Merge remote-tracking branch 'upstream/master' into auto-gen-star-defs

3 years ago · 6f7ab6484f
parent 9e1516433d f398b3efc9
commit 6f7ab6484f
45 changed files with 630 additions and 518 deletions
--- a/2
+++ b/2
@ -84,6 +84,8 @@ urllib3 = "*"
 utm = "*"
 websocket_client = "*"
 hatanaka = "==2.4"
+PyQt5 = "==5.15.4"
+PyQt5-sip = "==12.9.0"

 [requires]
 python_version = "3.8"
--- a/Pipfile.lock
+++ b/Pipfile.lock
@ -1,7 +1,7 @@
 {
    "_meta": {
        "hash": {
-            "sha256": "50d3486820d05997c1e084e70362fa080e0a294faa01c7f1d43219e44f94a80b"
+            "sha256": "4dbfaf9d7a532e0e9a126f828512a5383a817722a1580ef64b99e2427f366a72"
        },
        "pipfile-spec": 6,
        "requires": {
@ -146,7 +146,7 @@
                "sha256:2857e29ff0d34db842cd7ca3230549d1a697f96ee6d3fb071cfa6c7393832597",
                "sha256:6881edbebdb17b39b4eaaa821b438bf6eddffb4468cf344f09f89def34a8b1df"
            ],
-            "markers": "python_version >= '3'",
+            "markers": "python_version >= '3.5'",
            "version": "==2.0.12"
        },
        "click": {
@ -347,7 +347,7 @@
                "sha256:84d9dd047ffa80596e0f246e2eab0b391788b0503584e8945f2368256d2735ff",
                "sha256:9d643ff0a55b762d5cdb124b8eaa99c66322e2157b69160bc32796e824360e6d"
            ],
-            "markers": "python_version >= '3'",
+            "markers": "python_version >= '3.5'",
            "version": "==3.3"
        },
        "importlib-metadata": {
@ -371,7 +371,7 @@
                "sha256:6f62d78e2f89b4500b080fe3a81690850cd254227f27f75c3a0c491a1f351ba7",
                "sha256:e8443a5e7a020e9d7f97f1d7d9cd17c88bcb3bc7e218bf9cf5095fe550be2951"
            ],
-            "markers": "python_version < '4.0' and python_full_version >= '3.6.1'",
+            "markers": "python_version < '4' and python_full_version >= '3.6.1'",
            "version": "==5.10.1"
        },
        "itsdangerous": {
@ -687,33 +687,23 @@
        },
        "protobuf": {
            "hashes": [
-                "sha256:06059eb6953ff01e56a25cd02cca1a9649a75a7e65397b5b9b4e929ed71d10cf",
-                "sha256:097c5d8a9808302fb0da7e20edf0b8d4703274d140fd25c5edabddcde43e081f",
-                "sha256:284f86a6207c897542d7e956eb243a36bb8f9564c1742b253462386e96c6b78f",
-                "sha256:32ca378605b41fd180dfe4e14d3226386d8d1b002ab31c969c366549e66a2bb7",
-                "sha256:3cc797c9d15d7689ed507b165cd05913acb992d78b379f6014e013f9ecb20996",
-                "sha256:62f1b5c4cd6c5402b4e2d63804ba49a327e0c386c99b1675c8a0fefda23b2067",
-                "sha256:69ccfdf3657ba59569c64295b7d51325f91af586f8d5793b734260dfe2e94e2c",
-                "sha256:6f50601512a3d23625d8a85b1638d914a0970f17920ff39cec63aaef80a93fb7",
-                "sha256:7403941f6d0992d40161aa8bb23e12575637008a5a02283a930addc0508982f9",
-                "sha256:755f3aee41354ae395e104d62119cb223339a8f3276a0cd009ffabfcdd46bb0c",
-                "sha256:77053d28427a29987ca9caf7b72ccafee011257561259faba8dd308fda9a8739",
-                "sha256:7e371f10abe57cee5021797126c93479f59fccc9693dafd6bd5633ab67808a91",
-                "sha256:9016d01c91e8e625141d24ec1b20fed584703e527d28512aa8c8707f105a683c",
-                "sha256:9be73ad47579abc26c12024239d3540e6b765182a91dbc88e23658ab71767153",
-                "sha256:adc31566d027f45efe3f44eeb5b1f329da43891634d61c75a5944e9be6dd42c9",
-                "sha256:adfc6cf69c7f8c50fd24c793964eef18f0ac321315439d94945820612849c388",
-                "sha256:af0ebadc74e281a517141daad9d0f2c5d93ab78e9d455113719a45a49da9db4e",
-                "sha256:cb29edb9eab15742d791e1025dd7b6a8f6fcb53802ad2f6e3adcb102051063ab",
-                "sha256:cd68be2559e2a3b84f517fb029ee611546f7812b1fdd0aa2ecc9bc6ec0e4fdde",
-                "sha256:cdee09140e1cd184ba9324ec1df410e7147242b94b5f8b0c64fc89e38a8ba531",
-                "sha256:db977c4ca738dd9ce508557d4fce0f5aebd105e158c725beec86feb1f6bc20d8",
-                "sha256:dd5789b2948ca702c17027c84c2accb552fc30f4622a98ab5c51fcfe8c50d3e7",
-                "sha256:e250a42f15bf9d5b09fe1b293bdba2801cd520a9f5ea2d7fb7536d4441811d20",
-                "sha256:ff8d8fa42675249bb456f5db06c00de6c2f4c27a065955917b28c4f15978b9c3"
+                "sha256:0d4719e724472e296062ba8e82a36d64693fcfdb550d9dff98af70ca79eafe3d",
+                "sha256:2b35602cb65d53c168c104469e714bf68670335044c38eee3c899d6a8af03ffc",
+                "sha256:32fff501b6df3050936d1839b80ea5899bf34db24792d223d7640611f67de15a",
+                "sha256:34400fd76f85bdae9a2e9c1444ea4699c0280962423eff4418765deceebd81b5",
+                "sha256:3767c64593a49c7ac0accd08ed39ce42744405f0989d468f0097a17496fdbe84",
+                "sha256:3f2ed842e8ca43b790cb4a101bcf577226e0ded98a6a6ba2d5e12095a08dc4da",
+                "sha256:52c1e44e25f2949be7ffa7c66acbfea940b0945dd416920231f7cb30ea5ac6db",
+                "sha256:5d9b5c8270461706973c3871c6fbdd236b51dfe9dab652f1fb6a36aa88287e47",
+                "sha256:72d357cc4d834cc85bd957e8b8e1f4b64c2eac9ca1a942efeb8eb2e723fca852",
+                "sha256:79cd8d0a269b714f6b32641f86928c718e8d234466919b3f552bfb069dbb159b",
+                "sha256:a4c0c6f2f95a559e59a0258d3e4b186f340cbdc5adec5ce1bc06d01972527c88",
+                "sha256:b309fda192850ac4184ca1777aab9655564bc8d10a9cc98f10e1c8bf11295c22",
+                "sha256:b3d7d4b4945fe3c001403b6c24442901a5e58c0a3059290f5a63523ed4435f82",
+                "sha256:c8829092c5aeb61619161269b2f8a2e36fd7cb26abbd9282d3bc453f02769146"
            ],
            "markers": "python_version >= '3.7'",
-            "version": "==3.20.1"
+            "version": "==4.21.1"
        },
        "psutil": {
            "hashes": [
@ -841,11 +831,11 @@
        },
        "pylint": {
            "hashes": [
-                "sha256:095567c96e19e6f57b5b907e67d265ff535e588fe26b12b5ebe1fc5645b2c731",
-                "sha256:705c620d388035bdd9ff8b44c5bcdd235bfb49d276d488dd2c8ff1736aa42526"
+                "sha256:549261e0762c3466cc001024c4419c08252cb8c8d40f5c2c6966fea690e7fe2a",
+                "sha256:bb71e6d169506de585edea997e48d9ff20c0dc0e2fbc1d166bad6b640120326b"
            ],
            "index": "pypi",
-            "version": "==2.13.9"
+            "version": "==2.14.1"
        },
        "pyopencl": {
            "hashes": [
@ -890,6 +880,53 @@
            "index": "pypi",
            "version": "==2022.1.5"
        },
+        "pyqt5": {
+            "hashes": [
+                "sha256:213bebd51821ed89b4d5b35bb10dbe67564228b3568f463a351a08e8b1677025",
+                "sha256:2a69597e0dd11caabe75fae133feca66387819fc9bc050f547e5551bce97e5be",
+                "sha256:883a549382fc22d29a0568f3ef20b38c8e7ab633a59498ac4eb63a3bf36d3fd3",
+                "sha256:8c0848ba790a895801d5bfd171da31cad3e551dbcc4e59677a3b622de2ceca98",
+                "sha256:a88526a271e846e44779bb9ad7a738c6d3c4a9d01e15a128ecfc6dd4696393b7"
+            ],
+            "index": "pypi",
+            "version": "==5.15.4"
+        },
+        "pyqt5-qt5": {
+            "hashes": [
+                "sha256:1988f364ec8caf87a6ee5d5a3a5210d57539988bf8e84714c7d60972692e2f4a",
+                "sha256:750b78e4dba6bdf1607febedc08738e318ea09e9b10aea9ff0d73073f11f6962",
+                "sha256:76980cd3d7ae87e3c7a33bfebfaee84448fd650bad6840471d6cae199b56e154",
+                "sha256:9cc7a768b1921f4b982ebc00a318ccb38578e44e45316c7a4a850e953e1dd327"
+            ],
+            "version": "==5.15.2"
+        },
+        "pyqt5-sip": {
+            "hashes": [
+                "sha256:055581c6fed44ba4302b70eeb82e979ff70400037358908f251cd85cbb3dbd93",
+                "sha256:0fc9aefacf502696710b36cdc9fa2a61487f55ee883dbcf2c2a6477e261546f7",
+                "sha256:42274a501ab4806d2c31659170db14c282b8313d2255458064666d9e70d96206",
+                "sha256:4347bd81d30c8e3181e553b3734f91658cfbdd8f1a19f254777f906870974e6d",
+                "sha256:485972daff2fb0311013f471998f8ec8262ea381bded244f9d14edaad5f54271",
+                "sha256:4f8e05fe01d54275877c59018d8e82dcdd0bc5696053a8b830eecea3ce806121",
+                "sha256:69a3ad4259172e2b1aa9060de211efac39ddd734a517b1924d9c6c0cc4f55f96",
+                "sha256:6a8701892a01a5a2a4720872361197cc80fdd5f49c8482d488ddf38c9c84f055",
+                "sha256:6d5bca2fc222d58e8093ee8a81a6e3437067bb22bc3f86d06ec8be721e15e90a",
+                "sha256:83c3220b1ca36eb8623ba2eb3766637b19eb0ce9f42336ad8253656d32750c0a",
+                "sha256:a25b9843c7da6a1608f310879c38e6434331aab1dc2fe6cb65c14f1ecf33780e",
+                "sha256:ac57d796c78117eb39edd1d1d1aea90354651efac9d3590aac67fa4983f99f1f",
+                "sha256:b09f4cd36a4831229fb77c424d89635fa937d97765ec90685e2f257e56a2685a",
+                "sha256:c446971c360a0a1030282a69375a08c78e8a61d568bfd6dab3dcc5cf8817f644",
+                "sha256:c5216403d4d8d857ec4a61f631d3945e44fa248aa2415e9ee9369ab7c8a4d0c7",
+                "sha256:d3e4489d7c2b0ece9d203ae66e573939f7f60d4d29e089c9f11daa17cfeaae32",
+                "sha256:d59af63120d1475b2bf94fe8062610720a9be1e8940ea146c7f42bb449d49067",
+                "sha256:d85002238b5180bce4b245c13d6face848faa1a7a9e5c6e292025004f2fd619a",
+                "sha256:d8b2bdff7bbf45bc975c113a03b14fd669dc0c73e1327f02706666a7dd51a197",
+                "sha256:dd05c768c2b55ffe56a9d49ce6cc77cdf3d53dbfad935258a9e347cbfd9a5850",
+                "sha256:fc43f2d7c438517ee33e929e8ae77132749c15909afab6aeece5fcf4147ffdb5"
+            ],
+            "index": "pypi",
+            "version": "==12.9.0"
+        },
        "pyserial": {
            "hashes": [
                "sha256:3c77e014170dfffbd816e6ffc205e9842efb10be9f58ec16d3e8675b4925cddb",
@ -954,74 +991,74 @@
        },
        "pyzmq": {
            "hashes": [
-                "sha256:011a45c846ec69a3671ed15893b74b6ad608800c89ac6d0f0411e2137c6b313d",
-                "sha256:011f26841dd56ed87e464c98023dbbd4c0b3ab8802a045de3ea83e0187eb8145",
-                "sha256:0258563bf69f6ca305204354f171e0627a9bf8fe78c9d4f63a5e2447035cbb4b",
-                "sha256:07d2008e51718fba60641e5d1a0646b222b7929f16f6e7cf0834b8439f42c9e8",
-                "sha256:0a787f7870cba38d655c68ea7ae14bb6c3e9e19bb618d0c2412513321eeaeb80",
-                "sha256:0a89b9860d2171bcf674648dc8186db9cf3b773ad3c0610a2c7bf189cf3560b6",
-                "sha256:0de8a7e13ffacfe33c89acc0d7bfa2f5bde94e3f74b7f1e4d43c97ce17864d77",
-                "sha256:12a53f5c13edf12547ce495afebdd5ab11c1b67ea078a941b21e13161783741a",
-                "sha256:12eac2294d48ee27d1eaef7e214acedb394e4c95e3a1f6e4467099b82d58ef73",
-                "sha256:176be6c348dbec04e8e0d41e810743b7084b73e50954a6fedeeafc65d7fa9290",
-                "sha256:1d480d48253f61ff90115b8069ed32f51a0907eb19101c4a5ae0b9a5973e40ad",
-                "sha256:21792f4d0fcc5040978ee211c033e915d8b6608ea8a5b33fe197a04f0d43e991",
-                "sha256:277b3ebc684b369a57a186a9acf629c1b01247eb04d1105536ef2dae5f61168a",
-                "sha256:2f227150148e7c3db7ecd8a58500439979f556e15455841a30b6d121755b14bc",
-                "sha256:34b143751e9b2b89cf9b656081f1b2842a563c4c9ffc8465531875daf546e772",
-                "sha256:3f3807e81bf51d4c63eb12a21920614e0e840645418e9f2e3b5ffdd5991b3415",
-                "sha256:3fa7126d532effee452c0ab395ab3cbef1c06fd6870ab7e681f812ba9e685cfa",
-                "sha256:434044eec7f9df08fc5ca5c9bdd1a4bb08663679d43ebe7b9849713956f4d85f",
-                "sha256:4d861ae20040afc17adef33053c328667da78d4d3676b2936788fd031665e3a8",
-                "sha256:536491ad640448f14d8aa2dc497c354a348f216eb23513bf5aa0ac40e2b02577",
-                "sha256:5619f6598d6fd30778053ae2daa48a7c54029816648b908270b751411fd52e74",
-                "sha256:591b455546d34bb96aa453dd9666bddb8c81314e23dbf2606f9614acf7e73d9f",
-                "sha256:5a13171268f05d127e31b4c369b753733f67dbb0d765901ef625a115feb5c7de",
-                "sha256:5eaf7e0841d3d8d1d92838c8b56f98cb9bf35b14bcbe4efa281e4812ef4be728",
-                "sha256:6c09e6e5c4baf0959287943dc8170624d739ae555d334e896a94d9de01c7bb21",
-                "sha256:6e2093a97bf3f6008a4be6b5bae8ae3fc409f18373593bef19dd7b381ab8030c",
-                "sha256:7b518ad9cdbaaeb1a9da3444797698871ae2eeae34ff9a656d5150d37e1e42a1",
-                "sha256:7ca7d77f24644298cbe53bc279eb7ca05f3b8637473d392f0c9f34b37f08b49a",
-                "sha256:7eca5902ff41575d9a26f91fc750018b7eb129600ea600fe69ce852fbdfab4e2",
-                "sha256:8951830d6a00636b3af478091f9668ecc486f1dad01b975527957fd1d8c31bfd",
-                "sha256:8c234aefeef034c5d6de452e2af5173a95ea06315b685db703091e6f937a6e60",
-                "sha256:9273f6d1da1018822f41630fb0f3fe208e8e70e5d5e780795326900cfa22d8b6",
-                "sha256:9622d9560a6fd8d589816cdcec6946642cb4e070b3f68be1d3779b52cf240f73",
-                "sha256:9ef2d1476cea927ba33a29f59aa128ce3b174e81083cbd091dd3149af741c85d",
-                "sha256:9feb7ccd426ff2158ce79f4c87a8a1600ed4f77e65e2fffda2b42638b2bc73e4",
-                "sha256:a0b8528aefceb787f41ad429f3210a3c6b52e99f85413416e3d0c9e6d035f8ac",
-                "sha256:a2e4d70d34112997a32c8193fae2579aec854745f8730031e5d84cc579fd98ff",
-                "sha256:a37f0ec88e220326803084208d80229218b309d728954ab747ab21cca33424aa",
-                "sha256:a45f5c0477d12df05ef2e2922b49b7c0ae9d0f4ff9b6bb0d666558df0ef37122",
-                "sha256:a64b9cce166396df5f33894074d6515778d48c63aae5ee1abd86d8bbc5a711d8",
-                "sha256:a89285fedbeca483a855a77285453e21e4fc86ef0944bc018ef4b3033aa04ad2",
-                "sha256:a8f40604437ec8010f77f7053fd135ccb202d6ca18329903831087cab8dbdab1",
-                "sha256:b2a4af5e6fa85ee1743c725b46579f8de0b97024eb5ae1a0b5c5711adc436665",
-                "sha256:b97dc1273f16f85a38cff6668a07b636ef14e30591039efbfd21f5f91efae964",
-                "sha256:bdd008629293a0d4f00b516841ac0df89f17a64bc2d83bcfa48212d3f3b3ca1a",
-                "sha256:be3425dfdb9c46dc62d490fc1a6142a5f3dc6605ebb9048ae675056ef621413c",
