Merge remote-tracking branch 'upstream/master' into globally-fix-buttons-transitioning-without-going-unpressed

2 years ago · 85dea93e8a
parent efb340795b ddae8ffc09
commit 85dea93e8a
179 changed files with 3225 additions and 1554 deletions
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@ -7,7 +7,7 @@ on:
  pull_request:

 concurrency:
-  group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }}
+  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true

 env:
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@ -7,7 +7,7 @@ on:
  pull_request:

 concurrency:
-  group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }}
+  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true

 env:
--- a/.gitignore
+++ b/.gitignore
@ -52,6 +52,7 @@ selfdrive/sensord/_sensord
 system/camerad/camerad
 system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
+selfdrive/modeld/_navmodeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/

--- a/Dockerfile.openpilot_base_cl
+++ b/Dockerfile.openpilot_base_cl
@ -17,7 +17,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends\

 # Intel OpenCL driver
 ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz
-ARG INTEL_DRIVER_URL=http://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532
+ARG INTEL_DRIVER_URL=https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532
 RUN mkdir -p /tmp/opencl-driver-intel
 WORKDIR /tmp/opencl-driver-intel
 RUN echo INTEL_DRIVER is $INTEL_DRIVER && \
--- a/31
+++ b/31
@ -59,7 +59,7 @@ pipeline {
        branch 'devel-staging'
      }
      steps {
-        phone_steps("tici", [
+        phone_steps("tici-needs-can", [
          ["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
        ])
      }
@ -111,28 +111,36 @@ pipeline {
            R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
          }
          steps {
-            phone_steps("tici", [
+            phone_steps("tici-needs-can", [
              ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"],
              ["build openpilot", "cd selfdrive/manager && ./build.py"],
              ["check dirty", "release/check-dirty.sh"],
-              ["test manager", "python selfdrive/manager/test/test_manager.py"],
              ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
              ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
            ])
          }
        }

+        stage('loopback-tests') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tici-loopback", [
+              ["build openpilot", "cd selfdrive/manager && ./build.py"],
+              ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
+            ])
+          }
+        }
+
        stage('HW + Unit Tests') {
          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
          steps {
-            phone_steps("tici2", [
+            phone_steps("tici-common", [
              ["build", "cd selfdrive/manager && ./build.py"],
              ["test power draw", "python system/hardware/tici/test_power_draw.py"],
-              ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
              ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
-              ["test sensord", "python selfdrive/sensord/tests/test_sensord.py"],
              ["test pigeond", "python selfdrive/sensord/tests/test_pigeond.py"],
+              ["test manager", "python selfdrive/manager/test/test_manager.py"],
            ])
          }
        }
@ -159,27 +167,32 @@ pipeline {
          }
        }

-        stage('sensord (LSM-C)') {
+        stage('sensord') {
          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
          steps {
            phone_steps("tici-lsmc", [
              ["build", "cd selfdrive/manager && ./build.py"],
              ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"],
            ])
+            phone_steps("tici-bmx-lsm", [
+              ["build", "cd selfdrive/manager && ./build.py"],
+              ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"],
+            ])
          }
        }

        stage('replay') {
          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
          steps {
-            phone_steps("tici3", [
+            phone_steps("tici-common", [
              ["build", "cd selfdrive/manager && ./build.py"],
              ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
            ])
          }
        }
-      }

