self.f
-      if ((error >= 0 and (control <= self.pos_limit or i < 0.0)) or
+        control_no_i = np.clip(control_no_i, self.neg_limit, self.pos_limit)
-          (error <= 0 and (control >= self.neg_limit or i > 0.0))) and \
+        self.i = np.clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
         not freeze_integrator:
        self.i = i
    control = self.p + self.i + self.d + self.f
-    self.control = clip(control, self.neg_limit, self.pos_limit)
+    self.control = np.clip(control, self.neg_limit, self.pos_limit)
    return self.control
--- a/common/prefix.h
+++ b/common/prefix.h
@ -13,7 +13,7 @@ public:
    if (prefix.empty()) {
      prefix = util::random_string(15);
    }
-    msgq_path = "/dev/shm/" + prefix;
+    msgq_path = Path::shm_path() + "/" + prefix;
    bool ret = util::create_directories(msgq_path, 0777);
    assert(ret);
    setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);
--- a/common/prefix.py
+++ b/common/prefix.py
@ -11,7 +11,7 @@ from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 class OpenpilotPrefix:
  def __init__(self, prefix: str = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
    self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
-    self.msgq_path = os.path.join('/dev/shm', self.prefix)
+    self.msgq_path = os.path.join(Paths.shm_path(), self.prefix)
    self.clean_dirs_on_exit = clean_dirs_on_exit
    self.shared_download_cache = shared_download_cache
--- a/common/ratekeeper.h
+++ b/common/ratekeeper.h
@ -9,7 +9,7 @@ public:
  ~RateKeeper() {}
  bool keepTime();
  bool monitorTime();
-  inline double frame() const { return frame_; }
+  inline uint64_t frame() const { return frame_; }
  inline double remaining() const { return remaining_; }
 private:
--- a/common/realtime.py
+++ b/common/realtime.py
@ -48,13 +48,13 @@ class Ratekeeper:
  def __init__(self, rate: float, print_delay_threshold: float | None = 0.0) -> None:
    """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
    self._interval = 1. / rate
    self._next_frame_time = time.monotonic() + self._interval
    self._print_delay_threshold = print_delay_threshold
    self._frame = 0
    self._remaining = 0.0
    self._process_name = getproctitle()
    self._dts = deque([self._interval], maxlen=100)
-    self._last_monitor_time = time.monotonic()
+    self._last_monitor_time = -1.
    self._next_frame_time = -1.
  @property
  def frame(self) -> int:
@ -79,6 +79,10 @@ class Ratekeeper:
  # Monitors the cumulative lag, but does not enforce a rate
  def monitor_time(self) -> bool:
    if self._last_monitor_time < 0:
      self._next_frame_time = time.monotonic() + self._interval
      self._last_monitor_time = time.monotonic()
    prev = self._last_monitor_time
    self._last_monitor_time = time.monotonic()
    self._dts.append(self._last_monitor_time - prev)
--- a/common/swaglog.cc
+++ b/common/swaglog.cc
@ -26,6 +26,9 @@ public:
    zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout));
    zmq_connect(sock, Path::swaglog_ipc().c_str());
    // workaround for https://github.com/dropbox/json11/issues/38
    setlocale(LC_NUMERIC, "C");
    print_level = CLOUDLOG_WARNING;
    if (const char* print_lvl = getenv("LOGPRINT")) {
      if (strcmp(print_lvl, "debug") == 0) {
--- a/common/swaglog.py
+++ b/common/swaglog.py
@ -104,6 +104,15 @@ class UnixDomainSocketHandler(logging.Handler):
      pass
 class ForwardingHandler(logging.Handler):
  def __init__(self, target_logger):
    super().__init__()
    self.target_logger = target_logger
  def emit(self, record):
    self.target_logger.handle(record)
 def add_file_handler(log):
  """
  Function to add the file log handler to swaglog.
--- a/common/tests/test_markdown.py
+++ b/common/tests/test_markdown.py
@ -0,0 +1,15 @@
 import os
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.markdown import parse_markdown
 class TestMarkdown:
  def test_all_release_notes(self):
    with open(os.path.join(BASEDIR, "RELEASES.md")) as f:
      release_notes = f.read().split("\n\n")
      assert len(release_notes) > 10
      for rn in release_notes:
        md = parse_markdown(rn)
        assert len(md) > 0
--- a/common/tests/test_numpy_fast.py
+++ b/common/tests/test_numpy_fast.py
@ -1,21 +0,0 @@
 import numpy as np
 from openpilot.common.numpy_fast import interp
 class TestInterp:
  def test_correctness_controls(self):
    _A_CRUISE_MIN_BP = np.asarray([0., 5., 10., 20., 40.])