-                "sha256:c2394bb857607494c3750b5040f852a1ad7831d7a7907b6106f0af2c70860cef",
-                "sha256:cb45b7ea577283b547b907a3389d62ca2eaddaf725fbb79cd360802440fa9c91",
-                "sha256:cd3f563b98e2a8730c93bdc550f119ae766b2d3da1f0d6a3c7735b59adfa1642",
-                "sha256:cda55ff0a7566405fb29ca38db1829fecb4c041b8dc3f91754f337bb7b27cbd8",
-                "sha256:df0b05fa4321b090abe5601dea9b1c8933c06f496588ccb397a0b1f9dfe32ebe",
-                "sha256:e464e7b1be2216eba54b47256c15bf307ae4a656aa0f73becea7b3e7283c5ac2",
-                "sha256:e730d490b1421e52b43b1b9f5e1f8c3973499206e188f29b582577531e11033b",
-                "sha256:e7ae3e520bd182a0cbfff3cc69dda3a2c26f69847e81bd3f090ed04471fc1282",
-                "sha256:e9631c6a339843e4f95efb80ff9a1bfaaf3d611ba9677a7a5cc61ffb923b4e06",
-                "sha256:f3daabbe42ca31712e29d906dfa4bf1890341d2fd5178de118bc9977a8d2b23b",
-                "sha256:fe8807d67456e7cf0e9a33b85e0d05bb9d2977dbdb23977e4cc2b843633618fd"
-            ],
-            "index": "pypi",
-            "version": "==23.0.0"
+                "sha256:057176dd3f5ccf5aad4abd662d76b6a39bbf799baaf2f39cd4fdaf2eab326e43",
+                "sha256:05ec90a8da618f2398f9d1aa20b18a9ef332992c6ac23e8c866099faad6ef0d6",
+                "sha256:154de02b15422af28b53d29a02de72121ba503634955017255573fc1f995143d",
+                "sha256:16b832adb5d8716f46051da5533c480250bf126984ce86804db6137a3a7f931b",
+                "sha256:1df26aa854bdd3a8341bf199064dd6aa6e240f2eaa3c9fa8d217e5d8b868c73e",
+                "sha256:28f9164fb2658b7b414fa0894c75b1a9c61375774cdc1bdb7298beb042a2cd87",
+                "sha256:2951c29b8649f3672af9dca8ff61d86310d3664d9629788b1c66422fb13b1239",
+                "sha256:2b08774057ae7ce8a2eb4e7d54db05358234440706ce43a85814500c5d7bd22e",
+                "sha256:2e2ac40f7a91c740ec68d6db07ae19ea9259c959333c68bee56ab2c799a67d66",
+                "sha256:312e56799410c34797417a4060a8bd37d4db1f06d1ec0c54f7c8fd81e0d90376",
+                "sha256:38f778a74e3889392e949326cfd0e9b2eb37dcbb2980d98fad2c51703d523db2",
+                "sha256:3955dd5bbbe02f454655296ee36a66c334c7102a29b8458223d168c0380edfd5",
+                "sha256:425ba851a6f9892bde1da2024d82e2fe6796bd77e3391fb96665c50fe9d4c6a5",
+                "sha256:48bbc2db041ab28eeee4a3e8ada0ed336640946dd5a8e53dbd3805f9dbdcf0dc",
+                "sha256:4fbcd657cda75574fd1315a4c44bd322bc2e219039fb09f146bbe6f8aef039e9",
+                "sha256:523ba7fd4d8fe75ad09c1e574a648892b75a97d0cfc8005727681053ac19555b",
+                "sha256:53b2c1326c2e484d450932d2be739f064b7cb572faabec38386098a28516a529",
+                "sha256:540d7146c3cdc9bbffab039ea067f494eba24d1abe5bd33eb9f963c01e3305d4",
+                "sha256:563d4281c4dbdf647d93114420151d33f895afc4c46b7115a67a0aa5347e6624",
+                "sha256:67a049bcf967a39993858beed873ed3405536019820922d4efacfe35ab3da51a",
+                "sha256:67ec63ae3c9c1fa2e077fcb42e77035e2121a04f987464bdf9945a28535d30ad",
+                "sha256:68e22c5d3be451e87d47f956b397a7823bfbde2176341bc902fba30f96831d7e",
+                "sha256:6ab4b6108e69f63c917cd7ef7217c5727955b1ac90600e44a13ed5312019a014",
+                "sha256:6bd7f18bd4cf51ea8d7e54825902cf36f9d2f35cc51ef618373988d5398b8dd0",
+                "sha256:6cd53e861bccc0bdc4620f68fb4a91d5bcfe9f4213cf8e200fa498044d33a6dc",
+                "sha256:6d346e551fa64b89d57a4ac74b9bc66703413f02f50093e089e861999ec5cccc",
+                "sha256:6ff8708fabc9f9bc2949f457d39b4088c9656c4c9ac15fbbbbaafce8f6d07833",
+                "sha256:7626e8384275a7dea6f3d1f749fb5e00299042e9c895fc3dbe24cb154909c242",
+                "sha256:7e7346b2b33dcd4a2171dd8a9870ae283eec8f6231dcbcf237a0f41e74751a50",
+                "sha256:81623c67cb71b93b5f7e06c9107f3781738ae86866db830c950223d87af2a235",
+                "sha256:83f1c76068faf62c32a36dd62dc4db642c2027bbbd960f8f6345b59e9d4dc472",
+                "sha256:8679bb1dd723ecbea03b1f96c98972815775fd8ec756c440a14f289c436c472e",
+                "sha256:86fb683cb9a9c0bb7476988b7957393ecdd22777d87d804442c66e62c99197f9",
+                "sha256:8757c62f7960cd26122f7aaaf86eda1e016fa85734c3777b8054dd334d7dea4d",
+                "sha256:894be7d17228e7328cc188096c0162697211ec91761f6812fff12790cbe11c66",
+                "sha256:8a0f240bf43c29be1bd82d77e602a61c798e9de02e5f8bb7bb414cb814f43236",
+                "sha256:8c3abf7eab5b76ae162c4fbb16d514a947fc57fd995b64e5ea8ef8ba3b888a69",
+                "sha256:93332c6972e4c91522c4810e907f3aea067424338071161b39cacded022559df",
+                "sha256:97d6c676dc97d593625d9fc48154f2ffeabb619a1e6fe8d2a5b53f97e3e9bdee",
+                "sha256:99dd85f0ca1db8d17a01a25c2bbb7784d25a2d39497c6beddbe96bff74194e04",
+                "sha256:9c7fb691fb07ec7ab99fd173bb0e7e0248d31bf83d484a87b917a342f63812c9",
+                "sha256:b3bc3cf200aab74f3d758586ac50295214eda496ac6a6636e0c881c5958d9123",
+                "sha256:bba54f97578943f48f621b4a7afb8eb022370da26a88b88ccc9fee9f3ef7ce45",
+                "sha256:bd2a13a0f8367e50347cbac87ae230ae1953935443240238f956bf10668bead6",
+                "sha256:cbc1184349ca6e5112898aa7fc3efa1b1bbae24ab1edc774cfd09cbfd3b091d7",
+                "sha256:cd82cca9c489e441574804dbda2dd8e114cf3be7935b03de11dade2c9478aea6",
+                "sha256:ce8ba5ed8b0a7a203922d61cff45ee6001a41a9359f04f00d055a4e988755569",
+                "sha256:cfee22e072a382b92ee0709dbb8203dabd52d54258051e770d9d2a81b162530b",
+                "sha256:d977df6f7c4109ed1d96ffb6795f6af77114be606ae4556efbfc9cac725db65d",
+                "sha256:da72a384a1d7e87490ca71182f3ab469ed21d847adc16b70c34faac5a3b12801",
+                "sha256:ddf4ad1d651e6c9234945061e1a31fe27a4be0dea21c498b87b186fadf8f5919",
+                "sha256:eb0ae5dfda83bbce660179d7b41c1c38fd833a54d2e6d9b258c644f3b75ef94d",
+                "sha256:f4c7d370badc60ac94a554bc571a46d03e39d8aacfba8006b334512e184aed59",
+                "sha256:f6c378b435a26fda8996579c0e324b108d2ca0d01b4661503a75634e5155559f",
+                "sha256:f6c9d30888503f2f5f87d6d41f016301352dd98da4a861bd10663c3a2d99d3b5",
+                "sha256:fab8a7877275060f7b303e1f91c218069a2814a616b6a5ee2d8a3737deb15915",
+                "sha256:fc32e7d7f98cac3d8d5153ed2cb583158ae3d446a6efb8e28ccb1c54a09f4169"
+            ],
+            "index": "pypi",
+            "version": "==23.1.0"
        },
        "requests": {
            "hashes": [
-                "sha256:68d7c56fd5a8999887728ef304a6d12edc7be74f1cfa47714fc8b414525c9a61",
-                "sha256:f22fa1e554c9ddfd16e6e41ac79759e17be9e492b3587efa038054674760e72d"
+                "sha256:bc7861137fbce630f17b03d3ad02ad0bf978c844f3536d0edda6499dafce2b6f",
+                "sha256:d568723a7ebd25875d8d1eaf5dfa068cd2fc8194b2e483d7b1f7c81918dbec6b"
            ],
            "index": "pypi",
-            "version": "==2.27.1"
+            "version": "==2.28.0"
        },
        "scons": {
            "hashes": [
@ -1118,11 +1155,11 @@
        },
        "setuptools": {
            "hashes": [
-                "sha256:68e45d17c9281ba25dc0104eadd2647172b3472d9e01f911efa57965e8d51a36",
-                "sha256:a43bdedf853c670e5fed28e5623403bad2f73cf02f9a2774e91def6bda8265a7"
+                "sha256:d1746e7fd520e83bbe210d02fff1aa1a425ad671c7a9da7d246ec2401a087198",
+                "sha256:e7d11f3db616cda0751372244c2ba798e8e56a28e096ec4529010b803485f3fe"
            ],
            "markers": "python_version >= '3.7'",
-            "version": "==62.3.2"
+            "version": "==62.3.3"
        },
        "six": {
            "hashes": [
@ -1134,11 +1171,11 @@
        },
        "smbus2": {
            "hashes": [
-                "sha256:6276eb599b76c4e74372f2582d2282f03b4398f0da16bc996608e4f21557ca9b",
-                "sha256:8b1e70cda011b6fb3caf8377a1084f73a5aa99392b78529f140b0a3f06468f6c"
+                "sha256:50f3c78e436b42a9583948be06961a8104cf020ebad5edfaaf2657528bef0818",
+                "sha256:634541ed794068a822fe7499f1577468b9d4641b68dd9bfb6d0eb7270f4d2a32"
            ],
            "index": "pypi",
-            "version": "==0.4.1"
+            "version": "==0.4.2"
        },
        "sympy": {
            "hashes": [
@ -1150,11 +1187,11 @@
        },
        "timezonefinder": {
            "hashes": [
-                "sha256:90228f7bcf60388868ac95d3d6a8c9f710c766990909cb89dc39a893da7132ad",
-                "sha256:ce16831bc6349a82ca25ffc0e4c89df5bc5df29b286e5201701bce852f8e49f2"
+                "sha256:0471463083b5fef7a656c7e31a7376fa1941bf6a41a0750c6e0ca151e43646e7",
+                "sha256:2e8e958814f21fa809b16e98bd2f99082b69a0f88b864a4a1f2944d5a7e61827"
            ],
            "index": "pypi",
-            "version": "==6.0.0"
+            "version": "==6.0.1"
        },
        "tomli": {
            "hashes": [
@ -1164,6 +1201,14 @@
            "markers": "python_version < '3.11'",
            "version": "==2.0.1"
        },
+        "tomlkit": {
+            "hashes": [
+                "sha256:0f4050db66fd445b885778900ce4dd9aea8c90c4721141fde0d6ade893820ef1",
+                "sha256:71ceb10c0eefd8b8f11fe34e8a51ad07812cb1dc3de23247425fbc9ddc47b9dd"
+            ],
+            "markers": "python_version >= '3.6' and python_version < '4'",
+            "version": "==0.11.0"
+        },
        "tqdm": {
            "hashes": [
                "sha256:40be55d30e200777a307a7585aee69e4eabb46b4ec6a4b4a5f2d9f11e7d5408d",
@ -1496,62 +1541,62 @@
                "sha256:2857e29ff0d34db842cd7ca3230549d1a697f96ee6d3fb071cfa6c7393832597",
                "sha256:6881edbebdb17b39b4eaaa821b438bf6eddffb4468cf344f09f89def34a8b1df"
            ],
-            "markers": "python_version >= '3'",
+            "markers": "python_version >= '3.5'",
            "version": "==2.0.12"
        },
        "control": {
            "hashes": [
-                "sha256:8c9084bf386eafcf5d74008f780fae6dec68d243d18a380c866ac10a3549f8d3"
+                "sha256:0891d2d32d6006ac1faa4e238ed8223ca342a4721d202dfeccae24fb02563183"
            ],
            "index": "pypi",
-            "version": "==0.9.1"
+            "version": "==0.9.2"
        },
        "coverage": {
            "hashes": [
-                "sha256:00c8544510f3c98476bbd58201ac2b150ffbcce46a8c3e4fb89ebf01998f806a",
-                "sha256:016d7f5cf1c8c84f533a3c1f8f36126fbe00b2ec0ccca47cc5731c3723d327c6",
-                "sha256:03014a74023abaf5a591eeeaf1ac66a73d54eba178ff4cb1fa0c0a44aae70383",
-                "sha256:033ebec282793bd9eb988d0271c211e58442c31077976c19c442e24d827d356f",
-                "sha256:21e6686a95025927775ac501e74f5940cdf6fe052292f3a3f7349b0abae6d00f",
-                "sha256:26f8f92699756cb7af2b30720de0c5bb8d028e923a95b6d0c891088025a1ac8f",
-                "sha256:2e76bd16f0e31bc2b07e0fb1379551fcd40daf8cdf7e24f31a29e442878a827c",
-                "sha256:341e9c2008c481c5c72d0e0dbf64980a4b2238631a7f9780b0fe2e95755fb018",
-                "sha256:3cfd07c5889ddb96a401449109a8b97a165be9d67077df6802f59708bfb07720",
-                "sha256:4002f9e8c1f286e986fe96ec58742b93484195defc01d5cc7809b8f7acb5ece3",
-                "sha256:50ed480b798febce113709846b11f5d5ed1e529c88d8ae92f707806c50297abf",
-                "sha256:543e172ce4c0de533fa892034cce260467b213c0ea8e39da2f65f9a477425211",
-                "sha256:5a78cf2c43b13aa6b56003707c5203f28585944c277c1f3f109c7b041b16bd39",
-                "sha256:5cd698341626f3c77784858427bad0cdd54a713115b423d22ac83a28303d1d95",
-                "sha256:60c2147921da7f4d2d04f570e1838db32b95c5509d248f3fe6417e91437eaf41",
-                "sha256:62d382f7d77eeeaff14b30516b17bcbe80f645f5cf02bb755baac376591c653c",
-                "sha256:69432946f154c6add0e9ede03cc43b96e2ef2733110a77444823c053b1ff5166",
-                "sha256:727dafd7f67a6e1cad808dc884bd9c5a2f6ef1f8f6d2f22b37b96cb0080d4f49",
-                "sha256:742fb8b43835078dd7496c3c25a1ec8d15351df49fb0037bffb4754291ef30ce",
-                "sha256:750e13834b597eeb8ae6e72aa58d1d831b96beec5ad1d04479ae3772373a8088",
-                "sha256:7b546cf2b1974ddc2cb222a109b37c6ed1778b9be7e6b0c0bc0cf0438d9e45a6",
-                "sha256:83bd142cdec5e4a5c4ca1d4ff6fa807d28460f9db919f9f6a31babaaa8b88426",
-                "sha256:8d2e80dd3438e93b19e1223a9850fa65425e77f2607a364b6fd134fcd52dc9df",
-                "sha256:9229d074e097f21dfe0643d9d0140ee7433814b3f0fc3706b4abffd1e3038632",
-                "sha256:968ed5407f9460bd5a591cefd1388cc00a8f5099de9e76234655ae48cfdbe2c3",
-                "sha256:9c82f2cd69c71698152e943f4a5a6b83a3ab1db73b88f6e769fabc86074c3b08",
-                "sha256:a00441f5ea4504f5abbc047589d09e0dc33eb447dc45a1a527c8b74bfdd32c65",
-                "sha256:a022394996419142b33a0cf7274cb444c01d2bb123727c4bb0b9acabcb515dea",
-                "sha256:af5b9ee0fc146e907aa0f5fb858c3b3da9199d78b7bb2c9973d95550bd40f701",
-                "sha256:b5578efe4038be02d76c344007b13119b2b20acd009a88dde8adec2de4f630b5",
-                "sha256:b84ab65444dcc68d761e95d4d70f3cfd347ceca5a029f2ffec37d4f124f61311",
-                "sha256:c53ad261dfc8695062fc8811ac7c162bd6096a05a19f26097f411bdf5747aee7",
-                "sha256:cc173f1ce9ffb16b299f51c9ce53f66a62f4d975abe5640e976904066f3c835d",
-                "sha256:d548edacbf16a8276af13063a2b0669d58bbcfca7c55a255f84aac2870786a61",
-                "sha256:d55fae115ef9f67934e9f1103c9ba826b4c690e4c5bcf94482b8b2398311bf9c",
-                "sha256:d8099ea680201c2221f8468c372198ceba9338a5fec0e940111962b03b3f716a",
-                "sha256:e35217031e4b534b09f9b9a5841b9344a30a6357627761d4218818b865d45055",
-                "sha256:e4f52c272fdc82e7c65ff3f17a7179bc5f710ebc8ce8a5cadac81215e8326740",
-                "sha256:e637ae0b7b481905358624ef2e81d7fb0b1af55f5ff99f9ba05442a444b11e45",
-                "sha256:eef5292b60b6de753d6e7f2d128d5841c7915fb1e3321c3a1fe6acfe76c38052",
-                "sha256:fb45fe08e1abc64eb836d187b20a59172053999823f7f6ef4f18a819c44ba16f"
-            ],