+      }
    }
+
  }
 }
--- a/RELEASES.md
+++ b/RELEASES.md
@ -1,35 +1,43 @@
-Version 0.8.17 (2022-11-21)
+Version 0.9.1 (2022-12-XX)
+========================
+* Adjust alert volume using ambient noise level
+* Removed driver monitoring timer resetting on interaction if face detected and distracted
+* Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
+* Hyundai Tucson 2022-23 support
+* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+
+Version 0.9.0 (2022-11-21)
 ========================
 * New driving model
-  * Internal feature space information content increased tenfold during training (to ~700 bits), which makes the model dramatically more accurate
+  * Internal feature space information content increased tenfold during training to ~700 bits, which makes the model dramatically more accurate
  * Less reliance on previous frames makes model more reactive and snappy
  * Trained in new reprojective simulator
-  * Trained in 36hrs from scratch, compared to one week for previous releases
+  * Trained in 36 hours from scratch, compared to one week for previous releases
  * Training now simulates both lateral and longitudinal behavior, which allows openpilot to slow down for turns, stop at traffic lights, and more in experimental mode
-* Driver monitoring updates
-  * New bigger model with added end-to-end distracted trigger
-  * Reduced false positives during driver calibration
 * Experimental driving mode
  * End-to-end longitudinal control
  * Stops for traffic lights and stop signs
  * Slows down for turns
-  * openpilot defaults to chill mode, enable experimental in settings
+  * openpilot defaults to chill mode, enable experimental mode in settings
+* Driver monitoring updates
+  * New bigger model with added end-to-end distracted trigger
+  * Reduced false positives during driver calibration
 * Self-tuning torque controller: learns parameters live for each car
 * Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models
 * UI updates
-  * Multi-language in navigation
  * Matched speeds shown on car's dash
+  * Multi-language in navigation
  * Improved update experience
  * Border turns grey while overriding steering
  * Bookmark events while driving; view them in comma connect
  * New onroad visualization for experimental mode
-* AGNOS 6
 * tools: new and improved cabana thanks to deanlee!
 * Experimental longitudinal support for Volkswagen, CAN-FD Hyundai, and new GM models
 * Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin!
 * Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin!
 * Kia Sportage 2023 support thanks to sunnyhaibin!
 * Kia Sportage Hybrid 2023 support thanks to sunnyhaibin!
+* Kia Stinger 2022 support thanks to sunnyhaibin!

 Version 0.8.16 (2022-08-26)
 ========================
--- a/18
+++ b/18
@ -298,12 +298,15 @@ if arch == "Darwin":
  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
  qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
 else:
-  qt_env['QTDIR'] = "/usr"
+  qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
+  qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
+
+  qt_env['QTDIR'] = qt_install_prefix
  qt_dirs = [
-    f"/usr/include/{real_arch}-linux-gnu/qt5",
-    f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
+    f"{qt_install_headers}",
+    f"{qt_install_headers}/QtGui/5.12.8/QtGui",
  ]
-  qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
+  qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]

  qt_libs = [f"Qt5{m}" for m in qt_modules]
  if arch == "larch64":
@ -406,10 +409,10 @@ if arch != "Darwin":

 # build submodules
 SConscript([
-  'cereal/SConscript',
  'body/board/SConscript',
-  'panda/board/SConscript',
+  'cereal/SConscript',
  'opendbc/can/SConscript',
+  'panda/SConscript',
 ])

 SConscript(['third_party/SConscript'])
@ -439,9 +442,6 @@ if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
  Export('opendbc')
  SConscript(['tools/cabana/SConscript'])

-if GetOption('test'):
-  SConscript('panda/tests/safety/SConscript')
-
 external_sconscript = GetOption('external_sconscript')
 if external_sconscript:
  SConscript([external_sconscript])
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 04aeb30ce0bb14759989cd374158233877e1e151
+Subproject commit dc780f858c1ef641471d09b72569e199e3e10acb
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit afafa0a2a537d775842ab2e1bf20cb9a33b34f9a
+Subproject commit 7765176413c0bb14143fe2469d5390ea0ea61a1e
--- a/common/params.cc
+++ b/common/params.cc
@ -103,6 +103,7 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
    {"DisablePowerDown", PERSISTENT},
    {"ExperimentalMode", PERSISTENT},
+    {"ExperimentalModeConfirmed", PERSISTENT},
    {"ExperimentalLongitudinalEnabled", PERSISTENT}, // WARNING: THIS MAY DISABLE AEB
    {"DisableUpdates", PERSISTENT},
    {"DisengageOnAccelerator", PERSISTENT},
--- a/common/version.h
+++ b/common/version.h
@ -1 +1 @@
-#define COMMA_VERSION "0.8.17"
+#define COMMA_VERSION "0.9.1"
--- a/docs/CARS.md
+++ b/docs/CARS.md
@ -4,7 +4,7 @@

 A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.

