diff --git a/common/logging_extra.py b/common/logging_extra.py
index 899ad7a391..e2637d2e05 100644
--- a/common/logging_extra.py
+++ b/common/logging_extra.py
@@ -65,7 +65,7 @@ class SwagFormatter(logging.Formatter):
 
     return record_dict
 
-  def format(self, record):
+  def format(self, record): # noqa: A003
     if self.swaglogger is None:
       raise Exception("must set swaglogger before calling format()")
     return json_robust_dumps(self.format_dict(record))
@@ -95,7 +95,7 @@ class SwagLogFileFormatter(SwagFormatter):
       k += "$a"
     return k, v
 
-  def format(self, record):
+  def format(self, record): # noqa: A003
     if isinstance(record, str):
       v = json.loads(record)
     else:
diff --git a/docs/conf.py b/docs/conf.py
index fea921de1f..345d27f6ad 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -29,7 +29,7 @@ VERSION = get_version()
 # -- Project information -----------------------------------------------------
 
 project = 'openpilot docs'
-copyright = '2021, comma.ai'
+copyright = '2021, comma.ai' # noqa: A001
 author = 'comma.ai'
 version = VERSION
 release = VERSION
diff --git a/pyproject.toml b/pyproject.toml
index a07adde85f..74084cbc93 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -197,7 +197,7 @@ build-backend = "poetry.core.masonry.api"
 
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
-select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100"]
+select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A"]
 ignore = ["W292", "E741", "E402", "C408", "ISC003"]
 line-length = 160
 target-version="py311"
diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index 780d2ab900..6ef32f8a5b 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -85,7 +85,7 @@ class UploadItem:
   url: str
   headers: Dict[str, str]
   created_at: int
-  id: Optional[str]
+  id: Optional[str] # noqa: A003 (to match the response from the remote server)
   retry_count: int = 0
   current: bool = False
   progress: float = 0
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 3a6aa5e2db..2220205e8f 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -50,7 +50,7 @@ class BasePart:
 
 class EnumBase(Enum):
   @property
-  def type(self):
+  def part_type(self):
     return PartType(self.__class__)
 
 
diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py
index 80f38056cd..6e4a58149c 100755
--- a/selfdrive/car/tests/test_docs.py
+++ b/selfdrive/car/tests/test_docs.py
@@ -84,7 +84,7 @@ class TestCarDocs(unittest.TestCase):
         if car.name == "comma body":
           raise unittest.SkipTest
 
-        car_part_type = [p.type for p in car.car_parts.all_parts()]
+        car_part_type = [p.part_type for p in car.car_parts.all_parts()]
         car_parts = list(car.car_parts.all_parts())
         self.assertTrue(len(car_parts) > 0, f"Need to specify car parts: {car.name}")
         self.assertTrue(car_part_type.count(PartType.connector) == 1, f"Need to specify one harness connector: {car.name}")
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 79ec310d58..8084b18ff6 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -351,7 +351,7 @@ class Controls:
 
     # generic catch-all. ideally, a more specific event should be added above instead
     can_rcv_timeout = self.can_rcv_timeout_counter >= 5
-    has_disable_events = self.events.any(ET.NO_ENTRY) and (self.events.any(ET.SOFT_DISABLE) or self.events.any(ET.IMMEDIATE_DISABLE))
+    has_disable_events = self.events.contains(ET.NO_ENTRY) and (self.events.contains(ET.SOFT_DISABLE) or self.events.contains(ET.IMMEDIATE_DISABLE))
     no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
     if (not self.sm.all_checks() or can_rcv_timeout) and no_system_errors:
       if not self.sm.all_alive():
@@ -487,29 +487,29 @@ class Controls:
     # ENABLED, SOFT DISABLING, PRE ENABLING, OVERRIDING
     if self.state != State.disabled:
       # user and immediate disable always have priority in a non-disabled state
-      if self.events.any(ET.USER_DISABLE):
+      if self.events.contains(ET.USER_DISABLE):
         self.state = State.disabled
         self.current_alert_types.append(ET.USER_DISABLE)
 
-      elif self.events.any(ET.IMMEDIATE_DISABLE):
+      elif self.events.contains(ET.IMMEDIATE_DISABLE):
         self.state = State.disabled
         self.current_alert_types.append(ET.IMMEDIATE_DISABLE)
 
       else:
         # ENABLED
         if self.state == State.enabled:
-          if self.events.any(ET.SOFT_DISABLE):
+          if self.events.contains(ET.SOFT_DISABLE):
             self.state = State.softDisabling
             self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
             self.current_alert_types.append(ET.SOFT_DISABLE)
 
-          elif self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL):
+          elif self.events.contains(ET.OVERRIDE_LATERAL) or self.events.contains(ET.OVERRIDE_LONGITUDINAL):
             self.state = State.overriding
             self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL]
 