-            "index": "pypi",
-            "version": "==6.4"
+                "sha256:01c5615d13f3dd3aa8543afc069e5319cfa0c7d712f6e04b920431e5c564a749",
+                "sha256:106c16dfe494de3193ec55cac9640dd039b66e196e4641fa8ac396181578b982",
+                "sha256:129cd05ba6f0d08a766d942a9ed4b29283aff7b2cccf5b7ce279d50796860bb3",
+                "sha256:145f296d00441ca703a659e8f3eb48ae39fb083baba2d7ce4482fb2723e050d9",
+                "sha256:1480ff858b4113db2718848d7b2d1b75bc79895a9c22e76a221b9d8d62496428",
+                "sha256:269eaa2c20a13a5bf17558d4dc91a8d078c4fa1872f25303dddcbba3a813085e",
+                "sha256:26dff09fb0d82693ba9e6231248641d60ba606150d02ed45110f9ec26404ed1c",
+                "sha256:2bd9a6fc18aab8d2e18f89b7ff91c0f34ff4d5e0ba0b33e989b3cd4194c81fd9",
+                "sha256:309ce4a522ed5fca432af4ebe0f32b21d6d7ccbb0f5fcc99290e71feba67c264",
+                "sha256:3384f2a3652cef289e38100f2d037956194a837221edd520a7ee5b42d00cc605",
+                "sha256:342d4aefd1c3e7f620a13f4fe563154d808b69cccef415415aece4c786665397",
+                "sha256:39ee53946bf009788108b4dd2894bf1349b4e0ca18c2016ffa7d26ce46b8f10d",
+                "sha256:4321f075095a096e70aff1d002030ee612b65a205a0a0f5b815280d5dc58100c",
+                "sha256:4803e7ccf93230accb928f3a68f00ffa80a88213af98ed338a57ad021ef06815",
+                "sha256:4ce1b258493cbf8aec43e9b50d89982346b98e9ffdfaae8ae5793bc112fb0068",
+                "sha256:664a47ce62fe4bef9e2d2c430306e1428ecea207ffd68649e3b942fa8ea83b0b",
+                "sha256:75ab269400706fab15981fd4bd5080c56bd5cc07c3bccb86aab5e1d5a88dc8f4",
+                "sha256:83c4e737f60c6936460c5be330d296dd5b48b3963f48634c53b3f7deb0f34ec4",
+                "sha256:84631e81dd053e8a0d4967cedab6db94345f1c36107c71698f746cb2636c63e3",
+                "sha256:84e65ef149028516c6d64461b95a8dbcfce95cfd5b9eb634320596173332ea84",
+                "sha256:865d69ae811a392f4d06bde506d531f6a28a00af36f5c8649684a9e5e4a85c83",
+                "sha256:87f4f3df85aa39da00fd3ec4b5abeb7407e82b68c7c5ad181308b0e2526da5d4",
+                "sha256:8c08da0bd238f2970230c2a0d28ff0e99961598cb2e810245d7fc5afcf1254e8",
+                "sha256:961e2fb0680b4f5ad63234e0bf55dfb90d302740ae9c7ed0120677a94a1590cb",
+                "sha256:9b3e07152b4563722be523e8cd0b209e0d1a373022cfbde395ebb6575bf6790d",
+                "sha256:a7f3049243783df2e6cc6deafc49ea123522b59f464831476d3d1448e30d72df",
+                "sha256:bf5601c33213d3cb19d17a796f8a14a9eaa5e87629a53979a5981e3e3ae166f6",
+                "sha256:cec3a0f75c8f1031825e19cd86ee787e87cf03e4fd2865c79c057092e69e3a3b",
+                "sha256:d42c549a8f41dc103a8004b9f0c433e2086add8a719da00e246e17cbe4056f72",
+                "sha256:d67d44996140af8b84284e5e7d398e589574b376fb4de8ccd28d82ad8e3bea13",
+                "sha256:d9c80df769f5ec05ad21ea34be7458d1dc51ff1fb4b2219e77fe24edf462d6df",
+                "sha256:e57816f8ffe46b1df8f12e1b348f06d164fd5219beba7d9433ba79608ef011cc",
+                "sha256:ee2ddcac99b2d2aec413e36d7a429ae9ebcadf912946b13ffa88e7d4c9b712d6",
+                "sha256:f02cbbf8119db68455b9d763f2f8737bb7db7e43720afa07d8eb1604e5c5ae28",
+                "sha256:f1d5aa2703e1dab4ae6cf416eb0095304f49d004c39e9db1d86f57924f43006b",
+                "sha256:f5b66caa62922531059bc5ac04f836860412f7f88d38a476eda0a6f11d4724f4",
+                "sha256:f69718750eaae75efe506406c490d6fc5a6161d047206cc63ce25527e8a3adad",
+                "sha256:fb73e0011b8793c053bfa85e53129ba5f0250fdc0392c1591fd35d915ec75c46",
+                "sha256:fd180ed867e289964404051a958f7cccabdeed423f91a899829264bb7974d3d3",
+                "sha256:fdb6f7bd51c2d1714cea40718f6149ad9be6a2ee7d93b19e9f00934c0f2a74d9",
+                "sha256:ffa9297c3a453fba4717d06df579af42ab9a28022444cae7fa605af4df612d54"
+            ],
+            "index": "pypi",
+            "version": "==6.4.1"
        },
        "cryptography": {
            "hashes": [
@ -1665,11 +1710,11 @@
        },
        "filelock": {
            "hashes": [
-                "sha256:b795f1b42a61bbf8ec7113c341dad679d772567b936fbd1bf43c9a238e673e20",
-                "sha256:c7b5fdb219b398a5b28c8e4c1893ef5f98ece6a38c6ab2c22e26ec161556fed6"
+                "sha256:37def7b658813cda163b56fc564cdc75e86d338246458c4c28ae84cabefa2404",
+                "sha256:3a0fd85166ad9dbab54c9aec96737b744106dc5f15c0b09a6744a445299fcf04"
            ],
            "markers": "python_version >= '3.7'",
-            "version": "==3.7.0"
+            "version": "==3.7.1"
        },
        "fonttools": {
            "hashes": [
@ -1688,11 +1733,11 @@
        },
        "hypothesis": {
            "hashes": [
-                "sha256:2696cdb9005946bf1d2b215cc91d3fc01625e3342eb8743ddd04b667b2f1882b",
-                "sha256:967009fa561b3a3f8363a73d71923357271c37dc7fa27b30c2d21a1b6092b240"
+                "sha256:4ad26c5d434171ffc02aba569dd52255573d615554c062bc30734dbe6f318c61",
+                "sha256:69978811f1d9c19710c7d2bf8233dc43c80efa964251b72efbe8274044e073b4"
            ],
            "index": "pypi",
-            "version": "==6.46.7"
+            "version": "==6.47.1"
        },
        "identify": {
            "hashes": [
@ -1707,7 +1752,7 @@
                "sha256:84d9dd047ffa80596e0f246e2eab0b391788b0503584e8945f2368256d2735ff",
                "sha256:9d643ff0a55b762d5cdb124b8eaa99c66322e2157b69160bc32796e824360e6d"
            ],
-            "markers": "python_version >= '3'",
+            "markers": "python_version >= '3.5'",
            "version": "==3.3"
        },
        "imagesize": {
@ -1918,41 +1963,40 @@
        },
        "mpld3": {
            "hashes": [
-                "sha256:3626d37da7ac11d0fce4dd5ceb37d04ba618bf951129bf6ca3f94bf48da87d6f",
-                "sha256:b1290f6cca2d9515e32ee21a8b0c18b2ea361cefce58ba0f4df881e9eeb3f64c",
-                "sha256:c589db8b661aee25c93e198e2e18ed47b9a96951de41d96241345acec5f819ab"
+                "sha256:1a167dbef836dd7c66d8aa71c06a32d50bffa18725f304d93cb74fdb3545043b",
+                "sha256:41938e65de4ba41a1b53d92e7c8609e7172e09b33ef5db42bb6f73701106c8b7"
            ],
            "index": "pypi",
-            "version": "==0.5.7"
+            "version": "==0.5.8"
        },
        "mypy": {
            "hashes": [
-                "sha256:0112752a6ff07230f9ec2f71b0d3d4e088a910fdce454fdb6553e83ed0eced7d",
-                "sha256:0384d9f3af49837baa92f559d3fa673e6d2652a16550a9ee07fc08c736f5e6f8",
-                "sha256:1b333cfbca1762ff15808a0ef4f71b5d3eed8528b23ea1c3fb50543c867d68de",
-                "sha256:1fdeb0a0f64f2a874a4c1f5271f06e40e1e9779bf55f9567f149466fc7a55038",
-                "sha256:4c653e4846f287051599ed8f4b3c044b80e540e88feec76b11044ddc5612ffed",
-                "sha256:563514c7dc504698fb66bb1cf897657a173a496406f1866afae73ab5b3cdb334",
-                "sha256:5b231afd6a6e951381b9ef09a1223b1feabe13625388db48a8690f8daa9b71ff",
-                "sha256:5ce6a09042b6da16d773d2110e44f169683d8cc8687e79ec6d1181a72cb028d2",
-                "sha256:5e7647df0f8fc947388e6251d728189cfadb3b1e558407f93254e35abc026e22",
-                "sha256:6003de687c13196e8a1243a5e4bcce617d79b88f83ee6625437e335d89dfebe2",
-                "sha256:61504b9a5ae166ba5ecfed9e93357fd51aa693d3d434b582a925338a2ff57fd2",
-                "sha256:77423570c04aca807508a492037abbd72b12a1fb25a385847d191cd50b2c9605",
-                "sha256:a4d9898f46446bfb6405383b57b96737dcfd0a7f25b748e78ef3e8c576bba3cb",
-                "sha256:a952b8bc0ae278fc6316e6384f67bb9a396eb30aced6ad034d3a76120ebcc519",
-                "sha256:b5b5bd0ffb11b4aba2bb6d31b8643902c48f990cc92fda4e21afac658044f0c0",
-                "sha256:ca75ecf2783395ca3016a5e455cb322ba26b6d33b4b413fcdedfc632e67941dc",
-                "sha256:cf9c261958a769a3bd38c3e133801ebcd284ffb734ea12d01457cb09eacf7d7b",
-                "sha256:dd4d670eee9610bf61c25c940e9ade2d0ed05eb44227275cce88701fee014b1f",
-                "sha256:e19736af56947addedce4674c0971e5dceef1b5ec7d667fe86bcd2b07f8f9075",
-                "sha256:eaea21d150fb26d7b4856766e7addcf929119dd19fc832b22e71d942835201ef",
-                "sha256:eaff8156016487c1af5ffa5304c3e3fd183edcb412f3e9c72db349faf3f6e0eb",
-                "sha256:ee0a36edd332ed2c5208565ae6e3a7afc0eabb53f5327e281f2ef03a6bc7687a",
-                "sha256:ef7beb2a3582eb7a9f37beaf38a28acfd801988cde688760aea9e6cc4832b10b"
-            ],
-            "index": "pypi",
-            "version": "==0.950"
+                "sha256:006be38474216b833eca29ff6b73e143386f352e10e9c2fbe76aa8549e5554f5",
+                "sha256:03c6cc893e7563e7b2949b969e63f02c000b32502a1b4d1314cabe391aa87d66",
+                "sha256:0e9f70df36405c25cc530a86eeda1e0867863d9471fe76d1273c783df3d35c2e",
+                "sha256:1ece702f29270ec6af25db8cf6185c04c02311c6bb21a69f423d40e527b75c56",
+                "sha256:3e09f1f983a71d0672bbc97ae33ee3709d10c779beb613febc36805a6e28bb4e",
+                "sha256:439c726a3b3da7ca84a0199a8ab444cd8896d95012c4a6c4a0d808e3147abf5d",
+                "sha256:5a0b53747f713f490affdceef835d8f0cb7285187a6a44c33821b6d1f46ed813",
+                "sha256:5f1332964963d4832a94bebc10f13d3279be3ce8f6c64da563d6ee6e2eeda932",
+                "sha256:63e85a03770ebf403291ec50097954cc5caf2a9205c888ce3a61bd3f82e17569",
+                "sha256:64759a273d590040a592e0f4186539858c948302c653c2eac840c7a3cd29e51b",
+                "sha256:697540876638ce349b01b6786bc6094ccdaba88af446a9abb967293ce6eaa2b0",
+                "sha256:9940e6916ed9371809b35b2154baf1f684acba935cd09928952310fbddaba648",
+                "sha256:9f5f5a74085d9a81a1f9c78081d60a0040c3efb3f28e5c9912b900adf59a16e6",
+                "sha256:a5ea0875a049de1b63b972456542f04643daf320d27dc592d7c3d9cd5d9bf950",
+                "sha256:b117650592e1782819829605a193360a08aa99f1fc23d1d71e1a75a142dc7e15",
+                "sha256:b24be97351084b11582fef18d79004b3e4db572219deee0212078f7cf6352723",
+                "sha256:b88f784e9e35dcaa075519096dc947a388319cb86811b6af621e3523980f1c8a",
+                "sha256:bdd5ca340beffb8c44cb9dc26697628d1b88c6bddf5c2f6eb308c46f269bb6f3",
+                "sha256:d5aaf1edaa7692490f72bdb9fbd941fbf2e201713523bdb3f4038be0af8846c6",
+                "sha256:e999229b9f3198c0c880d5e269f9f8129c8862451ce53a011326cad38b9ccd24",
+                "sha256:f4a21d01fc0ba4e31d82f0fff195682e29f9401a8bdb7173891070eb260aeb3b",
+                "sha256:f4b794db44168a4fc886e3450201365c9526a522c46ba089b55e1f11c163750d",
+                "sha256:f730d56cb924d371c26b8eaddeea3cc07d78ff51c521c6d04899ac6904b75492"
+            ],
+            "index": "pypi",
+            "version": "==0.961"
        },
        "mypy-extensions": {
            "hashes": [
@ -1963,11 +2007,11 @@
        },
        "myst-parser": {
            "hashes": [
-                "sha256:1635ce3c18965a528d6de980f989ff64d6a1effb482e1f611b1bfb79e38f3d98",
-                "sha256:4c076d649e066f9f5c7c661bae2658be1ca06e76b002bb97f02a09398707686c"
+                "sha256:4965e51918837c13bf1c6f6fe2c6bddddf193148360fbdaefe743a4981358f6a",
+                "sha256:739a4d96773a8e55a2cacd3941ce46a446ee23dcd6b37e06f73f551ad7821d86"
            ],
            "index": "pypi",
-            "version": "==0.17.2"
+            "version": "==0.18.0"
        },
        "natsort": {
            "hashes": [
@ -2014,16 +2058,16 @@
        },
        "opencv-python-headless": {
            "hashes": [
-                "sha256:3f330468c29882dbbec5af25695c5e575572c6b855cb0f9fe53e14116fd46bfc",
-                "sha256:4bdf982574bf2fefc5f82c86df7cb42e56ad627874c7c0f4d94ecf4ae8885304",
-                "sha256:567a54c1919bcf5b3d20a9830e3c511e57134de8def286ce137c3544a892f98c",
-                "sha256:62e31878641a8f96e773118d1eea9f34bdda87c9990a0faab04ebaafb5ae015c",
-                "sha256:a60e9ff48854ec37be391e19dd634883cc26c2f0f814e5325b3deca33420912c",
-                "sha256:c3c2dda44d601757a508b07d628537c49f31223ad4edd0f747a70d4c852a7b98",
-                "sha256:ca4f013fa958f60fb2327fe87e6127c1ac0ab536890b1d4b00847f417b7af1ba"
+                "sha256:21e70f8b0c04098cdf466d27184fe6c3820aaef944a22548db95099959c95889",
+                "sha256:2c032c373e447c3fc2a670bca20e2918a1205a6e72854df60425fd3f82c78c32",
+                "sha256:3bacd806cce1f1988e58f3d6f761538e0215d6621d316de94c009dc0acbd6ad3",
+                "sha256:d5291d7e10aa2c19cab6fd86f0d61af8617290ecd2d7ffcb051e446868d04cc5",
+                "sha256:e6c069bc963d7e8fcec21b3e33e594d35948badd63eccb2e80f88b0a12102c03",
+                "sha256:eec6281054346103d6af93f173b7c6a206beb2663d3adc04aa3ddc66e85093df",
+                "sha256:ffbf26fcd697af996408440a93bc69c49c05a36845771f984156dfbeaa95d497"
            ],
            "index": "pypi",
-            "version": "==4.5.5.64"
+            "version": "==4.6.0.66"
        },
        "packaging": {
            "hashes": [
@ -2329,11 +2373,11 @@
        },
        "requests": {
            "hashes": [
-                "sha256:68d7c56fd5a8999887728ef304a6d12edc7be74f1cfa47714fc8b414525c9a61",
-                "sha256:f22fa1e554c9ddfd16e6e41ac79759e17be9e492b3587efa038054674760e72d"
+                "sha256:bc7861137fbce630f17b03d3ad02ad0bf978c844f3536d0edda6499dafce2b6f",
+                "sha256:d568723a7ebd25875d8d1eaf5dfa068cd2fc8194b2e483d7b1f7c81918dbec6b"
            ],
            "index": "pypi",
-            "version": "==2.27.1"
+            "version": "==2.28.0"
        },
        "reverse-geocoder": {
            "hashes": [
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 96cbed052ab1d69ea15da94dc2b882d59a786347
+Subproject commit ff49c8e126ea04889af13d690ceaf520ce7084d2
--- a/common/modeldata.h
+++ b/common/modeldata.h
@ -24,6 +24,12 @@ constexpr auto T_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(10.0);
 constexpr auto X_IDXS = build_idxs<double, TRAJECTORY_SIZE>(192.0);
 constexpr auto X_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(192.0);