-# 214 Supported Cars
+# 219 Supported Cars

 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
@ -19,6 +19,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
 |Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
+|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
 |Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
@ -60,8 +61,8 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J|
 |Hyundai|i30 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Hyundai|Ioniq 5 (with HDA II) 2022-23|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|
-|Hyundai|Ioniq 5 (without HDA II) 2022-23|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
+|Hyundai|Ioniq 5 (with HDA II) 2022-23|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|
+|Hyundai|Ioniq 5 (without HDA II) 2022-23|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
 |Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
@ -82,14 +83,16 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Hyundai|Sonata 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
 |Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
 |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
+|Hyundai|Tucson 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
+|Hyundai|Tucson 2023|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
 |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|Hyundai|Tucson Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
+|Hyundai|Tucson Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
 |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Kia|EV6 (with HDA II) 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|
-|Kia|EV6 (without HDA II) 2022|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
+|Kia|EV6 (with HDA II) 2022|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|
+|Kia|EV6 (without HDA II) 2022|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
 |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
 |Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
 |Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
@ -104,9 +107,11 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
 |Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
 |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
+|Kia|Sorento Plug-in Hybrid 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
 |Kia|Sportage 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
-|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
+|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
+|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
 |Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
 |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
 |Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
@ -136,7 +141,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
 |Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
 |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|Crosstrek 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
 |Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
 |Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
 |Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
@ -150,7 +155,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
 |Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
 |Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>9</sup>](#footnotes)|
-|Škoda|Superb 2015-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
 |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
@ -164,7 +169,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Toyota|Camry 2018-20|All|Stock|0 mph[<sup>5</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
 |Toyota|Camry 2021-22|All|openpilot|0 mph[<sup>5</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
 |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Camry Hybrid 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
+|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
 |Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
 |Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
 |Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
@ -224,8 +229,8 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|

 <a id="footnotes"></a>
-<sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `master-ci`. Using openpilot longitudinal may disable Automatic Emergency Braking (AEB). <br />
-<sup>2</sup>When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
+<sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.  <br />
+<sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>3</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
 <sup>5</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
--- a/docs/INTEGRATION.md
+++ b/docs/INTEGRATION.md
@ -8,4 +8,4 @@ Additionally, on specific supported cars (see ACC column in [supported cars](CAR
 * Stock ACC is replaced by openpilot ACC.
 * openpilot FCW operates in addition to stock FCW.

-openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
+openpilot should preserve all other vehicle's stock features, including, but not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 296f190000a2e71408e207ba21a2257cc853ec15
+Subproject commit 94fff4782be263efad10032a612b3c96a120c0b7
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 3ac7536c94c560756293e299c514c03ea20d83a4
+Subproject commit 4edd1a602131ec2f09a604a4bd28e7d00e334458
--- a/poetry.lock
+++ b/poetry.lock
@ -2439,6 +2439,20 @@ typing-extensions = ">=3.6.2.1"
 [package.extras]
 lint = ["clang-format (==13.0.0)", "flake8", "mypy (==0.782)", "types-protobuf (==3.18.4)"]

+[[package]]
+name = "onnx2torch"
+version = "1.5.4"
+description = "Nice Onnx to Pytorch converter"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+numpy = ">=1.16.4"
+onnx = ">=1.9.0"
+torch = ">=1.8.0"
+torchvision = ">=0.9.0"
+
 [[package]]
 name = "onnxoptimizer"
 version = "0.3.1"
@ -3696,6 +3710,20 @@ category = "dev"
 optional = false
 python-versions = "*"

+[[package]]
+name = "sounddevice"
+version = "0.4.5"
+description = "Play and Record Sound with Python"
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+CFFI = ">=1.0"
+
+[package.extras]
+numpy = ["NumPy"]
+
 [[package]]
 name = "soupsieve"
 version = "2.3.2.post1"
@ -4386,7 +4414,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
 [metadata]
 lock-version = "1.1"
 python-versions = "~3.8"
-content-hash = "d2854112975a9d83a9540175b2d430487e40e0292d48a1ba6c591db60a08c136"
+content-hash = "331a7b700c17c618a4f0fa7d0ec3e5b585c1dc467f6f03261c3778f729058f55"