         # SOFT DISABLING
         elif self.state == State.softDisabling:
-          if not self.events.any(ET.SOFT_DISABLE):
+          if not self.events.contains(ET.SOFT_DISABLE):
             # no more soft disabling condition, so go back to ENABLED
             self.state = State.enabled
 
@@ -521,32 +521,32 @@ class Controls:
 
         # PRE ENABLING
         elif self.state == State.preEnabled:
-          if not self.events.any(ET.PRE_ENABLE):
+          if not self.events.contains(ET.PRE_ENABLE):
             self.state = State.enabled
           else:
             self.current_alert_types.append(ET.PRE_ENABLE)
 
         # OVERRIDING
         elif self.state == State.overriding:
-          if self.events.any(ET.SOFT_DISABLE):
+          if self.events.contains(ET.SOFT_DISABLE):
             self.state = State.softDisabling
             self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
             self.current_alert_types.append(ET.SOFT_DISABLE)
-          elif not (self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL)):
+          elif not (self.events.contains(ET.OVERRIDE_LATERAL) or self.events.contains(ET.OVERRIDE_LONGITUDINAL)):
             self.state = State.enabled
           else:
             self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL]
 
     # DISABLED
     elif self.state == State.disabled:
-      if self.events.any(ET.ENABLE):
-        if self.events.any(ET.NO_ENTRY):
+      if self.events.contains(ET.ENABLE):
+        if self.events.contains(ET.NO_ENTRY):
           self.current_alert_types.append(ET.NO_ENTRY)
 
         else:
-          if self.events.any(ET.PRE_ENABLE):
+          if self.events.contains(ET.PRE_ENABLE):
             self.state = State.preEnabled
-          elif self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL):
+          elif self.events.contains(ET.OVERRIDE_LATERAL) or self.events.contains(ET.OVERRIDE_LONGITUDINAL):
             self.state = State.overriding
           else:
             self.state = State.enabled
@@ -585,7 +585,7 @@ class Controls:
     standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
     CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
                    (not standstill or self.joystick_mode)
-    CC.longActive = self.enabled and not self.events.any(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
+    CC.longActive = self.enabled and not self.events.contains(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
 
     actuators = CC.actuators
     actuators.longControlState = self.LoC.long_control_state
@@ -783,7 +783,7 @@ class Controls:
     controlsState.desiredCurvature = self.desired_curvature
     controlsState.desiredCurvatureRate = self.desired_curvature_rate
     controlsState.state = self.state
-    controlsState.engageable = not self.events.any(ET.NO_ENTRY)
+    controlsState.engageable = not self.events.contains(ET.NO_ENTRY)
     controlsState.longControlState = self.LoC.long_control_state
     controlsState.vPid = float(self.LoC.v_pid)
     controlsState.vCruise = float(self.v_cruise_helper.v_cruise_kph)
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index f6c9c17a3b..e552e18966 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -67,7 +67,7 @@ class Events:
     self.events_prev = {k: (v + 1 if k in self.events else 0) for k, v in self.events_prev.items()}
     self.events = self.static_events.copy()
 
-  def any(self, event_type: str) -> bool:
+  def contains(self, event_type: str) -> bool:
     return any(event_type in EVENTS.get(e, {}) for e in self.events)
 
   def create_alerts(self, event_types: List[str], callback_args=None):
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 83690dbb0d..96d625c2cb 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -54,14 +54,14 @@ class ReplayContext:
     assert(len(self.pubs) != 0 or self.main_pub is not None)
 
   def __enter__(self):
-    self.open()
+    self.open_context()
 
     return self
 
   def __exit__(self, exc_type, exc_obj, exc_tb):
-    self.close()
+    self.close_context()
 
-  def open(self):
+  def open_context(self):
     messaging.toggle_fake_events(True)
     messaging.set_fake_prefix(self.proc_name)
 
@@ -73,7 +73,7 @@ class ReplayContext:
     else:
       self.events = {self.main_pub: messaging.fake_event_handle(self.main_pub, enable=True)}
 
-  def close(self):
+  def close_context(self):
     del self.events
 
     messaging.toggle_fake_events(False)
@@ -211,7 +211,7 @@ class ProcessContainer:
         self.cfg.config_callback(params, self.cfg, all_msgs)
 
       self.rc = ReplayContext(self.cfg)
-      self.rc.open()
+      self.rc.open_context()
 
       self.pm = messaging.PubMaster(self.cfg.pubs)
       self.sockets = [messaging.sub_sock(s, timeout=100) for s in self.cfg.subs]
@@ -237,7 +237,7 @@ class ProcessContainer:
     with self.prefix:
       self.process.signal(signal.SIGKILL)
       self.process.stop()
-      self.rc.close()
+      self.rc.close_context()
       self.prefix.clean_dirs()
 
   def run_step(self, msg: capnp._DynamicStructReader, frs: Optional[Dict[str, Any]]) -> List[capnp._DynamicStructReader]:
diff --git a/system/ubloxd/tests/ublox.py b/system/ubloxd/tests/ublox.py
index 241310cf00..ddfea174b7 100644
--- a/system/ubloxd/tests/ublox.py
+++ b/system/ubloxd/tests/ublox.py
@@ -324,7 +324,7 @@ class UBloxDescriptor:
       msg._buf += struct.pack(self.format2, *tuple(f2))
     msg._buf += struct.pack('<BB', *msg.checksum(data=msg._buf[2:]))
 