    _A_CRUISE_MIN_V = np.asarray([-1.0, -.8, -.67, -.5, -.30])
    v_ego_arr = [-1, -1e-12, 0, 4, 5, 6, 7, 10, 11, 15.2, 20, 21, 39,
                 39.999999, 40, 41]
    expected = np.interp(v_ego_arr, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
    actual = interp(v_ego_arr, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
    np.testing.assert_equal(actual, expected)
    for v_ego in v_ego_arr:
      expected = np.interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
      actual = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
      np.testing.assert_equal(actual, expected)
--- a/common/time_helpers.py
+++ b/common/time_helpers.py
@ -1,7 +1,7 @@
 import datetime
 from pathlib import Path
-_MIN_DATE = datetime.datetime(year=2024, month=3, day=30)
+_MIN_DATE = datetime.datetime(year=2024, month=8, day=26)
 def min_date():
  # on systemd systems, the default time is the systemd build time
--- a/common/transformations/camera.py
+++ b/common/transformations/camera.py
@ -47,9 +47,9 @@ class DeviceCameraConfig:
        yield cam, getattr(self, cam)
 _ar_ox_fisheye = CameraConfig(1928, 1208, 567.0)  # focal length probably wrong? magnification is not consistent across frame
-_os_fisheye = CameraConfig(2688, 1520, 567.0 / 2 * 3)
+_os_fisheye = CameraConfig(2688 // 2, 1520 // 2, 567.0 / 4 * 3)
 _ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fisheye, _ar_ox_fisheye)
-_os_config = DeviceCameraConfig(CameraConfig(2688, 1520, 2648.0 * 2 / 3), _os_fisheye, _os_fisheye)
+_os_config = DeviceCameraConfig(CameraConfig(2688 // 2, 1520 // 2, 1522.0 * 3 / 4), _os_fisheye, _os_fisheye)
 _neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig())
 DEVICE_CAMERAS = {
--- a/common/transformations/coordinates.cc
+++ b/common/transformations/coordinates.cc
@ -25,8 +25,8 @@ static Geodetic to_radians(Geodetic geodetic){
 }
-ECEF geodetic2ecef(Geodetic g){
+ECEF geodetic2ecef(const Geodetic &geodetic) {
-  g = to_radians(g);
+  auto g = to_radians(geodetic);
  double xi = sqrt(1.0 - esq * pow(sin(g.lat), 2));
  double x = (a / xi + g.alt) * cos(g.lat) * cos(g.lon);
  double y = (a / xi + g.alt) * cos(g.lat) * sin(g.lon);
@ -34,7 +34,7 @@ ECEF geodetic2ecef(Geodetic g){
  return {x, y, z};
 }
-Geodetic ecef2geodetic(ECEF e){
+Geodetic ecef2geodetic(const ECEF &e) {
  // Convert from ECEF to geodetic using Ferrari's methods
  // https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution
  double x = e.x;
@ -61,10 +61,10 @@ Geodetic ecef2geodetic(ECEF e){
  return to_degrees({lat, lon, h});
 }
-LocalCoord::LocalCoord(Geodetic g, ECEF e){
+LocalCoord::LocalCoord(const Geodetic &geodetic, const ECEF &e) {
  init_ecef <<  e.x, e.y, e.z;
-  g = to_radians(g);
+  auto g = to_radians(geodetic);
  ned2ecef_matrix <<
    -sin(g.lat)*cos(g.lon), -sin(g.lon), -cos(g.lat)*cos(g.lon),
@ -73,7 +73,7 @@ LocalCoord::LocalCoord(Geodetic g, ECEF e){
  ecef2ned_matrix = ned2ecef_matrix.transpose();
 }
-NED LocalCoord::ecef2ned(ECEF e) {
+NED LocalCoord::ecef2ned(const ECEF &e) {
  Eigen::Vector3d ecef;
  ecef << e.x, e.y, e.z;
@ -81,7 +81,7 @@ NED LocalCoord::ecef2ned(ECEF e) {
  return {ned[0], ned[1], ned[2]};
 }
-ECEF LocalCoord::ned2ecef(NED n) {
+ECEF LocalCoord::ned2ecef(const NED &n) {
  Eigen::Vector3d ned;
  ned << n.n, n.e, n.d;
@ -89,12 +89,12 @@ ECEF LocalCoord::ned2ecef(NED n) {
  return {ecef[0], ecef[1], ecef[2]};
 }
-NED LocalCoord::geodetic2ned(Geodetic g) {
+NED LocalCoord::geodetic2ned(const Geodetic &g) {
  ECEF e = ::geodetic2ecef(g);
  return ecef2ned(e);
 }
-Geodetic LocalCoord::ned2geodetic(NED n){
+Geodetic LocalCoord::ned2geodetic(const NED &n) {