 [metadata.files]
 adal = [
@ -6388,6 +6416,9 @@ onnx = [
    {file = "onnx-1.12.0-cp39-cp39-win_amd64.whl", hash = "sha256:af90427ca04c6b7b8107c2021e1273227a3ef1a7a01f3073039cae7855a59833"},
    {file = "onnx-1.12.0.tar.gz", hash = "sha256:13b3e77d27523b9dbf4f30dfc9c959455859d5e34e921c44f712d69b8369eff9"},
 ]
+onnx2torch = [
+    {file = "onnx2torch-1.5.4-py3-none-any.whl", hash = "sha256:fd1a0fe05072bfb9f3d86d9330299b130b41f11bd4ae634db17078974e711725"},
+]
 onnxoptimizer = [
    {file = "onnxoptimizer-0.3.1-cp37-cp37m-macosx_10_15_x86_64.whl", hash = "sha256:e73a5e2e3ca4db9bff54f7131768749c861677b97ee811a136fcf1a52783cf6e"},
    {file = "onnxoptimizer-0.3.1-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c8bf2bfe0dc43f0776867688e1759122dec049ff4f45f7221931b687fe7e139e"},
@ -6764,6 +6795,7 @@ pycryptodome = [
    {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux2010_i686.whl", hash = "sha256:7c9ed8aa31c146bef65d89a1b655f5f4eab5e1120f55fc297713c89c9e56ff0b"},
    {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux2010_x86_64.whl", hash = "sha256:5099c9ca345b2f252f0c28e96904643153bae9258647585e5e6f649bb7a1844a"},
    {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux2014_aarch64.whl", hash = "sha256:2ec709b0a58b539a4f9d33fb8508264c3678d7edb33a68b8906ba914f71e8c13"},
+    {file = "pycryptodome-3.15.0-cp27-cp27m-musllinux_1_1_aarch64.whl", hash = "sha256:2ae53125de5b0d2c95194d957db9bb2681da8c24d0fb0fe3b056de2bcaf5d837"},
    {file = "pycryptodome-3.15.0-cp27-cp27m-win32.whl", hash = "sha256:fd2184aae6ee2a944aaa49113e6f5787cdc5e4db1eb8edb1aea914bd75f33a0c"},
    {file = "pycryptodome-3.15.0-cp27-cp27m-win_amd64.whl", hash = "sha256:7e3a8f6ee405b3bd1c4da371b93c31f7027944b2bcce0697022801db93120d83"},
    {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux1_i686.whl", hash = "sha256:b9c5b1a1977491533dfd31e01550ee36ae0249d78aae7f632590db833a5012b8"},
@ -6771,12 +6803,14 @@ pycryptodome = [
    {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux2010_i686.whl", hash = "sha256:2aa55aae81f935a08d5a3c2042eb81741a43e044bd8a81ea7239448ad751f763"},
    {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:c3640deff4197fa064295aaac10ab49a0d55ef3d6a54ae1499c40d646655c89f"},
    {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux2014_aarch64.whl", hash = "sha256:045d75527241d17e6ef13636d845a12e54660aa82e823b3b3341bcf5af03fa79"},
+    {file = "pycryptodome-3.15.0-cp27-cp27mu-musllinux_1_1_aarch64.whl", hash = "sha256:eb6fce570869e70cc8ebe68eaa1c26bed56d40ad0f93431ee61d400525433c54"},
    {file = "pycryptodome-3.15.0-cp35-abi3-macosx_10_9_x86_64.whl", hash = "sha256:9ee40e2168f1348ae476676a2e938ca80a2f57b14a249d8fe0d3cdf803e5a676"},
    {file = "pycryptodome-3.15.0-cp35-abi3-manylinux1_i686.whl", hash = "sha256:4c3ccad74eeb7b001f3538643c4225eac398c77d617ebb3e57571a897943c667"},
    {file = "pycryptodome-3.15.0-cp35-abi3-manylinux1_x86_64.whl", hash = "sha256:1b22bcd9ec55e9c74927f6b1f69843cb256fb5a465088ce62837f793d9ffea88"},