+namespace tici_dm_crop {
+  const int x_offset = -72;
+  const int y_offset = -144;
+  const int width = 954;
+};
+
 const mat3 fcam_intrinsic_matrix = (mat3){{2648.0, 0.0, 1928.0 / 2,
                                           0.0, 2648.0, 1208.0 / 2,
                                           0.0, 0.0, 1.0}};
--- a/docs/CARS.md
+++ b/docs/CARS.md
@ -35,7 +35,7 @@ How We Rate The Cars

 **All supported cars can move between the tiers as support changes.**

-# Gold - 29 cars
+# Gold - 28 cars

 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
@ -52,10 +52,9 @@ How We Rate The Cars
 |Lexus|ES 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|ES Hybrid 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|NX 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|NX Hybrid 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|UX Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Avalon 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry Hybrid 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -69,14 +68,13 @@ How We Rate The Cars
 |Toyota|RAV4 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|

-# Silver - 78 cars
+# Silver - 75 cars

 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
 |Audi|A3 2014-19|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|Q2 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|Q3 2020-21|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|RS3 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|S3 2015-17|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -93,7 +91,6 @@ How We Rate The Cars
 |Hyundai|Santa Fe 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Santa Fe Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Santa Fe Plug-in Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Sonata 2018-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Tucson Diesel 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Ceed 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Forte 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -106,15 +103,16 @@ How We Rate The Cars
 |Kia|Sorento 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Sorento 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Stinger 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|ES Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|NX 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|NX Hybrid 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|NX Hybrid 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Mazda|CX-5 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |SEAT|Ateca 2018|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |SEAT|Leon 2014-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Crosstrek 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Forester 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Impreza 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Škoda|Karoq 2019|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Škoda|Kodiaq 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -125,18 +123,17 @@ How We Rate The Cars
 |Toyota|Alphard 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Avalon 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry Hybrid 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Highlander Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Prius 2016-20|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Prius Prime 2017-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Arteon 2018, 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Atlas 2018-19, 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf Alltrack 2017-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -145,57 +142,59 @@ How We Rate The Cars
 |Volkswagen|Golf R 2016-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf SportsVan 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf SportWagen 2015|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Passat 2015-19[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Polo 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Touran 2017|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|

-# Bronze - 66 cars
+# Bronze - 70 cars

 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-19|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Acura|RDX 2016-18|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Acura|RDX 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Acura|RDX 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|Q3 2020-21|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica 2020|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica 2020|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica Hybrid 2019-21|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica Hybrid 2019-21|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Genesis|G90 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
 |GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Honda|Accord 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Accord Hybrid 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Accord 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Accord Hybrid 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Civic 2016-18|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Civic 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>[<sup>2</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Civic Hatchback 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Civic 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>[<sup>2</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Civic Hatchback 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|CR-V 2015-16|Touring|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|CR-V 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|CR-V 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|CR-V Hybrid 2017-19|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|e 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Fit 2018-19|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Fit 2018-19|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Freed 2020|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|HR-V 2019-20|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Insight 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Inspire 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Insight 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Inspire 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Odyssey 2018-20|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Passport 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Pilot 2016-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Ridgeline 2017-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Passport 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Pilot 2016-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Ridgeline 2017-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Elantra 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Genesis 2015-16|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Ioniq Electric 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Sonata 2018-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Tucson 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Veloster 2019-20|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Jeep|Grand Cherokee 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Jeep|Grand Cherokee 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Optima 2017|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|CT Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|ES Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|IS 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RC 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -207,20 +206,21 @@ How We Rate The Cars
 |Nissan|X-Trail 2017|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Ascent 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Crosstrek 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Impreza 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|C-HR 2017-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|C-HR Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|C-HR Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Prius v 2017|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Atlas 2018-19, 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|RAV4 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Arteon 2018, 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Jetta 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Jetta GLI 2021|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Passat 2015-19[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Tiguan 2019-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|


--- a/release/files_common
+++ b/release/files_common
@ -104,6 +104,7 @@ selfdrive/car/fw_versions.py
 selfdrive/car/isotp_parallel_query.py
 selfdrive/car/tests/__init__.py
 selfdrive/car/tests/test_car_interfaces.py
+selfdrive/car/torque_data.json

 selfdrive/car/body/*.py
 selfdrive/car/chrysler/*.py
--- a/selfdrive/camerad/cameras/camera_common.cc
+++ b/selfdrive/camerad/cameras/camera_common.cc
@ -239,7 +239,7 @@ static kj::Array<capnp::byte> yuv420_to_jpeg(const CameraBuf *b, int thumbnail_w
  int in_stride = b->cur_yuv_buf->stride;

  // make the buffer big enough. jpeg_write_raw_data requires 16-pixels aligned height to be used.
-  std::unique_ptr<uint8_t[]> buf(new uint8_t[(thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2]);
+  std::unique_ptr<uint8[]> buf(new uint8_t[(thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2]);
  uint8_t *y_plane = buf.get();
  uint8_t *u_plane = y_plane + thumbnail_width * thumbnail_height;
  uint8_t *v_plane = u_plane + (thumbnail_width * thumbnail_height) / 4;
--- a/selfdrive/camerad/cameras/camera_qcom2.cc
+++ b/selfdrive/camerad/cameras/camera_qcom2.cc
@ -837,7 +837,7 @@ void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_i
  s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_RGB_ROAD, VISION_STREAM_ROAD, !env_disable_road);
  s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_RGB_WIDE_ROAD, VISION_STREAM_WIDE_ROAD, !env_disable_wide_road);

-  s->sm = new SubMaster({"driverStateV2"});
+  s->sm = new SubMaster({"driverState"});
  s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
 }

--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@ -23,14 +23,6 @@ class CarInterface(CarInterfaceBase):
    ret.steerRateCost = 0.7
    ret.steerLimitTimer = 0.4

-    # set max lateral acceleration
-    if candidate in (CAR.PACIFICA_2018, CAR.PACIFICA_2019_HYBRID, CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
-      ret.maxLateralAccel = 1.6
-    if candidate in (CAR.PACIFICA_2018_HYBRID,):
-      ret.maxLateralAccel = 1.4
-    if candidate in (CAR.PACIFICA_2017_HYBRID,):
-      ret.maxLateralAccel = 1.2
-
    if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
      ret.wheelbase = 2.91  # in meters
      ret.steerRatio = 12.7
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@ -7,7 +7,7 @@ from enum import Enum
 from typing import Dict, List, Optional, Union, no_type_check

 TACO_TORQUE_THRESHOLD = 2.5  # m/s^2
-GREAT_TORQUE_THRESHOLD = 1.5  # m/s^2
+GREAT_TORQUE_THRESHOLD = 1.4  # m/s^2
 GOOD_TORQUE_THRESHOLD = 1.0  # m/s^2


--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@ -83,7 +83,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 17.7  # Stock 15.7, LiveParameters
      tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
      ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh
-      ret.maxLateralAccel = 1.6

      ret.lateralTuning.pid.kpBP = [0., 40.]
      ret.lateralTuning.pid.kpV = [0., 0.17]
@ -111,7 +110,6 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.86
      ret.steerRatio = 14.4  # end to end is 13.46
      ret.centerToFront = ret.wheelbase * 0.4
-      ret.maxLateralAccel = 1.4
      ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_acadia()

    elif candidate == CAR.BUICK_REGAL:
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@ -100,7 +100,6 @@ class CarInterface(CarInterfaceBase):
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
      else:
-        ret.maxLateralAccel = 0.4
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
      tire_stiffness_factor = 1.
@ -113,7 +112,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 15.38  # 10.93 is end-to-end spec
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      tire_stiffness_factor = 1.
-      ret.maxLateralAccel = 1.6
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]

    elif candidate in (CAR.ACCORD, CAR.ACCORDH):
@ -128,7 +126,6 @@ class CarInterface(CarInterfaceBase):
      if eps_modified:
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
      else:
-        ret.maxLateralAccel = 1.6
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]

    elif candidate == CAR.ACURA_ILX:
@ -165,7 +162,6 @@ class CarInterface(CarInterfaceBase):
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
      else:
-        ret.maxLateralAccel = 1.7
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
      tire_stiffness_factor = 0.677
@ -190,7 +186,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 13.06
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      tire_stiffness_factor = 0.75
-      ret.maxLateralAccel = 1.7
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]

    elif candidate == CAR.FREED:
@ -222,7 +217,6 @@ class CarInterface(CarInterfaceBase):
      ret.centerToFront = ret.wheelbase * 0.38
      ret.steerRatio = 15.0  # as spec
      tire_stiffness_factor = 0.444
-      ret.maxLateralAccel = 0.9
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]