  ECEF e = ned2ecef(n);
  return ::ecef2geodetic(e);
 }
--- a/common/transformations/coordinates.hpp
+++ b/common/transformations/coordinates.hpp
@ -7,14 +7,14 @@
 struct ECEF {
  double x, y, z;
-  Eigen::Vector3d to_vector(){
+  Eigen::Vector3d to_vector() const {
    return Eigen::Vector3d(x, y, z);
  }
 };
 struct NED {
  double n, e, d;
-  Eigen::Vector3d to_vector(){
+  Eigen::Vector3d to_vector() const {
    return Eigen::Vector3d(n, e, d);
  }
 };
@ -24,20 +24,20 @@ struct Geodetic {
  bool radians=false;
 };
-ECEF geodetic2ecef(Geodetic g);
+ECEF geodetic2ecef(const Geodetic &g);
-Geodetic ecef2geodetic(ECEF e);
+Geodetic ecef2geodetic(const ECEF &e);
 class LocalCoord {
 public:
  Eigen::Matrix3d ned2ecef_matrix;
  Eigen::Matrix3d ecef2ned_matrix;
  Eigen::Vector3d init_ecef;
-  LocalCoord(Geodetic g, ECEF e);
+  LocalCoord(const Geodetic &g, const ECEF &e);
-  LocalCoord(Geodetic g) : LocalCoord(g, ::geodetic2ecef(g)) {}
+  LocalCoord(const Geodetic &g) : LocalCoord(g, ::geodetic2ecef(g)) {}
-  LocalCoord(ECEF e) : LocalCoord(::ecef2geodetic(e), e) {}
+  LocalCoord(const ECEF &e) : LocalCoord(::ecef2geodetic(e), e) {}
-
+
-  NED ecef2ned(ECEF e);
+  NED ecef2ned(const ECEF &e);
-  ECEF ned2ecef(NED n);
+  ECEF ned2ecef(const NED &n);
-  NED geodetic2ned(Geodetic g);
+  NED geodetic2ned(const Geodetic &g);
-  Geodetic ned2geodetic(NED n);
+  Geodetic ned2geodetic(const NED &n);
 };
--- a/common/transformations/model.py
+++ b/common/transformations/model.py
@ -1,7 +1,7 @@
 import numpy as np
 from openpilot.common.transformations.orientation import rot_from_euler
-from openpilot.common.transformations.camera import get_view_frame_from_calib_frame, view_frame_from_device_frame
+from openpilot.common.transformations.camera import get_view_frame_from_calib_frame, view_frame_from_device_frame, _ar_ox_fisheye
 # segnet
 SEGNET_SIZE = (512, 384)
@ -39,6 +39,13 @@ sbigmodel_intrinsics = np.array([
  [0.0,  sbigmodel_fl,      0.5 * (256 + MEDMODEL_CY)],
  [0.0,  0.0,                                     1.0]])
 DM_INPUT_SIZE = (1440, 960)
 dmonitoringmodel_fl = _ar_ox_fisheye.focal_length
 dmonitoringmodel_intrinsics = np.array([
  [dmonitoringmodel_fl,  0.0, DM_INPUT_SIZE[0]/2],
  [0.0, dmonitoringmodel_fl, DM_INPUT_SIZE[1]/2 - (_ar_ox_fisheye.height - DM_INPUT_SIZE[1])/2],
  [0.0,  0.0, 1.0]])
 bigmodel_frame_from_calib_frame = np.dot(bigmodel_intrinsics,
  get_view_frame_from_calib_frame(0, 0, 0, 0))
--- a/common/transformations/orientation.cc
+++ b/common/transformations/orientation.cc
@ -7,7 +7,7 @@
 #include "common/transformations/orientation.hpp"
 #include "common/transformations/coordinates.hpp"
-Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat){
+Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat) {
  if (quat.w() > 0){
    return quat;
  } else {
@ -15,7 +15,7 @@ Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat){
  }
 }
-Eigen::Quaterniond euler2quat(Eigen::Vector3d euler){
+Eigen::Quaterniond euler2quat(const Eigen::Vector3d &euler) {
  Eigen::Quaterniond q;
  q = Eigen::AngleAxisd(euler(2), Eigen::Vector3d::UnitZ())
@ -25,7 +25,7 @@ Eigen::Quaterniond euler2quat(Eigen::Vector3d euler){
 }
-Eigen::Vector3d quat2euler(Eigen::Quaterniond quat){
+Eigen::Vector3d quat2euler(const Eigen::Quaterniond &quat) {
  // TODO: switch to eigen implementation if the range of the Euler angles doesn't matter anymore
  // Eigen::Vector3d euler = quat.toRotationMatrix().eulerAngles(2, 1, 0);
  // return {euler(2), euler(1), euler(0)};
@ -36,7 +36,7 @@ Eigen::Vector3d quat2euler(Eigen::Quaterniond quat){
  return {gamma, theta, psi};
 }
-Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat){
