diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 03c26b0169..ab6aac01f5 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -27,13 +27,12 @@ public:
              "-cl-fast-relaxed-math -cl-denorms-are-zero -Isensors "
              "-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d -DFRAME_OFFSET=%d "
              "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DYUV_STRIDE=%d -DUV_OFFSET=%d "
-             "-DIS_AR=%d -DIS_OX=%d -DIS_OS=%d -DHDR_OFFSET=%d -DVIGNETTING=%d ",
-             ci->frame_width, ci->frame_height, ci->hdr_offset > 0 ? ci->frame_stride * 2 : ci->frame_stride, ci->frame_offset,
+             "-DIS_AR=%d -DIS_OX=%d -DIS_OS=%d -DVIGNETTING=%d ",
+             ci->frame_width, ci->frame_height, ci->frame_stride, ci->frame_offset,
              b->rgb_width, b->rgb_height, buf_width, uv_offset,
              ci->image_sensor == cereal::FrameData::ImageSensor::AR0231,
              ci->image_sensor == cereal::FrameData::ImageSensor::OX03C10,
              ci->image_sensor == cereal::FrameData::ImageSensor::OS04C10,
-             ci->hdr_offset,
              s->camera_num == 1);
     const char *cl_file = "cameras/process_raw.cl";
     cl_program prg_imgproc = cl_program_from_file(context, device_id, cl_file, args);
@@ -79,7 +78,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
   LOGD("allocated %d CL buffers", frame_buf_count);
 
   rgb_width = ci->frame_width;
-  rgb_height = ci->hdr_offset > 0 ? (ci->frame_height - ci->hdr_offset) / 2 : ci->frame_height;
+  rgb_height = ci->frame_height;
 
   int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, rgb_width);
   int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, rgb_height);
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index f464dc8b11..a5aa6e604b 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -22,10 +22,9 @@ OS04C10::OS04C10() {
   image_sensor = cereal::FrameData::ImageSensor::OS04C10;
   data_word = false;
 
-  hdr_offset = 64 * 2 + 8; // stagger
   frame_width = 2688;
-  frame_height = 1520 * 2 + hdr_offset;
-  frame_stride = (frame_width * 10 / 8); // no alignment
+  frame_height = 1520;
+  frame_stride = (frame_width * 12 / 8); // no alignment
 
   extra_height = 0;
   frame_offset = 0;
@@ -34,8 +33,8 @@ OS04C10::OS04C10() {
   init_reg_array.assign(std::begin(init_array_os04c10), std::end(init_array_os04c10));
   probe_reg_addr = 0x300a;
   probe_expected_data = 0x5304;
-  mipi_format = CAM_FORMAT_MIPI_RAW_10;
-  frame_data_type = 0x2b;
+  mipi_format = CAM_FORMAT_MIPI_RAW_12;
+  frame_data_type = 0x2c;
   mclk_frequency = 24000000; // Hz
 
   dc_gain_factor = 1;
@@ -69,7 +68,7 @@ std::vector<i2c_random_wr_payload> OS04C10::getExposureRegisters(int exposure_ti
   return {
     {0x3501, long_time>>8}, {0x3502, long_time&0xFF},
     {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF},
-    {0x350c, real_gain>>8}, {0x350d, real_gain&0xFF},
+    // {0x350c, real_gain>>8}, {0x350d, real_gain&0xFF},
   };
 }
 