    {file = "pycryptodome-3.15.0-cp35-abi3-manylinux2010_i686.whl", hash = "sha256:57f565acd2f0cf6fb3e1ba553d0cb1f33405ec1f9c5ded9b9a0a5320f2c0bd3d"},
    {file = "pycryptodome-3.15.0-cp35-abi3-manylinux2010_x86_64.whl", hash = "sha256:4b52cb18b0ad46087caeb37a15e08040f3b4c2d444d58371b6f5d786d95534c2"},
    {file = "pycryptodome-3.15.0-cp35-abi3-manylinux2014_aarch64.whl", hash = "sha256:092a26e78b73f2530b8bd6b3898e7453ab2f36e42fd85097d705d6aba2ec3e5e"},
+    {file = "pycryptodome-3.15.0-cp35-abi3-musllinux_1_1_aarch64.whl", hash = "sha256:50ca7e587b8e541eb6c192acf92449d95377d1f88908c0a32ac5ac2703ebe28b"},
    {file = "pycryptodome-3.15.0-cp35-abi3-win32.whl", hash = "sha256:e244ab85c422260de91cda6379e8e986405b4f13dc97d2876497178707f87fc1"},
    {file = "pycryptodome-3.15.0-cp35-abi3-win_amd64.whl", hash = "sha256:c77126899c4b9c9827ddf50565e93955cb3996813c18900c16b2ea0474e130e9"},
    {file = "pycryptodome-3.15.0-pp27-pypy_73-macosx_10_9_x86_64.whl", hash = "sha256:9eaadc058106344a566dc51d3d3a758ab07f8edde013712bc8d22032a86b264f"},
@ -7515,6 +7549,13 @@ sortedcontainers = [
    {file = "sortedcontainers-2.4.0-py2.py3-none-any.whl", hash = "sha256:a163dcaede0f1c021485e957a39245190e74249897e2ae4b2aa38595db237ee0"},
    {file = "sortedcontainers-2.4.0.tar.gz", hash = "sha256:25caa5a06cc30b6b83d11423433f65d1f9d76c4c6a0c90e3379eaa43b9bfdb88"},
 ]
+sounddevice = [
+    {file = "sounddevice-0.4.5-py3-none-any.whl", hash = "sha256:5cea4afd9412e731f50ae09a54d68b10628a604cfd56b42a976c54d424c6c39d"},
+    {file = "sounddevice-0.4.5-py3-none-macosx_10_6_x86_64.macosx_10_6_universal2.whl", hash = "sha256:0875173595a8bd5a66b5a03a3d958e7b89c3b956b8befbe4491a24a3ce7784c0"},
+    {file = "sounddevice-0.4.5-py3-none-win32.whl", hash = "sha256:442adf53850916374a58f902200aaf9412227378181264e60c966da64be47d41"},
+    {file = "sounddevice-0.4.5-py3-none-win_amd64.whl", hash = "sha256:d3216c5d3d678c3301058e9aac7000879e255140c524c9ef98730091b67ea676"},
+    {file = "sounddevice-0.4.5.tar.gz", hash = "sha256:2fe0d41299e4f3037dad2acede4eff0666b34a1fa3da5335e47120373964bef5"},
+]
 soupsieve = [
    {file = "soupsieve-2.3.2.post1-py3-none-any.whl", hash = "sha256:3b2503d3c7084a42b1ebd08116e5f81aadfaea95863628c80a3b774a11b7c759"},
    {file = "soupsieve-2.3.2.post1.tar.gz", hash = "sha256:fc53893b3da2c33de295667a0e19f078c14bf86544af307354de5fcf12a3f30d"},
--- a/pyproject.toml
+++ b/pyproject.toml
@ -49,6 +49,7 @@ sentry-sdk = "^1.6.0"
 setproctitle = "^1.2.3"
 six = "^1.16.0"
 smbus2 = "^0.4.2"
+sounddevice = "^0.4.5"
 sympy = "^1.10.1"
 timezonefinder = "^6.0.1"
 tqdm = "^4.64.0"
@ -146,6 +147,7 @@ mpld3 = "^0.5.8"
 msgpack-python = "^0.5.6"
 networkx = "~2.3"
 nvidia-ml-py3 = "^7.352.0"
+onnx2torch = "^1.5.4"
 onnxoptimizer = "^0.3.1"
 opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl" }
 osmium = "^3.3.0"
--- a/release/files_common
+++ b/release/files_common
@ -71,6 +71,7 @@ selfdrive/rtshield.py
 selfdrive/statsd.py