@ -232,7 +226,6 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.75
      ret.centerToFront = ret.wheelbase * 0.41
      ret.steerRatio = 11.95  # as spec
-      ret.maxLateralAccel = 1.2
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
      tire_stiffness_factor = 0.677
@ -245,7 +238,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 14.35  # as spec
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      tire_stiffness_factor = 0.82
-      ret.maxLateralAccel = 0.8
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]

    elif candidate == CAR.ODYSSEY_CHN:
@ -266,7 +258,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 17.25  # as spec
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      tire_stiffness_factor = 0.444
-      ret.maxLateralAccel = 1.5
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]

    elif candidate == CAR.RIDGELINE:
@ -277,7 +268,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 15.59  # as spec
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      tire_stiffness_factor = 0.444
-      ret.maxLateralAccel = 1.3
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]

    elif candidate == CAR.INSIGHT:
@ -288,7 +278,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 15.0  # 12.58 is spec end-to-end
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      tire_stiffness_factor = 0.82
-      ret.maxLateralAccel = 1.4
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]

    elif candidate == CAR.HONDA_E:
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@ -63,7 +63,6 @@ class CarInterface(CarInterfaceBase):
      # Values from optimizer
      ret.steerRatio = 16.55  # 13.8 is spec end-to-end
      tire_stiffness_factor = 0.82
-      ret.maxLateralAccel = 3.2
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
    elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID):
@ -72,7 +71,6 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.84
      ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
      tire_stiffness_factor = 0.65
-      ret.maxLateralAccel = 2.5
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
    elif candidate == CAR.SONATA_LF:
@ -80,7 +78,6 @@ class CarInterface(CarInterfaceBase):
      ret.mass = 4497. * CV.LB_TO_KG
      ret.wheelbase = 2.804
      ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
-      ret.maxLateralAccel = 1.8
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
    elif candidate == CAR.PALISADE:
@ -89,7 +86,6 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.90
      ret.steerRatio = 15.6 * 1.15
      tire_stiffness_factor = 0.63
-      ret.maxLateralAccel = 2.5
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
    elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
@ -146,7 +142,6 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.7
      ret.steerRatio = 13.73  # Spec
      tire_stiffness_factor = 0.385
-      ret.maxLateralAccel = 3.0
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
      if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
@ -196,7 +191,6 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.7
      ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73  # Spec
      tire_stiffness_factor = 0.385
-      ret.maxLateralAccel = 2.9
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
      if candidate == CAR.KIA_NIRO_HEV:
@ -228,7 +222,6 @@ class CarInterface(CarInterfaceBase):
      ret.mass = 1825. + STD_CARGO_KG
      ret.wheelbase = 2.78
      ret.steerRatio = 14.4 * 1.15   # 15% higher at the center seems reasonable
-      ret.maxLateralAccel = 2.4
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
    elif candidate == CAR.KIA_FORTE:
@ -254,7 +247,6 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.85
      ret.steerRatio = 13.27  # 2021 Kia K5 Steering Ratio (all trims)
      tire_stiffness_factor = 0.5
-      ret.maxLateralAccel = 2.1
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
    elif candidate == CAR.KIA_EV6:
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@ -501,6 +501,7 @@ FW_VERSIONS = {
    ],
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00LFF LKAS AT USA LHD 1.00 1.01 95740-C1000 E51',
+      b'\xf1\x00LFF LKAS AT USA LHD 1.01 1.02 95740-C1000 E52',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5',
@ -509,6 +510,7 @@ FW_VERSIONS = {
      b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24SL2n\x8d\xbe\xd8',
      b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2\x00\x00\x00\x00',
      b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm',
+      b'\xf1\x87LAJSG49645724HF0\x87x\x87\x88\x87www\x88\x99\xa8\x89\x88\x99\xa8\x89\x88\x99\xa8\x89S_\xfb\xff\x87f\x7f\xff^2\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm',
    ],
  },
  CAR.TUCSON: {
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@ -1,3 +1,4 @@
+import json
 import os
 import time
 from abc import abstractmethod, ABC
@ -19,6 +20,7 @@ EventName = car.CarEvent.EventName
 MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
 ACCEL_MAX = 2.0
 ACCEL_MIN = -3.5
+TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data.json')


 # generic car and radar interfaces
@ -81,7 +83,7 @@ class CarInterfaceBase(ABC):
    ret.steerControlType = car.CarParams.SteerControlType.torque
    ret.minSteerSpeed = 0.
    ret.wheelSpeedFactor = 1.0
-    ret.maxLateralAccel = float('nan')
+    ret.maxLateralAccel = CarInterfaceBase.get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED']

    ret.pcmCruise = True     # openpilot's state is tied to the PCM's cruise state on most cars
    ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
@ -105,6 +107,12 @@ class CarInterfaceBase(ABC):
    ret.steerLimitTimer = 1.0
    return ret

+  @staticmethod
+  def get_torque_params(candidate, default=float('NaN')):
+    with open(TORQUE_PARAMS_PATH) as f:
+      data = json.load(f)
+    return {key: data[key].get(candidate, default) for key in data}
+
  @abstractmethod
  def _update(self, c: car.CarControl) -> car.CarState:
    pass
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@ -51,7 +51,6 @@ class CarInterface(CarInterfaceBase):
      ret.centerToFront = ret.wheelbase * 0.5
      ret.steerRatio = 17           # learned, 14 stock
      ret.steerActuatorDelay = 0.1
-      ret.maxLateralAccel = 1.3
      ret.lateralTuning.pid.kf = 0.00005
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
@ -62,7 +61,6 @@ class CarInterface(CarInterfaceBase):
      ret.centerToFront = ret.wheelbase * 0.5
      ret.steerRatio = 17           # learned, 14 stock
      ret.steerActuatorDelay = 0.1
-      ret.maxLateralAccel = 3.2
      ret.lateralTuning.pid.kf = 0.000038
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import math
 import unittest
 import importlib
 from parameterized import parameterized
@ -39,7 +40,9 @@ class TestCarInterfaces(unittest.TestCase):
      if tuning == 'pid':
        self.assertTrue(len(car_params.lateralTuning.pid.kpV))
      elif tuning == 'torque':
-        self.assertTrue(car_params.lateralTuning.torque.kf > 0)
+        kf = car_params.lateralTuning.torque.kf
+        self.assertTrue(not math.isnan(kf) and kf > 0)
+        self.assertTrue(not math.isnan(car_params.lateralTuning.torque.friction))
      elif tuning == 'indi':
        self.assertTrue(len(car_params.lateralTuning.indi.outerLoopGainV))

--- a/selfdrive/car/tests/test_docs.py
+++ b/selfdrive/car/tests/test_docs.py
@ -3,6 +3,7 @@ import unittest

 from selfdrive.car.car_helpers import interfaces, get_interface_attr
 from selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info
+from selfdrive.car.docs_definitions import Column, Star


 class TestCarDocs(unittest.TestCase):
@ -37,6 +38,11 @@ class TestCarDocs(unittest.TestCase):
        if "rav4" in tokens:
          self.assertIn("RAV4", car.model, "Use correct capitalization")

+  def test_torque_star(self):
+    for car in self.all_cars:
+      if car.car_name == "honda":
+        self.assertTrue(car.row[Column.STEERING_TORQUE] in (Star.EMPTY, Star.HALF), f"{car.name} has full torque star")
+

 if __name__ == "__main__":
  unittest.main()
--- a/selfdrive/car/torque_data.json
+++ b/selfdrive/car/torque_data.json
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@ -74,7 +74,6 @@ class CarInterface(CarInterfaceBase):
      ret.wheelSpeedFactor = 1.035
      tire_stiffness_factor = 0.5533
      ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
-      ret.maxLateralAccel = 1.4
      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)

    elif candidate in (CAR.CHR, CAR.CHRH):
@ -83,7 +82,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 13.6
      tire_stiffness_factor = 0.7933
      ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.maxLateralAccel = 1.3
      set_lat_tune(ret.lateralTuning, LatTunes.PID_F)

    elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
@ -96,7 +94,6 @@ class CarInterface(CarInterfaceBase):
        ret.maxLateralAccel = 2.4
        set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.05)
      else:
-        ret.maxLateralAccel = 2.0
        set_lat_tune(ret.lateralTuning, LatTunes.PID_C)

    elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
@ -105,7 +102,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 16.0
      tire_stiffness_factor = 0.8
      ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG  # 4260 + 4-5 people
-      ret.maxLateralAccel = 2.0
      set_lat_tune(ret.lateralTuning, LatTunes.PID_G)

    elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH):
@ -114,7 +110,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 16.0
      tire_stiffness_factor = 0.8
      ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid limited
-      ret.maxLateralAccel = 1.8
      set_lat_tune(ret.lateralTuning, LatTunes.PID_G)

    elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2):
@ -125,7 +120,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 14.8  # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
      tire_stiffness_factor = 0.7983
      ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      ret.maxLateralAccel = 1.6
      set_lat_tune(ret.lateralTuning, LatTunes.PID_H)

    elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022):
@ -134,7 +128,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 14.3
      tire_stiffness_factor = 0.7933
      ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG  # Average between ICE and Hybrid
-      ret.maxLateralAccel = 2.5
      set_lat_tune(ret.lateralTuning, LatTunes.PID_D)

      # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
@ -159,7 +152,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 16.0  # not optimized
      tire_stiffness_factor = 0.444  # not optimized yet
      ret.mass = 3677. * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
-      ret.maxLateralAccel = 2.2
      set_lat_tune(ret.lateralTuning, LatTunes.PID_D)

    elif candidate == CAR.SIENNA:
@ -168,7 +160,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 15.5
      tire_stiffness_factor = 0.444
      ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.maxLateralAccel = 1.6
      set_lat_tune(ret.lateralTuning, LatTunes.PID_J)

    elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_RC):
@ -192,7 +183,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 14.7
      tire_stiffness_factor = 0.444  # not optimized yet
      ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
-      ret.maxLateralAccel = 2.0
      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)

    elif candidate == CAR.PRIUS_TSS2:
@ -201,7 +191,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 13.4   # True steerRatio from older prius
      tire_stiffness_factor = 0.6371   # hand-tune
      ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.maxLateralAccel = 2.0
      set_lat_tune(ret.lateralTuning, LatTunes.PID_N)

    elif candidate == CAR.MIRAI:
@ -210,7 +199,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 14.8
      tire_stiffness_factor = 0.8
      ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.maxLateralAccel = 2.4
      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)

    elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2):
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@ -1585,7 +1585,7 @@ FW_VERSIONS = {
    ],
  },
  CAR.LEXUS_NXH_TSS2: {
-    (Ecu.engine, 0x700, None): [
+    (Ecu.engine, 0x7e0, None): [
      b'\x0237887000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.esp, 0x7b0, None): [
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@ -64,17 +64,14 @@ class CarInterface(CarInterfaceBase):
    elif candidate == CAR.ATLAS_MK1:
      ret.mass = 2011 + STD_CARGO_KG
      ret.wheelbase = 2.98
-      ret.maxLateralAccel = 1.4

    elif candidate == CAR.GOLF_MK7:
      ret.mass = 1397 + STD_CARGO_KG
      ret.wheelbase = 2.62
-      ret.maxLateralAccel = 1.5

    elif candidate == CAR.JETTA_MK7:
      ret.mass = 1328 + STD_CARGO_KG
      ret.wheelbase = 2.71
-      ret.maxLateralAccel = 1.2

    elif candidate == CAR.PASSAT_MK8:
      ret.mass = 1551 + STD_CARGO_KG
@ -95,7 +92,6 @@ class CarInterface(CarInterfaceBase):
    elif candidate == CAR.TIGUAN_MK2:
      ret.mass = 1715 + STD_CARGO_KG
      ret.wheelbase = 2.74
-      ret.maxLateralAccel = 1.1

    elif candidate == CAR.TOURAN_MK2:
      ret.mass = 1516 + STD_CARGO_KG
@ -113,7 +109,6 @@ class CarInterface(CarInterfaceBase):
    elif candidate == CAR.AUDI_A3_MK3:
      ret.mass = 1335 + STD_CARGO_KG
      ret.wheelbase = 2.61
-      ret.maxLateralAccel = 1.7

    elif candidate == CAR.AUDI_Q2_MK1:
      ret.mass = 1205 + STD_CARGO_KG
@ -122,7 +117,6 @@ class CarInterface(CarInterfaceBase):
    elif candidate == CAR.AUDI_Q3_MK2:
      ret.mass = 1623 + STD_CARGO_KG
      ret.wheelbase = 2.68
-      ret.maxLateralAccel = 1.6

    elif candidate == CAR.SEAT_ATECA_MK1:
      ret.mass = 1900 + STD_CARGO_KG
--- a/selfdrive/debug/count_events.py
+++ b/selfdrive/debug/count_events.py
@ -4,6 +4,7 @@ from collections import Counter
 from pprint import pprint
 from tqdm import tqdm

+from cereal.services import service_list
 from tools.lib.route import Route
 from tools.lib.logreader import LogReader

@ -13,6 +14,9 @@ if __name__ == "__main__":
  cnt_valid: Counter = Counter()
  cnt_events: Counter = Counter()

+  cams = [s for s in service_list if s.endswith('CameraState')]
+  cnt_cameras = dict.fromkeys(cams, 0)
+
  for q in tqdm(r.qlog_paths()):
    if q is None:
      continue
@ -21,12 +25,21 @@ if __name__ == "__main__":
      if msg.which() == 'carEvents':
        for e in msg.carEvents:
          cnt_events[e.name] += 1
+      elif msg.which() in cams:
+        cnt_cameras[msg.which()] += 1
+
      if not msg.valid:
        cnt_valid[msg.which()] += 1

+
  print("Events")
  pprint(cnt_events)

-  print("\n\n")
+  print("\n")
  print("Not valid")
  pprint(cnt_valid)
+
+  print("\n")
+  print("Cameras")
+  for k, v in cnt_cameras.items():
+    print("  ", k.ljust(20), v)
--- a/selfdrive/hardware/tici/test_power_draw.py
+++ b/selfdrive/hardware/tici/test_power_draw.py
@ -21,7 +21,7 @@ class Proc:
 PROCS = [
  Proc('camerad', 2.15),
  Proc('modeld', 1.0),
-  Proc('dmonitoringmodeld', 0.35),
+  Proc('dmonitoringmodeld', 0.25),
  Proc('encoderd', 0.23),
 ]

--- a/selfdrive/modeld/dmonitoringmodeld.cc
+++ b/selfdrive/modeld/dmonitoringmodeld.cc
@ -12,7 +12,7 @@
 ExitHandler do_exit;

 void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) {
-  PubMaster pm({"driverStateV2"});
+  PubMaster pm({"driverState"});
  SubMaster sm({"liveCalibration"});
  float calib[CALIB_LEN] = {0};
  double last = 0;
@ -31,11 +31,11 @@ void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) {
    }

    double t1 = millis_since_boot();
-    DMonitoringModelResult model_res = dmonitoring_eval_frame(&model, buf->addr, buf->width, buf->height, buf->stride, buf->uv_offset, calib);
+    DMonitoringResult res = dmonitoring_eval_frame(&model, buf->addr, buf->width, buf->height, buf->stride, buf->uv_offset, calib);
    double t2 = millis_since_boot();

    // send dm packet
-    dmonitoring_publish(pm, extra.frame_id, model_res, (t2 - t1) / 1000.0, model.output);
+    dmonitoring_publish(pm, extra.frame_id, res, (t2 - t1) / 1000.0, model.output);

    //printf("dmonitoring process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last);
    last = t1;
--- a/selfdrive/modeld/models/dmonitoring.cc
+++ b/selfdrive/modeld/models/dmonitoring.cc
@ -10,8 +10,8 @@

 #include "selfdrive/modeld/models/dmonitoring.h"

-constexpr int MODEL_WIDTH = 1440;
-constexpr int MODEL_HEIGHT = 960;
+constexpr int MODEL_WIDTH = 320;
+constexpr int MODEL_HEIGHT = 640;

 template <class T>
 static inline T *get_buffer(std::vector<T> &buf, const size_t size) {
@ -19,115 +19,199 @@ static inline T *get_buffer(std::vector<T> &buf, const size_t size) {
  return buf.data();
 }