+Eigen::Matrix3d quat2rot(const Eigen::Quaterniond &quat) {
  return quat.toRotationMatrix();
 }
@ -44,7 +44,7 @@ Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot){
  return ensure_unique(Eigen::Quaterniond(rot));
 }
-Eigen::Matrix3d euler2rot(Eigen::Vector3d euler){
+Eigen::Matrix3d euler2rot(const Eigen::Vector3d &euler) {
  return quat2rot(euler2quat(euler));
 }
@ -56,14 +56,14 @@ Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw){
  return euler2rot({roll, pitch, yaw});
 }
-Eigen::Matrix3d rot(Eigen::Vector3d axis, double angle){
+Eigen::Matrix3d rot(const Eigen::Vector3d &axis, double angle) {
  Eigen::Quaterniond q;
  q = Eigen::AngleAxisd(angle, axis);
  return q.toRotationMatrix();
 }
-Eigen::Vector3d ecef_euler_from_ned(ECEF ecef_init, Eigen::Vector3d ned_pose) {
+Eigen::Vector3d ecef_euler_from_ned(const ECEF &ecef_init, const Eigen::Vector3d &ned_pose) {
  /*
    Using Rotations to Build Aerospace Coordinate Systems
    Don Koks
@ -103,7 +103,7 @@ Eigen::Vector3d ecef_euler_from_ned(ECEF ecef_init, Eigen::Vector3d ned_pose) {
  return {phi, theta, psi};
 }
-Eigen::Vector3d ned_euler_from_ecef(ECEF ecef_init, Eigen::Vector3d ecef_pose){
+Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d &ecef_pose) {
  /*
    Using Rotations to Build Aerospace Coordinate Systems
    Don Koks
--- a/common/transformations/orientation.hpp
+++ b/common/transformations/orientation.hpp
@ -3,15 +3,15 @@
 #include "common/transformations/coordinates.hpp"
-Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat);
+Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat);
-Eigen::Quaterniond euler2quat(Eigen::Vector3d euler);
+Eigen::Quaterniond euler2quat(const Eigen::Vector3d &euler);
-Eigen::Vector3d quat2euler(Eigen::Quaterniond quat);
+Eigen::Vector3d quat2euler(const Eigen::Quaterniond &quat);
-Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat);
+Eigen::Matrix3d quat2rot(const Eigen::Quaterniond &quat);
 Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot);
-Eigen::Matrix3d euler2rot(Eigen::Vector3d euler);
+Eigen::Matrix3d euler2rot(const Eigen::Vector3d &euler);
 Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot);
 Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw);
-Eigen::Matrix3d rot(Eigen::Vector3d axis, double angle);
+Eigen::Matrix3d rot(const Eigen::Vector3d &axis, double angle);
-Eigen::Vector3d ecef_euler_from_ned(ECEF ecef_init, Eigen::Vector3d ned_pose);
+Eigen::Vector3d ecef_euler_from_ned(const ECEF &ecef_init, const Eigen::Vector3d &ned_pose);
-Eigen::Vector3d ned_euler_from_ecef(ECEF ecef_init, Eigen::Vector3d ecef_pose);
+Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d &ecef_pose);
--- a/common/transformations/transformations.pxd
+++ b/common/transformations/transformations.pxd
@ -24,15 +24,15 @@ cdef extern from "orientation.hpp":
    double operator()(int, int)
-  Quaternion euler2quat(Vector3)
+  Quaternion euler2quat(const Vector3 &)
-  Vector3 quat2euler(Quaternion)
+  Vector3 quat2euler(const Quaternion &)
-  Matrix3 quat2rot(Quaternion)
+  Matrix3 quat2rot(const Quaternion &)
-  Quaternion rot2quat(Matrix3)
+  Quaternion rot2quat(const Matrix3 &)
-  Vector3 rot2euler(Matrix3)
+  Vector3 rot2euler(const Matrix3 &)
-  Matrix3 euler2rot(Vector3)
+  Matrix3 euler2rot(const Vector3 &)
  Matrix3 rot_matrix(double, double, double)
-  Vector3 ecef_euler_from_ned(ECEF, Vector3)
+  Vector3 ecef_euler_from_ned(const ECEF &, const Vector3 &)
-  Vector3 ned_euler_from_ecef(ECEF, Vector3)
+  Vector3 ned_euler_from_ecef(const ECEF &, const Vector3 &)
 cdef extern from "coordinates.cc":