 system/logmessaged.py
+system/micd.py
 system/swaglog.py
 system/version.py

@ -95,6 +96,7 @@ selfdrive/boardd/panda_comms.h
 selfdrive/boardd/panda_comms.cc
 selfdrive/boardd/set_time.py
 selfdrive/boardd/pandad.py
+selfdrive/boardd/tests/test_boardd_loopback.py

 selfdrive/car/__init__.py
 selfdrive/car/docs_definitions.py
@ -215,6 +217,7 @@ system/hardware/tici/amplifier.py
 system/hardware/tici/updater
 system/hardware/tici/iwlist.py
 system/hardware/pc/__init__.py
+system/hardware/pc/hardware.h
 system/hardware/pc/hardware.py

 selfdrive/locationd/__init__.py
@ -347,20 +350,28 @@ selfdrive/manager/test/test_manager.py
 selfdrive/modeld/__init__.py
 selfdrive/modeld/SConscript
 selfdrive/modeld/modeld.cc
+selfdrive/modeld/navmodeld.cc
 selfdrive/modeld/dmonitoringmodeld.cc
 selfdrive/modeld/constants.py
 selfdrive/modeld/modeld
+selfdrive/modeld/navmodeld
 selfdrive/modeld/dmonitoringmodeld

 selfdrive/modeld/models/commonmodel.cc
 selfdrive/modeld/models/commonmodel.h
+
 selfdrive/modeld/models/driving.cc
 selfdrive/modeld/models/driving.h
+selfdrive/modeld/models/supercombo.onnx
+
 selfdrive/modeld/models/dmonitoring.cc
 selfdrive/modeld/models/dmonitoring.h
-selfdrive/modeld/models/supercombo.onnx
 selfdrive/modeld/models/dmonitoring_model_q.dlc

+selfdrive/modeld/models/nav.cc
+selfdrive/modeld/models/nav.h
+selfdrive/modeld/models/navmodel_q.dlc
+
 selfdrive/modeld/transforms/loadyuv.cc
 selfdrive/modeld/transforms/loadyuv.h
 selfdrive/modeld/transforms/loadyuv.cl
@ -483,6 +494,7 @@ cereal/visionipc/*.pxd