+static inline void init_yuv_buf(std::vector<uint8_t> &buf, const int width, int height) {
+  uint8_t *y = get_buffer(buf, width * height * 3 / 2);
+  uint8_t *u = y + width * height;
+  uint8_t *v = u + (width / 2) * (height / 2);
+
+  // needed on comma two to make the padded border black
+  // equivalent to RGB(0,0,0) in YUV space
+  memset(y, 16, width * height);
+  memset(u, 128, (width / 2) * (height / 2));
+  memset(v, 128, (width / 2) * (height / 2));
+}
+
 void dmonitoring_init(DMonitoringModelState* s) {
  s->is_rhd = Params().getBool("IsRHD");
+  for (int x = 0; x < std::size(s->tensor); ++x) {
+    s->tensor[x] = (x - 128.f) * 0.0078125f;
+  }
+  init_yuv_buf(s->resized_buf, MODEL_WIDTH, MODEL_HEIGHT);

 #ifdef USE_ONNX_MODEL
-  s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, false, true);
+  s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME);
 #else
-  s->m = new SNPEModel("models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, false, true);
+  s->m = new SNPEModel("models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME);
 #endif

  s->m->addCalib(s->calib, CALIB_LEN);
 }

-void parse_driver_data(DriverStateResult &ds_res, const DMonitoringModelState* s, int out_idx_offset) {
-  for (int i = 0; i < 3; ++i) {
-    ds_res.face_orientation[i] = s->output[out_idx_offset+i] * REG_SCALE;
-    ds_res.face_orientation_std[i] = exp(s->output[out_idx_offset+6+i]);
-  }
-  for (int i = 0; i < 2; ++i) {
-    ds_res.face_position[i] = s->output[out_idx_offset+3+i] * REG_SCALE;
-    ds_res.face_position_std[i] = exp(s->output[out_idx_offset+9+i]);
-  }
-  for (int i = 0; i < 4; ++i) {
-    ds_res.ready_prob[i] = sigmoid(s->output[out_idx_offset+35+i]);
-  }
-  for (int i = 0; i < 2; ++i) {
-    ds_res.not_ready_prob[i] = sigmoid(s->output[out_idx_offset+39+i]);
-  }
-  ds_res.face_prob = sigmoid(s->output[out_idx_offset+12]);
-  ds_res.left_eye_prob = sigmoid(s->output[out_idx_offset+21]);
-  ds_res.right_eye_prob = sigmoid(s->output[out_idx_offset+30]);
-  ds_res.left_blink_prob = sigmoid(s->output[out_idx_offset+31]);
-  ds_res.right_blink_prob = sigmoid(s->output[out_idx_offset+32]);
-  ds_res.sunglasses_prob = sigmoid(s->output[out_idx_offset+33]);
-  ds_res.occluded_prob = sigmoid(s->output[out_idx_offset+34]);
+static inline auto get_yuv_buf(std::vector<uint8_t> &buf, const int width, int height) {
+  uint8_t *y = get_buffer(buf, width * height * 3 / 2);
+  uint8_t *u = y + width * height;
+  uint8_t *v = u + (width /2) * (height / 2);
+  return std::make_tuple(y, u, v);
 }

-void fill_driver_data(cereal::DriverStateV2::DriverData::Builder ddata, const DriverStateResult &ds_res) {
-  ddata.setFaceOrientation(ds_res.face_orientation);
-  ddata.setFaceOrientationStd(ds_res.face_orientation_std);
-  ddata.setFacePosition(ds_res.face_position);
-  ddata.setFacePositionStd(ds_res.face_position_std);
-  ddata.setFaceProb(ds_res.face_prob);
-  ddata.setLeftEyeProb(ds_res.left_eye_prob);
-  ddata.setRightEyeProb(ds_res.right_eye_prob);
-  ddata.setLeftBlinkProb(ds_res.left_blink_prob);
-  ddata.setRightBlinkProb(ds_res.right_blink_prob);
-  ddata.setSunglassesProb(ds_res.sunglasses_prob);
-  ddata.setOccludedProb(ds_res.occluded_prob);
-  ddata.setReadyProb(ds_res.ready_prob);
-  ddata.setNotReadyProb(ds_res.not_ready_prob);
+struct Rect {int x, y, w, h;};
+void crop_nv12_to_yuv(uint8_t *raw, int stride, int uv_offset, uint8_t *y, uint8_t *u, uint8_t *v, const Rect &rect) {
+  uint8_t *raw_y = raw;
+  uint8_t *raw_uv = raw_y + uv_offset;
+  for (int r = 0; r < rect.h / 2; r++) {
+    memcpy(y + 2 * r * rect.w, raw_y + (2 * r + rect.y) * stride + rect.x, rect.w);
+    memcpy(y + (2 * r + 1) * rect.w, raw_y + (2 * r + rect.y + 1) * stride + rect.x, rect.w);
+    for (int h = 0; h < rect.w / 2; h++) {
+      u[r * rect.w/2 + h] = raw_uv[(r + (rect.y/2)) * stride + (rect.x/2 + h)*2];
+      v[r * rect.w/2 + h] = raw_uv[(r + (rect.y/2)) * stride + (rect.x/2 + h)*2 + 1];
+    }
+  }
 }

-DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib) {
-  int v_off = height - MODEL_HEIGHT;
-  int h_off = (width - MODEL_WIDTH) / 2;
-  int yuv_buf_len = MODEL_WIDTH * MODEL_HEIGHT;
-
-  uint8_t *raw_buf = (uint8_t *) stream_buf;
-  // vertical crop free
-  uint8_t *raw_y_start = raw_buf + stride * v_off;
+DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib) {
+  const int cropped_height = tici_dm_crop::width / 1.33;
+  Rect crop_rect = {width / 2 - tici_dm_crop::width / 2 + tici_dm_crop::x_offset,
+                height / 2 - cropped_height / 2 + tici_dm_crop::y_offset,
+                cropped_height / 2,
+                cropped_height};
+  if (!s->is_rhd) {
+    crop_rect.x += tici_dm_crop::width - crop_rect.w;
+  }

-  uint8_t *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len);
+  int resized_width = MODEL_WIDTH;
+  int resized_height = MODEL_HEIGHT;
+
+  auto [cropped_y, cropped_u, cropped_v] = get_yuv_buf(s->cropped_buf, crop_rect.w, crop_rect.h);
+  if (!s->is_rhd) {
+    crop_nv12_to_yuv((uint8_t *)stream_buf, stride, uv_offset, cropped_y, cropped_u, cropped_v, crop_rect);
+  } else {
+    auto [mirror_y, mirror_u, mirror_v] = get_yuv_buf(s->premirror_cropped_buf, crop_rect.w, crop_rect.h);
+    crop_nv12_to_yuv((uint8_t *)stream_buf, stride, uv_offset, mirror_y, mirror_u, mirror_v, crop_rect);
+    libyuv::I420Mirror(mirror_y, crop_rect.w,
+                       mirror_u, crop_rect.w / 2,
+                       mirror_v, crop_rect.w / 2,
+                       cropped_y, crop_rect.w,
+                       cropped_u, crop_rect.w / 2,
+                       cropped_v, crop_rect.w / 2,
+                       crop_rect.w, crop_rect.h);
+  }

-  // here makes a uint8 copy
-  for (int r = 0; r < MODEL_HEIGHT; ++r) {
-    memcpy(net_input_buf + r * MODEL_WIDTH, raw_y_start + r * stride + h_off, MODEL_WIDTH);
+  auto [resized_buf, resized_u, resized_v] = get_yuv_buf(s->resized_buf, resized_width, resized_height);
+  uint8_t *resized_y = resized_buf;
+  libyuv::FilterMode mode = libyuv::FilterModeEnum::kFilterBilinear;
+  libyuv::I420Scale(cropped_y, crop_rect.w,
+                  cropped_u, crop_rect.w / 2,
+                  cropped_v, crop_rect.w / 2,
+                  crop_rect.w, crop_rect.h,
+                  resized_y, resized_width,
+                  resized_u, resized_width / 2,
+                  resized_v, resized_width / 2,
+                  resized_width, resized_height,
+                  mode);
+
+
+  int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v
+  float *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len);
+  // one shot conversion, O(n) anyway
+  // yuvframe2tensor, normalize
+  for (int r = 0; r < MODEL_HEIGHT/2; r++) {
+    for (int c = 0; c < MODEL_WIDTH/2; c++) {
+      // Y_ul
+      net_input_buf[(r*MODEL_WIDTH/2) + c + (0*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r)*resized_width + 2*c]];
+      // Y_dl
+      net_input_buf[(r*MODEL_WIDTH/2) + c + (1*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r+1)*resized_width + 2*c]];
+      // Y_ur
+      net_input_buf[(r*MODEL_WIDTH/2) + c + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r)*resized_width + 2*c+1]];
+      // Y_dr
+      net_input_buf[(r*MODEL_WIDTH/2) + c + (3*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r+1)*resized_width + 2*c+1]];
+      // U
+      net_input_buf[(r*MODEL_WIDTH/2) + c + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_u[r*resized_width/2 + c]];
+      // V
+      net_input_buf[(r*MODEL_WIDTH/2) + c + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_v[r*resized_width/2 + c]];
+    }
  }

-  // printf("preprocess completed. %d \n", yuv_buf_len);
-  // FILE *dump_yuv_file = fopen("/tmp/rawdump.yuv", "wb");
-  // fwrite(net_input_buf, yuv_buf_len, sizeof(uint8_t), dump_yuv_file);
-  // fclose(dump_yuv_file);
+  //printf("preprocess completed. %d \n", yuv_buf_len);
+  //FILE *dump_yuv_file = fopen("/tmp/rawdump.yuv", "wb");
+  //fwrite(resized_buf, yuv_buf_len, sizeof(uint8_t), dump_yuv_file);
+  //fclose(dump_yuv_file);
+
+  // *** testing ***
+  // idat = np.frombuffer(open("/tmp/inputdump.yuv", "rb").read(), np.float32).reshape(6, 160, 320)
+  // imshow(cv2.cvtColor(tensor_to_frames(idat[None]/0.0078125+128)[0], cv2.COLOR_YUV2RGB_I420))
+
+  //FILE *dump_yuv_file2 = fopen("/tmp/inputdump.yuv", "wb");
+  //fwrite(net_input_buf, MODEL_HEIGHT*MODEL_WIDTH*3/2, sizeof(float), dump_yuv_file2);
+  //fclose(dump_yuv_file2);

  double t1 = millis_since_boot();
-  s->m->addImage((float*)net_input_buf, yuv_buf_len / 4);
+  s->m->addImage(net_input_buf, yuv_buf_len);
  for (int i = 0; i < CALIB_LEN; i++) {
    s->calib[i] = calib[i];
  }
  s->m->execute();
  double t2 = millis_since_boot();

-  DMonitoringModelResult model_res = {0};
-  parse_driver_data(model_res.driver_state_lhd, s, 0);
-  parse_driver_data(model_res.driver_state_rhd, s, 41);
-  model_res.poor_vision_prob = sigmoid(s->output[82]);
-  model_res.wheel_on_right_prob = sigmoid(s->output[83]);
-  model_res.dsp_execution_time = (t2 - t1) / 1000.;
-
-  return model_res;
+  DMonitoringResult ret = {0};
+  for (int i = 0; i < 3; ++i) {
+    ret.face_orientation[i] = s->output[i] * REG_SCALE;
+    ret.face_orientation_meta[i] = exp(s->output[6 + i]);
+  }
+  for (int i = 0; i < 2; ++i) {
+    ret.face_position[i] = s->output[3 + i] * REG_SCALE;
+    ret.face_position_meta[i] = exp(s->output[9 + i]);
+  }
+  for (int i = 0; i < 4; ++i) {
+    ret.ready_prob[i] = sigmoid(s->output[39 + i]);
+  }
+  for (int i = 0; i < 2; ++i) {
+    ret.not_ready_prob[i] = sigmoid(s->output[43 + i]);
+  }
+  ret.face_prob = sigmoid(s->output[12]);
+  ret.left_eye_prob = sigmoid(s->output[21]);
+  ret.right_eye_prob = sigmoid(s->output[30]);
+  ret.left_blink_prob = sigmoid(s->output[31]);
+  ret.right_blink_prob = sigmoid(s->output[32]);
+  ret.sg_prob = sigmoid(s->output[33]);
+  ret.poor_vision = sigmoid(s->output[34]);
+  ret.partial_face = sigmoid(s->output[35]);
+  ret.distracted_pose = sigmoid(s->output[36]);
+  ret.distracted_eyes = sigmoid(s->output[37]);
+  ret.occluded_prob = sigmoid(s->output[38]);
+  ret.dsp_execution_time = (t2 - t1) / 1000.;
+  return ret;
 }

-void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringModelResult &model_res, float execution_time, kj::ArrayPtr<const float> raw_pred) {
+void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time, kj::ArrayPtr<const float> raw_pred) {
  // make msg
  MessageBuilder msg;
-  auto framed = msg.initEvent().initDriverStateV2();
+  auto framed = msg.initEvent().initDriverState();
  framed.setFrameId(frame_id);
  framed.setModelExecutionTime(execution_time);
-  framed.setDspExecutionTime(model_res.dsp_execution_time);
-
-  framed.setPoorVisionProb(model_res.poor_vision_prob);
-  framed.setWheelOnRightProb(model_res.wheel_on_right_prob);
-  fill_driver_data(framed.initLeftDriverData(), model_res.driver_state_lhd);
-  fill_driver_data(framed.initRightDriverData(), model_res.driver_state_rhd);
-
+  framed.setDspExecutionTime(res.dsp_execution_time);
+
+  framed.setFaceOrientation(res.face_orientation);
+  framed.setFaceOrientationStd(res.face_orientation_meta);
+  framed.setFacePosition(res.face_position);
+  framed.setFacePositionStd(res.face_position_meta);
+  framed.setFaceProb(res.face_prob);
+  framed.setLeftEyeProb(res.left_eye_prob);
+  framed.setRightEyeProb(res.right_eye_prob);
+  framed.setLeftBlinkProb(res.left_blink_prob);
+  framed.setRightBlinkProb(res.right_blink_prob);
+  framed.setSunglassesProb(res.sg_prob);
+  framed.setPoorVision(res.poor_vision);
+  framed.setPartialFace(res.partial_face);
+  framed.setDistractedPose(res.distracted_pose);
+  framed.setDistractedEyes(res.distracted_eyes);
+  framed.setOccludedProb(res.occluded_prob);
+  framed.setReadyProb(res.ready_prob);
+  framed.setNotReadyProb(res.not_ready_prob);
  if (send_raw_pred) {
    framed.setRawPredictions(raw_pred.asBytes());
  }

-  pm.send("driverStateV2", msg);
+  pm.send("driverState", msg);
 }

 void dmonitoring_free(DMonitoringModelState* s) {
--- a/selfdrive/modeld/models/dmonitoring.h
+++ b/selfdrive/modeld/models/dmonitoring.h
@ -9,43 +9,44 @@