@@ -84,6 +83,6 @@ float OS04C10::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, floa
   score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m;
   score += ((1 - analog_gain_cost_delta) +
             analog_gain_cost_delta * (exp_g_idx - analog_gain_min_idx) / (analog_gain_max_idx - analog_gain_min_idx)) *
-           std::abs(exp_g_idx - gain_idx) * 3.0;
+           std::abs(exp_g_idx - gain_idx) * 5.0;
   return score;
 }
diff --git a/system/camerad/sensors/os04c10_cl.h b/system/camerad/sensors/os04c10_cl.h
new file mode 100644
index 0000000000..77b8707176
--- /dev/null
+++ b/system/camerad/sensors/os04c10_cl.h
@@ -0,0 +1,24 @@
+#if IS_OS
+
+#define BIT_DEPTH 12
+#define PV_MAX 4096
+#define BLACK_LVL 64
+#define VIGNETTE_RSZ 2.2545f
+
+float4 normalize_pv(int4 parsed, float vignette_factor) {
+  float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX - BLACK_LVL);
+  return clamp(pv*vignette_factor, 0.0, 1.0);
+}
+
+float3 color_correct(float3 rgb) {
+  float3 corrected = rgb.x * (float3)(1.5664815, -0.29808738, -0.03973474);
+  corrected += rgb.y * (float3)(-0.48672447, 1.41914433, -0.40295248);
+  corrected += rgb.z * (float3)(-0.07975703, -0.12105695, 1.44268722);
+  return corrected;
+}
+
+float3 apply_gamma(float3 rgb, int expo_time) {
+  return powr(rgb, 0.7);
+}
+
+#endif
\ No newline at end of file
diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h
index 03fb73fbc9..990d1f7967 100644
--- a/system/camerad/sensors/os04c10_registers.h
+++ b/system/camerad/sensors/os04c10_registers.h
@@ -4,18 +4,18 @@ const struct i2c_random_wr_payload start_reg_array_os04c10[] = {{0x100, 1}};
 const struct i2c_random_wr_payload stop_reg_array_os04c10[] = {{0x100, 0}};
 
 const struct i2c_random_wr_payload init_array_os04c10[] = {
-  // DP_2688X1520_NEWSTG_MIPI0776Mbps_30FPS_10BIT_FOURLANE
+  // OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
   {0x0103, 0x01},
 
   // PLL
-  {0x0301, 0x84},
+  {0x0301, 0xe4},
   {0x0303, 0x01},
-  {0x0305, 0x61},
+  {0x0305, 0xb6},
   {0x0306, 0x01},
   {0x0307, 0x17},
   {0x0323, 0x04},
   {0x0324, 0x01},
-  {0x0325, 0x7a},
+  {0x0325, 0x62},
 
   {0x3012, 0x06},
   {0x3013, 0x02},
@@ -30,40 +30,40 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3660, 0x04},
   {0x3666, 0xa5},
   {0x3667, 0xa5},
-  {0x366a, 0x54},
+  {0x366a, 0x50},
   {0x3673, 0x0d},
   {0x3672, 0x0d},
   {0x3671, 0x0d},
   {0x3670, 0x0d},
-  {0x3685, 0x0a},
+  {0x3685, 0x00},
   {0x3694, 0x0d},
   {0x3693, 0x0d},
   {0x3692, 0x0d},
   {0x3691, 0x0d},
   {0x3696, 0x4c},
   {0x3697, 0x4c},
-  {0x3698, 0x00},
+  {0x3698, 0x40},
   {0x3699, 0x80},
-  {0x369a, 0x80},
+  {0x369a, 0x18},
   {0x369b, 0x1f},
-  {0x369c, 0x1f},
+  {0x369c, 0x14},
   {0x369d, 0x80},
   {0x369e, 0x40},
   {0x369f, 0x21},
   {0x36a0, 0x12},
-  {0x36a1, 0xdd},
+  {0x36a1, 0x5d},
   {0x36a2, 0x66},
-  {0x370a, 0x00},
-  {0x370e, 0x00},
+  {0x370a, 0x02},
+  {0x370e, 0x0c},
   {0x3710, 0x00},
-  {0x3713, 0x04},
+  {0x3713, 0x00},
   {0x3725, 0x02},
   {0x372a, 0x03},
   {0x3738, 0xce},
-  {0x3748, 0x00},
-  {0x374a, 0x00},
-  {0x374c, 0x00},
-  {0x374e, 0x00},
+  {0x3748, 0x02},
+  {0x374a, 0x02},
+  {0x374c, 0x02},
+  {0x374e, 0x02},
   {0x3756, 0x00},
   {0x3757, 0x00},
   {0x3767, 0x00},
@@ -81,21 +81,20 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37ba, 0x03},
   {0x37bb, 0x00},
   {0x37bc, 0x04},
-  {0x37be, 0x26},
+  {0x37be, 0x08},
   {0x37c4, 0x11},
   {0x37c5, 0x80},
   {0x37c6, 0x14},
-  {0x37c7, 0xa8},
+  {0x37c7, 0x08},
   {0x37da, 0x11},
   {0x381f, 0x08},
   {0x3829, 0x03},
-  {0x3832, 0x00},
   {0x3881, 0x00},
   {0x3888, 0x04},
   {0x388b, 0x00},
   {0x3c80, 0x10},
   {0x3c86, 0x00},
-  // {0x3c8c, 0x20},
+  {0x3c8c, 0x20},
   {0x3c9f, 0x01},
   {0x3d85, 0x1b},
   {0x3d8c, 0x71},
@@ -111,7 +110,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x4045, 0x7e},
   {0x4047, 0x7e},
   {0x4049, 0x7e},
-  {0x4090, 0x14},
+  {0x4090, 0x04},
   {0x40b0, 0x00},
   {0x40b1, 0x00},
   {0x40b2, 0x00},
@@ -129,7 +128,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x4503, 0x00},
   {0x4504, 0x06},
   {0x4506, 0x00},
-  {0x4507, 0x57},
+  {0x4507, 0x47},
   {0x4803, 0x00},
   {0x480c, 0x32},
   {0x480e, 0x04},
@@ -139,7 +138,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x4823, 0x3f},
   {0x4825, 0x30},
   {0x4833, 0x10},
-  {0x484b, 0x07},
+  {0x484b, 0x27},
   {0x488b, 0x00},
   {0x4d00, 0x04},
   {0x4d01, 0xad},
@@ -152,7 +151,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x4e0d, 0x00},
 