@ -52,21 +52,21 @@ cdef extern from "coordinates.cc":
    double alt
    bool radians
-  ECEF geodetic2ecef(Geodetic)
+  ECEF geodetic2ecef(const Geodetic &)
-  Geodetic ecef2geodetic(ECEF)
+  Geodetic ecef2geodetic(const ECEF &)
  cdef cppclass LocalCoord_c "LocalCoord":
    Matrix3 ned2ecef_matrix
    Matrix3 ecef2ned_matrix
-    LocalCoord_c(Geodetic, ECEF)
+    LocalCoord_c(const Geodetic &, const ECEF &)
-    LocalCoord_c(Geodetic)
+    LocalCoord_c(const Geodetic &)
-    LocalCoord_c(ECEF)
+    LocalCoord_c(const ECEF &)
-    NED ecef2ned(ECEF)
+    NED ecef2ned(const ECEF &)
-    ECEF ned2ecef(NED)
+    ECEF ned2ecef(const NED &)
-    NED geodetic2ned(Geodetic)
+    NED geodetic2ned(const Geodetic &)
-    Geodetic ned2geodetic(NED)
+    Geodetic ned2geodetic(const NED &)
 cdef extern from "coordinates.hpp":
  pass
--- a/common/util.cc
+++ b/common/util.cc
@ -255,6 +255,29 @@ bool ends_with(const std::string& s, const std::string& suffix) {
         strcmp(s.c_str() + (s.size() - suffix.size()), suffix.c_str()) == 0;
 }
 std::string strip(const std::string &str) {
  auto should_trim = [](unsigned char ch) {
    // trim whitespace or a null character
    return std::isspace(ch) || ch == '\0';
  };
  size_t start = 0;
  while (start < str.size() && should_trim(static_cast<unsigned char>(str[start]))) {
    start++;
  }
  if (start == str.size()) {
    return "";
  }
  size_t end = str.size() - 1;
  while (end > 0 && should_trim(static_cast<unsigned char>(str[end]))) {
    end--;
  }
  return str.substr(start, end - start + 1);
 }
 std::string check_output(const std::string& command) {
  char buffer[128];
  std::string result;
--- a/common/util.h
+++ b/common/util.h
@ -37,6 +37,8 @@ const double MS_TO_MPH = MS_TO_KPH * KM_TO_MILE;
 const double METER_TO_MILE = KM_TO_MILE / 1000.0;
 const double METER_TO_FOOT = 3.28084;
 #define ALIGNED_SIZE(x, align) (((x) + (align)-1) & ~((align)-1))
 namespace util {
 void set_thread_name(const char* name);
@ -72,6 +74,7 @@ float getenv(const char* key, float default_val);
 std::string hexdump(const uint8_t* in, const size_t size);
 bool starts_with(const std::string &s1, const std::string &s2);
 bool ends_with(const std::string &s, const std::string &suffix);
 std::string strip(const std::string &str);
 // ***** random helpers *****
 int random_int(int min, int max);
--- a/common/utils.py
+++ b/common/utils.py
@ -1,11 +0,0 @@
 class Freezable:
  _frozen: bool = False
  def freeze(self):
    if not self._frozen:
      self._frozen = True
  def __setattr__(self, *args, **kwargs):
    if self._frozen:
      raise Exception("cannot modify frozen object")
    super().__setattr__(*args, **kwargs)
--- a/common/version.h
+++ b/common/version.h
@ -1 +1 @@
-#define COMMA_VERSION "0.9.7"
+#define COMMA_VERSION "0.9.8"
--- a/common/watchdog.cc
+++ b/common/watchdog.cc
@ -2,8 +2,9 @@
 #include "common/watchdog.h"
 #include "common/util.h"
 #include "system/hardware/hw.h"
-const std::string watchdog_fn_prefix = "/dev/shm/wd_";  // + <pid>
+const std::string watchdog_fn_prefix = Path::shm_path() + "/wd_";  // + <pid>
 bool watchdog_kick(uint64_t ts) {
  static std::string fn = watchdog_fn_prefix + std::to_string(getpid());
--- a/conftest.py
+++ b/conftest.py
@ -8,6 +8,19 @@ from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.system.manager import manager
 from openpilot.system.hardware import TICI, HARDWARE
 # TODO: pytest-cpp doesn't support FAIL, and we need to create test translations in sessionstart
 # pending https://github.com/pytest-dev/pytest-cpp/pull/147
 collect_ignore = [
  "selfdrive/ui/tests/test_translations",
  "selfdrive/test/process_replay/test_processes.py",