 #define CALIB_LEN 3

-#define OUTPUT_SIZE 84
+#define OUTPUT_SIZE 45
 #define REG_SCALE 0.25f

-typedef struct DriverStateResult {
+typedef struct DMonitoringResult {
  float face_orientation[3];
-  float face_orientation_std[3];
+  float face_orientation_meta[3];
  float face_position[2];
-  float face_position_std[2];
+  float face_position_meta[2];
  float face_prob;
  float left_eye_prob;
  float right_eye_prob;
  float left_blink_prob;
  float right_blink_prob;
-  float sunglasses_prob;
+  float sg_prob;
+  float poor_vision;
+  float partial_face;
+  float distracted_pose;
+  float distracted_eyes;
  float occluded_prob;
  float ready_prob[4];
  float not_ready_prob[2];
-} DriverStateResult;
-
-typedef struct DMonitoringModelResult {
-  DriverStateResult driver_state_lhd;
-  DriverStateResult driver_state_rhd;
-  float poor_vision_prob;
-  float wheel_on_right_prob;
  float dsp_execution_time;
-} DMonitoringModelResult;
+} DMonitoringResult;

 typedef struct DMonitoringModelState {
  RunModel *m;
  bool is_rhd;
  float output[OUTPUT_SIZE];
-  std::vector<uint8_t> net_input_buf;
+  std::vector<uint8_t> resized_buf;
+  std::vector<uint8_t> cropped_buf;
+  std::vector<uint8_t> premirror_cropped_buf;
+  std::vector<float> net_input_buf;
  float calib[CALIB_LEN];
+  float tensor[UINT8_MAX + 1];
 } DMonitoringModelState;

 void dmonitoring_init(DMonitoringModelState* s);
-DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib);
-void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringModelResult &model_res, float execution_time, kj::ArrayPtr<const float> raw_pred);
+DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib);
+void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time, kj::ArrayPtr<const float> raw_pred);
 void dmonitoring_free(DMonitoringModelState* s);

--- a/selfdrive/modeld/models/dmonitoring_model.current
+++ b/selfdrive/modeld/models/dmonitoring_model.current
@ -1,2 +1,2 @@
-5b02cff5-2b29-431d-b186-372e9c6fd0c7
-bf33cc569076984626ac7e027f927aa593261fa7
+a8236e30-5bee-4689-8ea0-fc102e2770e5
+d508c79bae1c1c451f3af3e2bc231ce33678cb43
--- a/selfdrive/modeld/models/dmonitoring_model.onnx
+++ b/selfdrive/modeld/models/dmonitoring_model.onnx
@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:aca1dd411b5f488bea605dc360656e631fc4301968a589ea072e2220c8092600
-size 9157561
+oid sha256:00731ebd06fcff7e5837607b91bc56cad3bed5d7ee89052c911c981e8f665308
+size 3679940
--- a/selfdrive/modeld/models/dmonitoring_model_q.dlc
+++ b/selfdrive/modeld/models/dmonitoring_model_q.dlc
@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d146b1d1fd9d40d57d058e51d285f83676866e26d9e5aff9fa27623ce343b58a
-size 2636941
+oid sha256:667df5e925570a0f6a33dfb890e186a1f13f101885b46db47ec45305737dffb6
+size 1145921
--- a/selfdrive/modeld/runners/onnx_runner.py
+++ b/selfdrive/modeld/runners/onnx_runner.py
@ -9,24 +9,20 @@ os.environ["OMP_WAIT_POLICY"] = "PASSIVE"

 import onnxruntime as ort # pylint: disable=import-error

-def read(sz, tf8=False):
+def read(sz):
  dd = []
  gt = 0
-  szof = 1 if tf8 else 4
-  while gt < sz * szof:
-    st = os.read(0, sz * szof - gt)
+  while gt < sz * 4:
+    st = os.read(0, sz * 4 - gt)
    assert(len(st) > 0)
    dd.append(st)
    gt += len(st)
-  r = np.frombuffer(b''.join(dd), dtype=np.uint8 if tf8 else np.float32).astype(np.float32)
-  if tf8:
-    r = r / 255.
-  return r
+  return np.frombuffer(b''.join(dd), dtype=np.float32)

 def write(d):
  os.write(1, d.tobytes())

-def run_loop(m, tf8_input=False):
+def run_loop(m):
  ishapes = [[1]+ii.shape[1:] for ii in m.get_inputs()]
  keys = [x.name for x in m.get_inputs()]

@ -37,10 +33,10 @@ def run_loop(m, tf8_input=False):
  print("ready to run onnx model", keys, ishapes, file=sys.stderr)
  while 1:
    inputs = []
-    for k, shp in zip(keys, ishapes):
+    for shp in ishapes:
      ts = np.product(shp)
      #print("reshaping %s with offset %d" % (str(shp), offset), file=sys.stderr)
-      inputs.append(read(ts, (k=='input_img' and tf8_input)).reshape(shp))
+      inputs.append(read(ts).reshape(shp))
    ret = m.run(None, dict(zip(keys, inputs)))
    #print(ret, file=sys.stderr)
    for r in ret:
@ -48,7 +44,6 @@ def run_loop(m, tf8_input=False):


 if __name__ == "__main__":
-  print(sys.argv, file=sys.stderr)
  print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr)
  options = ort.SessionOptions()
  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
@ -68,6 +63,6 @@ if __name__ == "__main__":
    print("Onnx selected provider: ", [provider], file=sys.stderr)
    ort_session = ort.InferenceSession(sys.argv[1], options, providers=[provider])
    print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
-    run_loop(ort_session, tf8_input=("--use_tf8" in sys.argv))
+    run_loop(ort_session)
  except KeyboardInterrupt:
    pass
--- a/selfdrive/modeld/runners/onnxmodel.cc
+++ b/selfdrive/modeld/runners/onnxmodel.cc
@ -14,13 +14,12 @@
 #include "common/swaglog.h"
 #include "common/util.h"

-ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int runtime, bool _use_extra, bool _use_tf8) {
+ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int runtime, bool _use_extra) {
  LOGD("loading model %s", path);

  output = _output;
  output_size = _output_size;
  use_extra = _use_extra;
-  use_tf8 = _use_tf8;

  int err = pipe(pipein);
  assert(err == 0);
@ -29,12 +28,11 @@ ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int

  std::string exe_dir = util::dir_name(util::readlink("/proc/self/exe"));
  std::string onnx_runner = exe_dir + "/runners/onnx_runner.py";
-  std::string tf8_arg = use_tf8 ? "--use_tf8" : "";

  proc_pid = fork();
  if (proc_pid == 0) {
    LOGD("spawning onnx process %s", onnx_runner.c_str());
-    char *argv[] = {(char*)onnx_runner.c_str(), (char*)path, (char*)tf8_arg.c_str(), nullptr};
+    char *argv[] = {(char*)onnx_runner.c_str(), (char*)path, nullptr};
    dup2(pipein[0], 0);
    dup2(pipeout[1], 1);
    close(pipein[0]);
--- a/selfdrive/modeld/runners/onnxmodel.h
+++ b/selfdrive/modeld/runners/onnxmodel.h
@ -6,7 +6,7 @@

 class ONNXModel : public RunModel {
 public:
-  ONNXModel(const char *path, float *output, size_t output_size, int runtime, bool use_extra = false, bool _use_tf8 = false);
+  ONNXModel(const char *path, float *output, size_t output_size, int runtime, bool use_extra = false);
 	~ONNXModel();
  void addRecurrent(float *state, int state_size);
  void addDesire(float *state, int state_size);
@ -31,7 +31,6 @@ private:
  int calib_size;
  float *image_input_buf = NULL;
  int image_buf_size;
-  bool use_tf8;
  float *extra_input_buf = NULL;
  int extra_buf_size;
  bool use_extra;
--- a/selfdrive/modeld/runners/snpemodel.cc
+++ b/selfdrive/modeld/runners/snpemodel.cc
@ -14,11 +14,10 @@ void PrintErrorStringAndExit() {
  std::exit(EXIT_FAILURE);
 }

-SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra, bool luse_tf8) {
+SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra) {
  output = loutput;
  output_size = loutput_size;
  use_extra = luse_extra;
-  use_tf8 = luse_tf8;
 #ifdef QCOM2
  if (runtime==USE_GPU_RUNTIME) {
    Runtime = zdl::DlSystem::Runtime_t::GPU;
@ -71,16 +70,14 @@ SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int
  printf("model: %s -> %s\n", input_tensor_name, output_tensor_name);

  zdl::DlSystem::UserBufferEncodingFloat userBufferEncodingFloat;
-  zdl::DlSystem::UserBufferEncodingTf8 userBufferEncodingTf8(0, 1./255); // network takes 0-1
  zdl::DlSystem::IUserBufferFactory& ubFactory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
-  size_t size_of_input = use_tf8 ? sizeof(uint8_t) : sizeof(float);

  // create input buffer
  {
    const auto &inputDims_opt = snpe->getInputDimensions(input_tensor_name);
    const zdl::DlSystem::TensorShape& bufferShape = *inputDims_opt;
    std::vector<size_t> strides(bufferShape.rank());
-    strides[strides.size() - 1] = size_of_input;
+    strides[strides.size() - 1] = sizeof(float);
    size_t product = 1;
    for (size_t i = 0; i < bufferShape.rank(); i++) product *= bufferShape[i];
    size_t stride = strides[strides.size() - 1];
@ -89,10 +86,7 @@ SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int
      strides[i-1] = stride;
    }
    printf("input product is %lu\n", product);
-    inputBuffer = ubFactory.createUserBuffer(NULL,
-                                             product*size_of_input,
-                                             strides,
-                                             use_tf8 ? (zdl::DlSystem::UserBufferEncoding*)&userBufferEncodingTf8 : (zdl::DlSystem::UserBufferEncoding*)&userBufferEncodingFloat);
+    inputBuffer = ubFactory.createUserBuffer(NULL, product*sizeof(float), strides, &userBufferEncodingFloat);

    inputMap.add(input_tensor_name, inputBuffer.get());
  }
--- a/selfdrive/modeld/runners/snpemodel.h
+++ b/selfdrive/modeld/runners/snpemodel.h
@ -23,7 +23,7 @@

 class SNPEModel : public RunModel {
 public:
-  SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra = false, bool use_tf8 = false);
+  SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra = false);
  void addRecurrent(float *state, int state_size);
  void addTrafficConvention(float *state, int state_size);
  void addCalib(float *state, int state_size);
@ -52,7 +52,6 @@ private:
  std::unique_ptr<zdl::DlSystem::IUserBuffer> inputBuffer;
  float *input;
  size_t input_size;
-  bool use_tf8;

  // snpe output stuff
  zdl::DlSystem::UserBufferMap outputMap;
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@ -18,7 +18,7 @@ def dmonitoringd_thread(sm=None, pm=None):
    pm = messaging.PubMaster(['driverMonitoringState'])

  if sm is None:
-    sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverStateV2'])
+    sm = messaging.SubMaster(['driverState', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverState'])

  driver_status = DriverStatus(rhd=Params().get_bool("IsRHD"))

@ -34,7 +34,7 @@ def dmonitoringd_thread(sm=None, pm=None):
  while True:
    sm.update()

-    if not sm.updated['driverStateV2']:
+    if not sm.updated['driverState']:
      continue

    # Get interaction
@ -51,7 +51,7 @@ def dmonitoringd_thread(sm=None, pm=None):

    # Get data from dmonitoringmodeld
    events = Events()
-    driver_status.update_states(sm['driverStateV2'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled)
+    driver_status.update_states(sm['driverState'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled)

    # Block engaging after max number of distrations
    if driver_status.terminal_alert_cnt >= driver_status.settings._MAX_TERMINAL_ALERTS or \
@ -79,7 +79,6 @@ def dmonitoringd_thread(sm=None, pm=None):
      "isLowStd": driver_status.pose.low_std,
      "hiStdCount": driver_status.hi_stds,
      "isActiveMode": driver_status.active_monitoring_mode,
-      "isRHD": driver_status.wheel_on_right,
    }
    pm.send('driverMonitoringState', dat)

--- a/selfdrive/monitoring/driver_monitor.py
+++ b/selfdrive/monitoring/driver_monitor.py
@ -5,7 +5,6 @@ from common.numpy_fast import interp
 from common.realtime import DT_DMON
 from common.filter_simple import FirstOrderFilter
 from common.stat_live import RunningStatFilter
-from common.transformations.camera import tici_d_frame_size

 EventName = car.CarEvent.EventName

@ -27,29 +26,32 @@ class DRIVER_MONITOR_SETTINGS():
    self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.

    self._FACE_THRESHOLD = 0.5
+    self._PARTIAL_FACE_THRESHOLD = 0.8
    self._EYE_THRESHOLD = 0.65
    self._SG_THRESHOLD = 0.925
-    self._BLINK_THRESHOLD = 0.861
+    self._BLINK_THRESHOLD = 0.8
+    self._BLINK_THRESHOLD_SLACK = 0.9
+    self._BLINK_THRESHOLD_STRICT = self._BLINK_THRESHOLD

    self._EE_THRESH11 = 0.75
    self._EE_THRESH12 = 3.25
    self._EE_THRESH21 = 0.01
    self._EE_THRESH22 = 0.35

-    self._POSE_PITCH_THRESHOLD = 0.3133
-    self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
+    self._POSE_PITCH_THRESHOLD = 0.3237
+    self._POSE_PITCH_THRESHOLD_SLACK = 0.3657
    self._POSE_PITCH_THRESHOLD_STRICT = self._POSE_PITCH_THRESHOLD
-    self._POSE_YAW_THRESHOLD = 0.4020
-    self._POSE_YAW_THRESHOLD_SLACK = 0.5042
+    self._POSE_YAW_THRESHOLD = 0.3109
+    self._POSE_YAW_THRESHOLD_SLACK = 0.4294
    self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
-    self._PITCH_NATURAL_OFFSET = 0.029 # initial value before offset is learned
-    self._YAW_NATURAL_OFFSET = 0.097 # initial value before offset is learned
+    self._PITCH_NATURAL_OFFSET = 0.057 # initial value before offset is learned
+    self._YAW_NATURAL_OFFSET = 0.11 # initial value before offset is learned
    self._PITCH_MAX_OFFSET = 0.124
    self._PITCH_MIN_OFFSET = -0.0881
    self._YAW_MAX_OFFSET = 0.289
    self._YAW_MIN_OFFSET = -0.0246

-    self._POSESTD_THRESHOLD = 0.3
+    self._POSESTD_THRESHOLD = 0.315
    self._HI_STD_FALLBACK_TIME = int(10  / self._DT_DMON)  # fall back to wheel touch if model is uncertain for 10s
    self._DISTRACTED_FILTER_TS = 0.25  # 0.6Hz

@ -57,9 +59,6 @@ class DRIVER_MONITOR_SETTINGS():
    self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON)  # valid data counts before calibration completes, 1min cumulative
    self._POSE_OFFSET_MAX_COUNT = int(360 / self._DT_DMON)  # stop deweighting new data after 6 min, aka "short term memory"

-    self._WHEELPOS_THRESHOLD = 0.5
-    self._WHEELPOS_FILTER_MIN_COUNT = int(5 / self._DT_DMON)
-
    self._RECOVERY_FACTOR_MAX = 5.  # relative to minus step change
    self._RECOVERY_FACTOR_MIN = 1.25  # relative to minus step change

@ -67,9 +66,9 @@ class DRIVER_MONITOR_SETTINGS():
    self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON)  # not allowed to engage after 30s of terminal alerts


-# model output refers to center of undistorted+leveled image
-EFL = 598.0 # focal length in K
-W, H = tici_d_frame_size # corrected image has same size as raw
+# model output refers to center of cropped image, so need to apply the x displacement offset
+RESIZED_FOCAL = 320.0
+H, W, FULL_W = 320, 160, 426

 class DistractedType:
  NOT_DISTRACTED = 0
@ -77,22 +76,22 @@ class DistractedType:
  DISTRACTED_BLINK = 2
  DISTRACTED_E2E = 4