-  def format(self, msg):
+  def format_json(self, msg):
     '''return a formatted string for a message'''
     if not msg._unpacked:
       self.unpack(msg)
@@ -555,19 +555,19 @@ class UBloxMessage:
     '''format a message as a string'''
     if not self.valid():
       return 'UBloxMessage(INVALID)'
-    type = self.msg_type()
-    if type in msg_types:
-      return msg_types[type].format(self)
-    return 'UBloxMessage(UNKNOWN %s, %u)' % (str(type), self.msg_length())
+    msg_type = self.msg_type()
+    if msg_type in msg_types:
+      return msg_types[msg_type].format(self)
+    return 'UBloxMessage(UNKNOWN %s, %u)' % (str(msg_type), self.msg_length())
 
   def as_dict(self):
     '''format a message as a string'''
     if not self.valid():
       return 'UBloxMessage(INVALID)'
-    type = self.msg_type()
-    if type in msg_types:
-      return msg_types[type].format(self)
-    return 'UBloxMessage(UNKNOWN %s, %u)' % (str(type), self.msg_length())
+    msg_type = self.msg_type()
+    if msg_type in msg_types:
+      return msg_types[msg_type].format(self)
+    return 'UBloxMessage(UNKNOWN %s, %u)' % (str(msg_type), self.msg_length())
 
   def __getattr__(self, name):
     '''allow access to message fields'''
@@ -598,29 +598,29 @@ class UBloxMessage:
     '''unpack a message'''
     if not self.valid():
       raise UBloxError('INVALID MESSAGE')
-    type = self.msg_type()
-    if type not in msg_types:
-      raise UBloxError('Unknown message %s length=%u' % (str(type), len(self._buf)))
-    msg_types[type].unpack(self)
+    msg_type = self.msg_type()
+    if msg_type not in msg_types:
+      raise UBloxError('Unknown message %s length=%u' % (str(msg_type), len(self._buf)))
+    msg_types[msg_type].unpack(self)
     return self._fields, self._recs
 
   def pack(self):
     '''pack a message'''
     if not self.valid():
       raise UBloxError('INVALID MESSAGE')
-    type = self.msg_type()
-    if type not in msg_types:
-      raise UBloxError('Unknown message %s' % str(type))
-    msg_types[type].pack(self)
+    msg_type = self.msg_type()
+    if msg_type not in msg_types:
+      raise UBloxError('Unknown message %s' % str(msg_type))
+    msg_types[msg_type].pack(self)
 
   def name(self):
     '''return the short string name for a message'''
     if not self.valid():
       raise UBloxError('INVALID MESSAGE')
-    type = self.msg_type()
-    if type not in msg_types:
-      raise UBloxError('Unknown message %s length=%u' % (str(type), len(self._buf)))
-    return msg_types[type].name
+    msg_type = self.msg_type()
+    if msg_type not in msg_types:
+      raise UBloxError('Unknown message %s length=%u' % (str(msg_types), len(self._buf)))
+    return msg_types[msg_type].name
 
   def msg_class(self):
     '''return the message class'''
@@ -655,9 +655,9 @@ class UBloxMessage:
       return False
     return True
 
-  def add(self, bytes):
+  def add(self, data):
     '''add some bytes to a message'''
-    self._buf += bytes
+    self._buf += data
     while not self.valid_so_far() and len(self._buf) > 0:
       '''handle corrupted streams'''
       self._buf = self._buf[1:]
@@ -933,7 +933,7 @@ class UBlox:
                           0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
     self.send_message(CLASS_CFG, MSG_CFG_NAVX5, payload)
 
-  def module_reset(self, set, mode):
+  def module_reset(self, reset, mode):
     ''' Reset the module for hot/warm/cold start'''
-    payload = struct.pack('<HBB', set, mode, 0)
+    payload = struct.pack('<HBB', reset, mode, 0)
     self.send_message(CLASS_CFG, MSG_CFG_RST, payload)
diff --git a/tools/lib/auth.py b/tools/lib/auth.py
index 086027968f..a1bcdb1c58 100755
--- a/tools/lib/auth.py
+++ b/tools/lib/auth.py
@@ -54,7 +54,7 @@ class ClientRedirectHandler(BaseHTTPRequestHandler):
     self.end_headers()
     self.wfile.write(b'Return to the CLI to continue')
 
-  def log_message(self, format, *args):  # pylint: disable=redefined-builtin
+  def log_message(self, *args):  # pylint: disable=redefined-builtin
     pass  # this prevent http server from dumping messages to stdout