  "selfdrive/test/process_replay/test_regen.py",
  "selfdrive/test/test_time_to_onroad.py",
 ]
 collect_ignore_glob = [
  "selfdrive/debug/*.py",
  "selfdrive/modeld/*.py",
 ]
 def pytest_sessionstart(session):
  # TODO: fix tests and enable test order randomization
--- a/docs/BOUNTIES.md
+++ b/docs/BOUNTIES.md
@ -1,66 +0,0 @@
 # [Bounties](https://github.com/orgs/commaai/projects/26/views/1)
 Get paid to improve openpilot!
 ## Rules
 * code must be merged into openpilot master
 * bounty eligibility is solely at our discretion
 * once you open a PR, the bounty is locked to you until you stop working on it
 * open a ticket at [comma.ai/support](https://comma.ai/support/shop-order) with links to your PRs to claim
 * get an extra 20% if you redeem your bounty in [comma shop](https://comma.ai/shop) credit (including refunds on previous orders)
 * for bounties >$100, the first PR gets a lock, which times out after a week of no progress
 We put up each bounty with the intention that it'll get merged, but occasionally the right resolution is to close the bounty, which only becomes clear once some effort is put in. 
 This is still valuable work, so we'll pay out $100 for getting any bounty closed with a good explanation.
 ## Issue bounties
 We've tagged bounty-eligible issues across openpilot and the rest of our repos; check out all the open ones [here](https://github.com/orgs/commaai/projects/26/views/1). These bounties roughly work out like this:
 * **$100** - a few hours of work for an experienced openpilot developer; a good intro for someone new to openpilot
 * **$300** - a day of work for an experienced openpilot developer
 * **$500** - a few days of work for an experienced openpilot developer
 * **$1k+** - a week or two of work (could be less for the right person)
 New bounties can be proposed in the [**#contributing**](https://discord.com/channels/469524606043160576/1183173332531687454) channel in Discord.
 ## Car bounties
 The car bounties only apply to cars that have a path to ship in openpilot release, which excludes unsupportable cars (e.g. Fords with a steering lockout) or cars that require extra hardware (Honda Accord with serial steering).
 #### Brand or platform port - $2000
 Example PR: [commaai/openpilot#23331](https://github.com/commaai/openpilot/pull/23331)
 This is for adding support for an entirely new brand or a substantially new ADAS platform within a brand (e.g. the Volkswagen PQ platform).
 #### Model port - $250
 Example PR: [commaai/openpilot#30245](https://github.com/commaai/openpilot/pull/30245)
 This is for porting a new car model that runs on a platform openpilot already supports.
 In the average case, this is a few hours of work for an experienced software developer.
 This bounty also covers getting openpilot supported on a previously unsupported trim of an already supported car, e.g. the Chevy Bolt without ACC.
 #### Reverse Engineering a new Actuation Message - $300
 This is for cars that are already supported, and it has three components:
 * reverse a new steering, adaptive cruise, or AEB message
 * merge the DBC definitions to [opendbc](http://github.com/commaai/opendbc)
 * merge the openpilot code to use it and post a demo route
 The control doesn't have to be perfect, but it should generally do what it's supposed to do.
 ### Specific Cars
 #### Rivian R1T or R1S - $3000
 Get a Rivian driving with openpilot.
 Requires a merged port with lateral control and at least a POC of longitudinal control.
 #### Toyota SecOc - $5000
 We're contributing $5k to the [community-organized bounty](https://github.com/commaai/openpilot/discussions/19932).