-def face_orientation_from_net(angles_desc, pos_desc, rpy_calib):
+def face_orientation_from_net(angles_desc, pos_desc, rpy_calib, is_rhd):
  # the output of these angles are in device frame
  # so from driver's perspective, pitch is up and yaw is right

  pitch_net, yaw_net, roll_net = angles_desc

-  face_pixel_position = ((pos_desc[0]+0.5)*W, (pos_desc[1]+0.5)*H)
-  yaw_focal_angle = atan2(face_pixel_position[0] - W//2, EFL)
-  pitch_focal_angle = atan2(face_pixel_position[1] - H//2, EFL)
+  face_pixel_position = ((pos_desc[0] + .5)*W - W + FULL_W, (pos_desc[1]+.5)*H)
+  yaw_focal_angle = atan2(face_pixel_position[0] - FULL_W//2, RESIZED_FOCAL)
+  pitch_focal_angle = atan2(face_pixel_position[1] - H//2, RESIZED_FOCAL)

  pitch = pitch_net + pitch_focal_angle
  yaw = -yaw_net + yaw_focal_angle

  # no calib for roll
  pitch -= rpy_calib[1]
-  yaw -= rpy_calib[2]
+  yaw -= rpy_calib[2] * (1 - 2 * int(is_rhd))  # lhd -> -=, rhd -> +=
  return roll_net, pitch, yaw

 class DriverPose():
@ -113,6 +112,7 @@ class DriverBlink():
  def __init__(self):
    self.left_blink = 0.
    self.right_blink = 0.
+    self.cfactor = 1.

 class DriverStatus():
  def __init__(self, rhd=False, settings=DRIVER_MONITOR_SETTINGS()):
@ -120,7 +120,7 @@ class DriverStatus():
    self.settings = settings

    # init driver status
-    # self.wheelpos_learner = RunningStatFilter()
+    self.is_rhd_region = rhd
    self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT)
    self.pose_calibrated = False
    self.blink = DriverBlink()
@ -137,8 +137,8 @@ class DriverStatus():
    self.distracted_types = []
    self.driver_distracted = False
    self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON)
-    self.wheel_on_right = rhd
    self.face_detected = False
+    self.face_partial = False
    self.terminal_alert_cnt = 0
    self.terminal_time = 0
    self.step_change = 0.
@ -197,7 +197,7 @@ class DriverStatus():
       yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw:
      distracted_types.append(DistractedType.DISTRACTED_POSE)

-    if (self.blink.left_blink + self.blink.right_blink)*0.5 > self.settings._BLINK_THRESHOLD:
+    if (self.blink.left_blink + self.blink.right_blink)*0.5 > self.settings._BLINK_THRESHOLD*self.blink.cfactor:
      distracted_types.append(DistractedType.DISTRACTED_BLINK)

    if self.ee1_calibrated:
@ -214,7 +214,13 @@ class DriverStatus():
    return distracted_types

  def set_policy(self, model_data, car_speed):
+    ep = min(model_data.meta.engagedProb, 0.8) / 0.8 # engaged prob
    bp = model_data.meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
+    # TODO: retune adaptive blink
+    self.blink.cfactor = interp(ep, [0, 0.5, 1],
+                                           [self.settings._BLINK_THRESHOLD_STRICT,
+                                            self.settings._BLINK_THRESHOLD,
+                                            self.settings._BLINK_THRESHOLD_SLACK]) / self.settings._BLINK_THRESHOLD
    k1 = max(-0.00156*((car_speed-16)**2)+0.6, 0.2)
    bp_normal = max(min(bp / k1, 0.5),0)
    self.pose.cfactor_pitch = interp(bp_normal, [0, 0.5],
@ -225,36 +231,28 @@ class DriverStatus():
                                            self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD

  def update_states(self, driver_state, cal_rpy, car_speed, op_engaged):
-    # rhd_pred = driver_state.wheelOnRightProb
-    # if car_speed > 0.01:
-    #   self.wheelpos_learner.push_and_update(rhd_pred)
-    # if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT:
-    #   self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
-    # else:
-    #   self.wheel_on_right = rhd_pred > self.settings._WHEELPOS_THRESHOLD
-    driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData
-    if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition,
-                                    driver_data.faceOrientationStd, driver_data.facePositionStd,
-                                    driver_data.readyProb, driver_data.notReadyProb)):
+    if not all(len(x) > 0 for x in (driver_state.faceOrientation, driver_state.facePosition,
+                                    driver_state.faceOrientationStd, driver_state.facePositionStd,
+                                    driver_state.readyProb, driver_state.notReadyProb)):
      return

-    self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD
-    self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_data.faceOrientation, driver_data.facePosition, cal_rpy)
-    if self.wheel_on_right:
-      self.pose.yaw *= -1
-    self.pose.pitch_std = driver_data.faceOrientationStd[0]
-    self.pose.yaw_std = driver_data.faceOrientationStd[1]
+    self.face_partial = driver_state.partialFace > self.settings._PARTIAL_FACE_THRESHOLD
+    self.face_detected = driver_state.faceProb > self.settings._FACE_THRESHOLD or self.face_partial
+    self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_state.faceOrientation, driver_state.facePosition, cal_rpy, self.is_rhd_region)
+    self.pose.pitch_std = driver_state.faceOrientationStd[0]
+    self.pose.yaw_std = driver_state.faceOrientationStd[1]
+    # self.pose.roll_std = driver_state.faceOrientationStd[2]
    model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
-    self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
-    self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
-    self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
-    self.eev1 = driver_data.notReadyProb[1]
-    self.eev2 = driver_data.readyProb[0]
+    self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD and not self.face_partial
+    self.blink.left_blink = driver_state.leftBlinkProb * (driver_state.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_state.sunglassesProb < self.settings._SG_THRESHOLD)
+    self.blink.right_blink = driver_state.rightBlinkProb * (driver_state.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_state.sunglassesProb < self.settings._SG_THRESHOLD)
+    self.eev1 = driver_state.notReadyProb[1]
+    self.eev2 = driver_state.readyProb[0]

    self.distracted_types = self._get_distracted_types()
    self.driver_distracted = (DistractedType.DISTRACTED_POSE in self.distracted_types or
                                            DistractedType.DISTRACTED_BLINK in self.distracted_types) and \
-                                          driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
+                                          driver_state.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
    self.driver_distraction_filter.update(self.driver_distracted)

    # update offseter
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@ -17,19 +17,19 @@ INVISIBLE_SECONDS_TO_ORANGE = dm_settings._AWARENESS_TIME - dm_settings._AWARENE
 INVISIBLE_SECONDS_TO_RED = dm_settings._AWARENESS_TIME + 1

 def make_msg(face_detected, distracted=False, model_uncertain=False):
-  ds = log.DriverStateV2.new_message()
-  ds.leftDriverData.faceOrientation = [0., 0., 0.]
-  ds.leftDriverData.facePosition = [0., 0.]
-  ds.leftDriverData.faceProb = 1. * face_detected
-  ds.leftDriverData.leftEyeProb = 1.
-  ds.leftDriverData.rightEyeProb = 1.
-  ds.leftDriverData.leftBlinkProb = 1. * distracted
-  ds.leftDriverData.rightBlinkProb = 1. * distracted
-  ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
-  ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
+  ds = log.DriverState.new_message()
+  ds.faceOrientation = [0., 0., 0.]
+  ds.facePosition = [0., 0.]
+  ds.faceProb = 1. * face_detected
+  ds.leftEyeProb = 1.
+  ds.rightEyeProb = 1.
+  ds.leftBlinkProb = 1. * distracted
+  ds.rightBlinkProb = 1. * distracted
+  ds.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
+  ds.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
  # TODO: test both separately when e2e is used
-  ds.leftDriverData.readyProb = [0., 0., 0., 0.]
-  ds.leftDriverData.notReadyProb = [0., 0.]
+  ds.readyProb = [0., 0., 0., 0.]
+  ds.notReadyProb = [0., 0.]
  return ds


--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@ -52,7 +52,7 @@ def model_replay(lr, frs):
  vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *(tici_f_frame_size))
  vipc_server.start_listener()

-  sm = messaging.SubMaster(['modelV2', 'driverStateV2'])
+  sm = messaging.SubMaster(['modelV2', 'driverState'])
  pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'driverCameraState', 'liveCalibration', 'lateralPlan'])

  try:
@ -112,7 +112,7 @@ def model_replay(lr, frs):
            if min(frame_idxs['roadCameraState'], frame_idxs['wideRoadCameraState']) > recv_cnt['modelV2']:
              recv = "modelV2"
          elif msg.which() == 'driverCameraState':
-            recv = "driverStateV2"
+            recv = "driverState"

          # wait for a response
          with Timeout(15, f"timed out waiting for {recv}"):
@ -170,8 +170,8 @@ if __name__ == "__main__":
        'logMonoTime',
        'modelV2.frameDropPerc',
        'modelV2.modelExecutionTime',
-        'driverStateV2.modelExecutionTime',
-        'driverStateV2.dspExecutionTime'
+        'driverState.modelExecutionTime',
+        'driverState.dspExecutionTime'
      ]
      # TODO this tolerence is absurdly large
      tolerance = 5e-1 if PC else None
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@ -1 +1 @@
-1d0979ca59dbc89bc5890656e9501e83f0556d50
+f74ab97371be93fdc28333e5ea12bbb78c3a32d0
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@ -293,7 +293,7 @@ CONFIGS = [
  ProcessConfig(
    proc_name="dmonitoringd",
    pub_sub={
-      "driverStateV2": ["driverMonitoringState"],
+      "driverState": ["driverMonitoringState"],
      "liveCalibration": [], "carState": [], "modelV2": [], "controlsState": [],
    },
    ignore=["logMonoTime", "valid"],
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-f301bdf52b271c8c4ef0f2bce3be9c8f90037652
+935abbc21282e10572c9324382feba3fee2fe379
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@ -33,7 +33,7 @@ PROCS = {
  "selfdrive.controls.radard": 4.5,
  "./_modeld": 4.48,
  "./boardd": 3.63,
-  "./_dmonitoringmodeld": 5.0,
+  "./_dmonitoringmodeld": 10.0,
  "selfdrive.thermald.thermald": 3.87,
  "selfdrive.locationd.calibrationd": 2.0,
  "./_soundd": 1.0,
@ -60,7 +60,7 @@ TIMINGS = {
  "roadCameraState": [2.5, 0.35],
  "driverCameraState": [2.5, 0.35],
  "modelV2": [2.5, 0.35],
-  "driverStateV2": [2.5, 0.40],
+  "driverState": [2.5, 0.40],
  "liveLocationKalman": [2.5, 0.35],
  "wideRoadCameraState": [1.5, 0.35],
 }
@ -221,7 +221,7 @@ class TestOnroad(unittest.TestCase):
    # TODO: this went up when plannerd cpu usage increased, why?
    cfgs = [
      ("modelV2", 0.050, 0.036),
-      ("driverStateV2", 0.050, 0.026),
+      ("driverState", 0.050, 0.026),
    ]
    for (s, instant_max, avg_max) in cfgs:
      ts = [getattr(getattr(m, s), "modelExecutionTime") for m in self.lr if m.which() == s]
--- a/selfdrive/ui/qt/offroad/driverview.cc
+++ b/selfdrive/ui/qt/offroad/driverview.cc
@ -25,7 +25,7 @@ void DriverViewWindow::mouseReleaseEvent(QMouseEvent* e) {
  emit done();
 }

-DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverStateV2"}), QWidget(parent) {
+DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverState"}), QWidget(parent) {
  face_img = loadPixmap("../assets/img_driver_face.png", {FACE_IMG_SIZE, FACE_IMG_SIZE});
 }

@ -57,36 +57,43 @@ void DriverViewScene::paintEvent(QPaintEvent* event) {
    return;
  }

-  cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2();
-  cereal::DriverStateV2::DriverData::Reader driver_data;
+  const int width = 4 * height() / 3;
+  const QRect rect2 = {rect().center().x() - width / 2, rect().top(), width, rect().height()};
+  const QRect valid_rect = {is_rhd ? rect2.right() - rect2.height() / 2 : rect2.left(), rect2.top(), rect2.height() / 2, rect2.height()};

-  // is_rhd = driver_state.getWheelOnRightProb() > 0.5;
-  driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData();
+  // blackout
+  const QColor bg(0, 0, 0, 140);
+  const QRect& blackout_rect = rect();
+  p.fillRect(blackout_rect.adjusted(0, 0, valid_rect.left() - blackout_rect.right(), 0), bg);
+  p.fillRect(blackout_rect.adjusted(valid_rect.right() - blackout_rect.left(), 0, 0, 0), bg);
+  p.fillRect(blackout_rect.adjusted(valid_rect.left()-blackout_rect.left()+1, 0, valid_rect.right()-blackout_rect.right()-1, -valid_rect.height()*7/10), bg); // top dz

-  bool face_detected = driver_data.getFaceProb() > 0.5;
+  // face bounding box
+  cereal::DriverState::Reader driver_state = sm["driverState"].getDriverState();
+  bool face_detected = driver_state.getFaceProb() > 0.5;
  if (face_detected) {
-    auto fxy_list = driver_data.getFacePosition();
-    auto std_list = driver_data.getFaceOrientationStd();
+    auto fxy_list = driver_state.getFacePosition();
+    auto std_list = driver_state.getFaceOrientationStd();
    float face_x = fxy_list[0];
    float face_y = fxy_list[1];
    float face_std = std::max(std_list[0], std_list[1]);

    float alpha = 0.7;
-    if (face_std > 0.15) {
-      alpha = std::max(0.7 - (face_std-0.15)*3.5, 0.0);
+    if (face_std > 0.08) {
+      alpha = std::max(0.7 - (face_std-0.08)*7, 0.0);
    }
-    const int box_size = 220;
-    // use approx instead of distort_points
-    int fbox_x = 1080.0 - 1714.0 * face_x;
-    int fbox_y = -135.0 + (504.0 + std::abs(face_x)*112.0) + (1205.0 - std::abs(face_x)*724.0) * face_y;
+    const int box_size = 0.6 * rect2.height() / 2;
+    const float rhd_offset = 0.05; // lhd is shifted, so rhd is not mirrored
+    int fbox_x = valid_rect.center().x() + (is_rhd ? (face_x + rhd_offset) : -face_x) * valid_rect.width();
+    int fbox_y = valid_rect.center().y() + face_y * valid_rect.height();
    p.setPen(QPen(QColor(255, 255, 255, alpha * 255), 10));
    p.drawRoundedRect(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size, 35.0, 35.0);
  }

  // icon
-  const int img_offset = 60;
-  const int img_x = rect().left() + img_offset;
-  const int img_y = rect().bottom() - FACE_IMG_SIZE - img_offset;
-  p.setOpacity(face_detected ? 1.0 : 0.2);
+  const int img_offset = 30;
+  const int img_x = is_rhd ? rect2.right() - FACE_IMG_SIZE - img_offset : rect2.left() + img_offset;
+  const int img_y = rect2.bottom() - FACE_IMG_SIZE - img_offset;
+  p.setOpacity(face_detected ? 1.0 : 0.3);
  p.drawPixmap(img_x, img_y, face_img);
 }
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@ -54,15 +54,16 @@ const mat4 device_transform = {{
 }};

 mat4 get_driver_view_transform(int screen_width, int screen_height, int stream_width, int stream_height) {
-  const float driver_view_ratio = 2.0;
-  const float yscale = stream_height * driver_view_ratio / stream_width;
+  const float driver_view_ratio = 1.333;
+  const float yscale = stream_height * driver_view_ratio / tici_dm_crop::width;
  const float xscale = yscale*screen_height/screen_width*stream_width/stream_height;
  mat4 transform = (mat4){{
-    xscale,  0.0, 0.0, 0.0,
-    0.0,  yscale, 0.0, 0.0,
+    xscale,  0.0, 0.0, xscale*tici_dm_crop::x_offset/stream_width*2,
+    0.0,  yscale, 0.0, yscale*tici_dm_crop::y_offset/stream_height*2,
    0.0,  0.0, 1.0, 0.0,
    0.0,  0.0, 0.0, 1.0,
  }};
+
  return transform;
 }