   // ISP
-  {0x5001, 0x00},
+  {0x5001, 0x09},
   {0x5004, 0x00},
   {0x5080, 0x04},
   {0x5036, 0x80},
@@ -173,32 +172,32 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x301c, 0xf8},
   {0x301e, 0xb4},
   {0x301f, 0xf0},
-  {0x3022, 0x01},
+  {0x3022, 0x61},
   {0x3109, 0xe7},
   {0x3600, 0x00},
-  {0x3610, 0x75},
+  {0x3610, 0x65},
   {0x3611, 0x85},
   {0x3613, 0x3a},
   {0x3615, 0x60},
-  {0x3621, 0x90},
+  {0x3621, 0xb0},
   {0x3620, 0x0c},
   {0x3629, 0x00},
   {0x3661, 0x04},
   {0x3664, 0x70},
   {0x3665, 0x00},
-  {0x3681, 0x80},
-  {0x3682, 0x40},
-  {0x3683, 0x21},
-  {0x3684, 0x12},
+  {0x3681, 0xa6},
+  {0x3682, 0x53},
+  {0x3683, 0x2a},
+  {0x3684, 0x15},
   {0x3700, 0x2a},
   {0x3701, 0x12},
   {0x3703, 0x28},
   {0x3704, 0x0e},
-  {0x3706, 0x4a},
+  {0x3706, 0x9d},
   {0x3709, 0x4a},
-  {0x370b, 0xa2},
+  {0x370b, 0x48},
   {0x370c, 0x01},
-  {0x370f, 0x00},
+  {0x370f, 0x04},
   {0x3714, 0x24},
   {0x3716, 0x04},
   {0x3719, 0x11},
@@ -206,19 +205,19 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3720, 0x00},
   {0x3724, 0x13},
   {0x373f, 0xb0},
-  {0x3741, 0x4a},
-  {0x3743, 0x4a},
-  {0x3745, 0x4a},
-  {0x3747, 0x4a},
-  {0x3749, 0xa2},
-  {0x374b, 0xa2},
-  {0x374d, 0xa2},
-  {0x374f, 0xa2},
+  {0x3741, 0x9d},
+  {0x3743, 0x9d},
+  {0x3745, 0x9d},
+  {0x3747, 0x9d},
+  {0x3749, 0x48},
+  {0x374b, 0x48},
+  {0x374d, 0x48},
+  {0x374f, 0x48},
   {0x3755, 0x10},
   {0x376c, 0x00},
-  {0x378d, 0x30},
-  {0x3790, 0x4a},
-  {0x3791, 0xa2},
+  {0x378d, 0x3c},
+  {0x3790, 0x01},
+  {0x3791, 0x01},
   {0x3798, 0x40},
   {0x379e, 0x00},
   {0x379f, 0x04},
@@ -233,17 +232,17 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37c0, 0x11},
   {0x37c2, 0x04},
   {0x37cd, 0x19},
-  // {0x37e0, 0x08},
-  // {0x37e6, 0x04},
+  {0x37e0, 0x08},
+  {0x37e6, 0x04},
   {0x37e5, 0x02},
-  // {0x37e1, 0x0c},
-  // {0x3737, 0x04},
+  {0x37e1, 0x0c},
+  {0x3737, 0x04},
   {0x37d8, 0x02},
-  // {0x37e2, 0x10},
+  {0x37e2, 0x10},
   {0x3739, 0x10},
   {0x3662, 0x10},
-  // {0x37e4, 0x20},
-  // {0x37e3, 0x08},
+  {0x37e4, 0x20},
+  {0x37e3, 0x08},
   {0x37d9, 0x08},
   {0x4040, 0x00},
   {0x4041, 0x07},
@@ -264,58 +263,51 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3816, 0x01},
   {0x3817, 0x01},
 