 #### Chevy Bolt with SuperCruise - $2500
 The Bolt is already supported on the trim with standard ACC. Get openpilot working on the trim with SuperCruise. It must be a normal install: no extra pandas or other hardware, no ECU reflashes, etc. The full bounty is for a port with lateral and longitudinal control. $1500 of the bounty can be claimed with a lateral-only port.
--- a/docs/CARS.md
+++ b/docs/CARS.md
@ -4,19 +4,19 @@
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
-# 288 Supported Cars
+# 290 Supported Cars
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
+|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
-|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
+|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
 |Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
 |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)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Equinox 2019-22">Buy Here</a></sub></details>||
@ -25,60 +25,62 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
 |Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2017|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2018|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2018">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-24">Buy Here</a></sub></details>||
 |Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
-|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
+|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
-|Ford|Bronco Sport 2021-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-23">Buy Here</a></sub></details>||
+|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-24">Buy Here</a></sub></details>||
-|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
+|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
-|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Explorer 2020-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-23">Buy Here</a></sub></details>||
+|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-24">Buy Here</a></sub></details>||
-|Ford|Explorer Hybrid 2020-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer Hybrid 2020-23">Buy Here</a></sub></details>||
+|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer Hybrid 2020-24">Buy Here</a></sub></details>||
-|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
+|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
-|Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus Hybrid 2018">Buy Here</a></sub></details>||
+|Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus Hybrid 2018">Buy Here</a></sub></details>||
-|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
+|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
-|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Maverick 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
+|Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
-|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>||
+|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>||
-|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>||
+|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>||
-|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>||
+|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>||
 |Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018">Buy Here</a></sub></details>||
 |Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2019-21">Buy Here</a></sub></details>||
 |Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2022-23">Buy Here</a></sub></details>||
 |Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
 |Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
 |Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>||
 |Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
 |Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV60 (Performance Trim) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (2.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV70 Electrified (Australia Only) 2022[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>||
 |Genesis|GV70 Electrified (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023">Buy Here</a></sub></details>||
 |Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord 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)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |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)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<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)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></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)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
-|Honda|Civic Hatchback 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
+|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
 |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)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
-|Honda|CR-V Hybrid 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)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-21">Buy Here</a></sub></details>||
+|Honda|CR-V Hybrid 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)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-22">Buy Here</a></sub></details>||
 |Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
-|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
+|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
-|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
+|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
-|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>||
+|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>||
 |Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2023">Buy Here</a></sub></details>||
 |Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Insight 2019-22">Buy Here</a></sub></details>||
 |Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>||
-|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
+|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
-|Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
+|Honda|Passport 2019-23|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
-|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
+|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
-|Honda|Ridgeline 2017-24|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-24">Buy Here</a></sub></details>||
+|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-25">Buy Here</a></sub></details>||
 |Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
 |Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2019">Buy Here</a></sub></details>||
 |Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
@ -86,13 +88,13 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-18">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2019">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2021-23|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-20">Buy Here</a></sub></details>||
 |Hyundai|Elantra Hybrid 2021-23|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
@ -102,7 +104,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq Plug-in Hybrid 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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2018-21|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric 2022-23|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric (with HDA II, Korea only) 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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Kona Hybrid 2020|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>||
 |Hyundai|Palisade 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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@ -166,7 +168,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
 |Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-24">Buy Here</a></sub></details>||
 |Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
-|Lexus|ES Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=GS F 2016">Buy Here</a></sub></details>||
 |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
 |Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2022-23">Buy Here</a></sub></details>||
@ -183,19 +185,19 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|RX Hybrid 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)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
 |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
 |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
-|Lincoln|Aviator 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-23">Buy Here</a></sub></details>||
+|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-24">Buy Here</a></sub></details>||
-|Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-23">Buy Here</a></sub></details>||
+|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
-|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
+|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-25">Buy Here</a></sub></details>||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
 |Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<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)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
 |Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>||
-|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
+|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
 |Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
 |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
@ -206,15 +208,15 @@ A supported vehicle is one that just works when you install a comma device. All
 |Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
 |Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<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[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Kamiq 2021-23[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Kamiq 2021-23[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
+|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
-|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
+|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
-|Škoda|Octavia 2015-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
+|Škoda|Octavia 2015-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
-|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
+|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
-|Škoda|Octavia Scout 2017-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
+|Škoda|Octavia Scout 2017-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
-|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
+|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
 |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
@ -237,7 +239,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
 |Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
-|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></sub></details>||
+|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (South America only) 2020-23">Buy Here</a></sub></details>||
 |Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
 |Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
@ -260,42 +262,42 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-24">Buy Here</a></sub></details>||
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
+|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
+|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
+|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
+|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
--- a/docs/CONTRIBUTING.md
+++ b/docs/CONTRIBUTING.md
@ -1,6 +1,8 @@
 # How to contribute
-Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/). Development activity is coordinated through our GitHub Issues, [GitHub Discussions](https://github.com/commaai/openpilot/discussions), and [Discord](https://discord.comma.ai).
+Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
 Development is coordinated through [Discord](https://discord.comma.ai) and GitHub.
 ### Getting Started
@ -11,7 +13,8 @@ Our software is open source so you can solve your own problems without needing h
 ## What contributions are we looking for?
-**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.** openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and **all** development is towards that goal. 
+**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.**
 openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal. 
 ### What gets merged?
@ -27,24 +30,21 @@ All of these are examples of good PRs:
 ### What doesn't get merged?
-* **arbitrary style changes**: code is art, and it's up to the author to make it beautiful
+* **style changes**: code is art, and it's up to the author to make it beautiful 
 * **500+ line PRs**: clean it up, break it up into smaller PRs, or both
 * **PRs without a clear goal**: every PR must have a singular and clear goal
-* **UI design changes**: we do not have a good review process for this yet
+* **UI design**: we do not have a good review process for this yet
 * **New features**: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't.
 * **Negative expected value**: This a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
 ### First contribution
-Check out any [good first issue](https://github.com/commaai/openpilot/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22) to get started.
+[Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
-
+There's lot of bounties that don't require a comma 3/3X or a car.
 ### What do I need to contribute?
 A lot of openpilot work requires only a PC, and some requires a comma device.
 Most car-related contributions require access to that car, plus a comma device installed in the car.
 ## Pull Requests
-Pull requests should be against the master branch. If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve.
+Pull requests should be against the master branch.
 A good pull request has all of the following:
 * a clearly stated purpose
--- a/docs/Makefile
+++ b/docs/Makefile
@ -1,53 +0,0 @@
 # Minimal makefile for Sphinx documentation
 #
 OPENPILOT_ROOT = `git rev-parse --show-toplevel`
 # You can set these variables from the command line, and also
 # from the environment for the first two.
 SPHINXOPTS    ?=
 SPHINXBUILD   ?= sphinx-build
 DOCSDIR       = "$(OPENPILOT_ROOT)/docs"
 SOURCEDIR     = "$(OPENPILOT_ROOT)/build/docs"
 DOCSBUILDDIR  = "$(OPENPILOT_ROOT)/build/docs"
 BUILDDIR      = "$(OPENPILOT_ROOT)/build"
 # Put it first so that "make" without argument is like "make help".
 help:
 	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(DOCSBUILDDIR)" $(SPHINXOPTS) $(O)
 clean:
 	@echo "Cleaning build folder..."
 	rm -rf "$(BUILDDIR)"
 .PHONY: help Makefile
 # Catch-all target: route all unknown targets to Sphinx using the new
 # "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
 %: Makefile
 	@echo "Cleaning build folder..."
 	rm -rf "$(BUILDDIR)"
 	mkdir -p "$(DOCSBUILDDIR)"
 	@echo "Copying docs & config to build folder..."
 	cp -a "$(DOCSDIR)" "$(BUILDDIR)"
 	cd "$(OPENPILOT_ROOT)" && \
 		find . -type f \( -name "*.md" -o -name "*.rst" -o -name "*.png" -o -name "*.jpg" -o -name "*.svg" \) \
 			-not -path "*/.*" \
 			-not -path "./build/*" \
 			-not -path "./docs/*" \
 			-not -path "./xx/*" \
 			-exec cp --parents "{}" ./build/docs/ \;
 	@echo "Building rst files..."
 	sphinx-apidoc -o "$(DOCSBUILDDIR)" ../ \
 		../xx ../rednose_repo ../notebooks ../panda_jungle \
 		../third_party \
 		../panda/examples \
 		../scripts \
 		../selfdrive/modeld \
 		../selfdrive/debug \
 		$(shell find .. -type d -name "*test* -not -path "**.venv**" \")
 	@echo "Building html files..."
 	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(DOCSBUILDDIR)" $(SPHINXOPTS) $(O)
--- a/Show More
+++ b/Show More
		`@ -1 +0,0 @@`
			`Subproject commit 0e74db67ae6aaa7c30054bd4335dcafe69a5aa72`
`@ -1 +1 @@`
	`#define COMMA_VERSION "0.9.7"`	`#define COMMA_VERSION "0.9.8"`