 panda/.gitignore
 panda/__init__.py
+panda/SConscript
 panda/board/**
 panda/certs/**
 panda/crypto/**
--- a/selfdrive/assets/fonts/JetBrainsMono-Medium.ttf
+++ b/selfdrive/assets/fonts/JetBrainsMono-Medium.ttf
--- a/selfdrive/assets/img_couch.svg
+++ b/selfdrive/assets/img_couch.svg
@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<svg viewBox="0 0 300 300" xmlns="http://www.w3.org/2000/svg">
+  <path d="M 278.364 122.673 C 282.129 126.545 284.418 132.064 284.5 137.465 L 284.5 200.562 C 284.419 205.963 282.129 211.48 278.364 215.352 C 274.492 219.119 268.972 221.407 263.571 221.488 L 259.262 221.488 L 259.262 238.417 C 259.128 241.171 257.425 244.12 255.107 245.614 C 252.655 246.875 249.249 246.874 246.796 245.613 C 244.48 244.12 242.777 241.171 242.643 238.417 L 242.643 221.488 L 57.357 221.488 L 57.357 238.417 C 57.223 241.171 55.519 244.121 53.203 245.614 C 50.75 246.875 47.344 246.875 44.892 245.614 C 42.575 244.12 40.872 241.171 40.738 238.417 L 40.738 221.488 L 36.427 221.488 C 31.027 221.407 25.508 219.119 21.636 215.352 C 17.871 211.48 15.582 205.961 15.5 200.56 L 15.5 137.463 C 15.581 132.062 17.871 126.545 21.636 122.673 C 25.508 118.906 31.029 116.618 36.429 116.536 L 40.738 116.536 L 40.738 87.024 C 40.426 78.719 43.434 70.271 48.95 64.028 C 54.579 57.887 62.818 53.986 71.131 53.441 L 228.982 53.444 C 237.295 53.989 245.421 57.888 251.05 64.028 C 256.566 70.272 259.574 78.719 259.262 87.024 L 259.262 116.536 L 263.573 116.536 C 268.974 116.618 274.492 118.906 278.364 122.673 Z M 60.911 75.581 C 58.147 78.782 56.932 82.617 57.35 86.825 L 57.357 118.356 C 60.791 119.893 63.643 122.022 66.115 125.423 C 68.512 128.877 69.916 133.256 69.976 137.46 L 69.976 167.014 L 230.024 167.014 L 230.024 137.466 C 230.084 133.262 231.488 128.877 233.884 125.423 C 236.357 122.021 239.208 119.892 242.643 118.356 L 242.643 86.988 C 243.06 82.779 241.852 78.782 239.089 75.581 C 236.438 72.283 232.951 70.432 228.785 70.059 L 71.215 70.059 C 67.049 70.433 63.563 72.283 60.911 75.581 Z M 33.383 203.605 C 34.241 204.572 35.14 204.944 36.431 204.87 L 53.357 204.87 L 53.357 137.465 C 53.432 136.174 53.06 135.278 52.093 134.42 C 51.236 133.454 50.336 133.08 49.046 133.155 L 36.429 133.155 C 35.139 133.08 34.295 133.506 33.382 134.419 C 32.47 135.332 32.044 136.176 32.119 137.466 L 32.119 200.56 C 32.044 201.851 32.416 202.747 33.383 203.605 Z M 69.976 204.87 L 230.024 204.87 L 230.024 183.631 L 69.976 183.631 L 69.976 204.87 Z M 267.881 137.465 C 267.956 136.174 267.584 135.278 266.618 134.419 C 265.758 133.453 264.86 133.08 263.57 133.155 L 250.953 133.155 C 249.663 133.08 248.766 133.452 247.908 134.419 C 246.941 135.277 246.568 136.176 246.643 137.466 L 246.643 204.87 L 263.571 204.87 C 264.862 204.944 265.759 204.572 266.616 203.606 C 267.583 202.748 267.956 201.849 267.881 200.559 L 267.881 137.465 Z" fill="black" style="stroke-width: 4px; vector-effect: non-scaling-stroke; fill-opacity: 0.4;"/>
+</svg>
--- a/selfdrive/assets/img_experimental.svg
+++ b/selfdrive/assets/img_experimental.svg
@ -0,0 +1,10 @@
+<svg width="300" height="300" viewBox="0 0 300 300" fill="none" xmlns="http://www.w3.org/2000/svg">
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+<radialGradient id="paint0_radial_1352_397" cx="0" cy="0" r="1" gradientUnits="userSpaceOnUse" gradientTransform="translate(150 150) rotate(90) scale(125)">
+<stop offset="0.135417" stop-color="#E11C1C"/>
+<stop offset="1" stop-color="#FF8C22"/>
+</radialGradient>
+</defs>
+</svg>
--- a/selfdrive/assets/img_experimental_grey.svg
+++ b/selfdrive/assets/img_experimental_grey.svg
@ -0,0 +1,4 @@
+<svg width="300" height="300" viewBox="0 0 300 300" fill="none" xmlns="http://www.w3.org/2000/svg">
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+</svg>
--- a/selfdrive/assets/img_experimental_white.svg
+++ b/selfdrive/assets/img_experimental_white.svg
@ -0,0 +1,4 @@
+<svg width="300" height="300" viewBox="0 0 300 300" fill="none" xmlns="http://www.w3.org/2000/svg">
+<path d="M182.019 181.218C123.429 239.83 67.543 258.769 54.9241 245.243C51.3182 241.636 51.3182 236.226 51.3182 231.717C51.3182 207.37 74.7548 160.481 124.331 114.489C129.74 109.98 129.74 101.864 125.233 96.454C120.725 91.0438 112.612 91.0438 107.204 95.5525C95.4866 106.373 85.5713 117.194 76.5569 128.016C51.3181 89.242 45.9096 61.2866 54.0213 52.2701C63.9367 42.351 100.894 50.4672 144.162 82.9291C157.683 92.8482 171.203 104.57 183.823 117.196C193.738 127.115 203.654 137.936 211.767 148.757C202.754 160.48 192.838 170.399 182.021 181.22L182.019 181.218ZM246.019 54.0753C255.033 63.0928 248.724 91.9498 225.287 128.918C217.174 118.999 209.062 109.982 200.048 100.063C191.034 91.0451 181.119 82.0274 171.204 73.9125C209.064 49.5654 237.006 45.0578 246.019 54.0753ZM264.048 36.04C243.316 15.3002 200.047 24.318 150.471 58.5842C100.894 24.317 56.7244 15.3005 35.9947 36.04C15.2627 56.7799 24.2771 99.1619 59.4313 149.66C38.6993 179.417 26.0793 208.272 26.0793 231.718C26.0793 247.949 32.3888 257.868 36.896 263.278C45.0091 271.394 54.9244 275 67.5433 275C105.403 275 158.583 241.635 200.049 200.157C209.063 191.14 218.077 181.22 225.288 171.301C249.625 209.176 255.034 237.128 246.02 246.144C238.809 253.357 218.076 250.653 193.739 238.028C187.43 235.322 180.218 237.127 176.613 243.438C173.008 249.75 175.712 256.965 182.022 260.571C200.951 270.49 218.979 274.999 232.501 274.999C245.121 274.999 255.036 271.391 263.148 263.277C283.88 242.537 274.866 199.252 240.612 149.657C272.163 105.473 286.583 59.4852 264.05 36.0397L264.048 36.04Z" fill="white"/>
+<path d="M175.414 154.169C175.414 171.6 161.29 185.729 143.866 185.729C126.441 185.729 112.317 171.6 112.317 154.169C112.317 136.738 126.441 122.609 143.866 122.609C161.29 122.609 175.414 136.738 175.414 154.169Z" fill="white"/>
+</svg>
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@ -528,9 +528,6 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
    cnt++;
    sm.update(1000); // TODO: what happens if EINTR is sent while in sm.update?