-  {0x380c, 0x04}, {0x380d, 0x2e}, // HTS
-  {0x380e, 0x09}, {0x380f, 0xdb}, // VTS
+  {0x380c, 0x08}, {0x380d, 0x5c}, // HTS
+  {0x380e, 0x09}, {0x380f, 0x38}, // VTS
 
   {0x3820, 0xb0},
-  {0x3821, 0x04},
-  {0x3880, 0x00},
+  {0x3821, 0x00},
+  {0x3880, 0x25},
   {0x3882, 0x20},
   {0x3c91, 0x0b},
   {0x3c94, 0x45},
-  // {0x3cad, 0x00},
-  // {0x3cae, 0x00},
+  {0x3cad, 0x00},
+  {0x3cae, 0x00},
   {0x4000, 0xf3},
   {0x4001, 0x60},
-  {0x4003, 0x40},
+  {0x4003, 0x80},
   {0x4300, 0xff},
   {0x4302, 0x0f},
-  {0x4305, 0x93},
+  {0x4305, 0x83},
   {0x4505, 0x84},
   {0x4809, 0x0e},
   {0x480a, 0x04},
-  {0x4837, 0x14},
+  {0x4837, 0x15},
   {0x4c00, 0x08},
   {0x4c01, 0x08},
   {0x4c04, 0x00},
   {0x4c05, 0x00},
   {0x5000, 0xf9},
-  // {0x0100, 0x01},
-  // {0x320d, 0x00},
-  // {0x3208, 0xa0},
-  // {0x3822, 0x14},
+  {0x3822, 0x14},
 
   // initialize exposure
   {0x3503, 0x88},
 
   // long
-  {0x3500, 0x00}, {0x3501, 0x00}, {0x3502, 0x10},
+  {0x3500, 0x00}, {0x3501, 0x00}, {0x3502, 0x80},
   {0x3508, 0x00}, {0x3509, 0x80},
   {0x350a, 0x04}, {0x350b, 0x00},
 
   // short
-  {0x3510, 0x00}, {0x3511, 0x00}, {0x3512, 0x40},
-  {0x350c, 0x00}, {0x350d, 0x80},
-  {0x350e, 0x04}, {0x350f, 0x00},
+  // {0x3510, 0x00}, {0x3511, 0x00}, {0x3512, 0x10},
+  // {0x350c, 0x00}, {0x350d, 0x80},
+  // {0x350e, 0x04}, {0x350f, 0x00},
 
   // wb
-  // b
-  {0x5100, 0x06}, {0x5101, 0x7e},
-  {0x5140, 0x06}, {0x5141, 0x7e},
-  // g
+  {0x5100, 0x06}, {0x5101, 0xcb},
   {0x5102, 0x04}, {0x5103, 0x00},
-  {0x5142, 0x04}, {0x5143, 0x00},
-  // r
-  {0x5104, 0x08}, {0x5105, 0xd6},
-  {0x5144, 0x08}, {0x5145, 0xd6},
-};
+  {0x5104, 0x08}, {0x5105, 0xde},
+
+  {0x5106, 0x02}, {0x5107, 0x00},
+};
\ No newline at end of file
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index 249002adb9..39b76fa0cc 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -28,7 +28,6 @@ public:
   uint32_t extra_height = 0;
   int registers_offset = -1;
   int stats_offset = -1;
-  int hdr_offset = -1;
 
   int exposure_time_min;
   int exposure_time_max;