-    // Other pandas don't have fan/IR to control
-    if (panda->hw_type != cereal::PandaState::PandaType::UNO && panda->hw_type != cereal::PandaState::PandaType::DOS) continue;
-
    if (sm.updated("deviceState") && !no_fan_control) {
      // Fan speed
      uint16_t fan_speed = sm["deviceState"].getDeviceState().getFanSpeedPercentDesired();
--- a/selfdrive/boardd/panda.cc
+++ b/selfdrive/boardd/panda.cc
@ -6,7 +6,6 @@
 #include <stdexcept>

 #include "cereal/messaging/messaging.h"
-#include "panda/board/dlc_to_len.h"
 #include "common/swaglog.h"
 #include "common/util.h"

@ -24,7 +23,8 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
         (hw_type != cereal::PandaState::PandaType::GREY_PANDA));

  has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) ||
-            (hw_type == cereal::PandaState::PandaType::DOS);
+            (hw_type == cereal::PandaState::PandaType::DOS) ||
+            (hw_type == cereal::PandaState::PandaType::TRES);

  return;
 }
@ -169,22 +169,15 @@ static uint8_t len_to_dlc(uint8_t len) {
  }
 }

-static void write_packet(uint8_t *dest, int *write_pos, const uint8_t *src, size_t size) {
-  for (int i = 0, &pos = *write_pos; i < size; ++i, ++pos) {
-    // Insert counter every 64 bytes (first byte of 64 bytes USB packet)
-    if (pos % USBPACKET_MAX_SIZE == 0) {
-      dest[pos] = pos / USBPACKET_MAX_SIZE;
-      pos++;
-    }
-    dest[pos] = src[i];
-  }
-}
-
 void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data_list,
                            std::function<void(uint8_t *, size_t)> write_func) {
  int32_t pos = 0;
  uint8_t send_buf[2 * USB_TX_SOFT_LIMIT];

+  uint32_t magic = CAN_TRANSACTION_MAGIC;
+  memcpy(&send_buf[0], &magic, sizeof(uint32_t));
+  pos += sizeof(uint32_t);
+
  for (auto cmsg : can_data_list) {
    // check if the message is intended for this panda
    uint8_t bus = cmsg.getSrc();
@ -202,16 +195,19 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
    header.data_len_code = data_len_code;
    header.bus = bus - bus_offset;

-    write_packet(send_buf, &pos, (uint8_t *)&header, sizeof(can_header));
-    write_packet(send_buf, &pos, (uint8_t *)can_data.begin(), can_data.size());
+    memcpy(&send_buf[pos], (uint8_t *)&header, sizeof(can_header));
+    pos += sizeof(can_header);
+    memcpy(&send_buf[pos], (uint8_t *)can_data.begin(), can_data.size());
+    pos += can_data.size();
+
    if (pos >= USB_TX_SOFT_LIMIT) {
      write_func(send_buf, pos);
-      pos = 0;
+      pos = sizeof(uint32_t);
    }
  }

  // send remaining packets
-  if (pos > 0) write_func(send_buf, pos);
+  if (pos > sizeof(uint32_t)) write_func(send_buf, pos);
 }

 void Panda::can_send(capnp::List<cereal::CanData>::Reader can_data_list) {
@ -234,33 +230,38 @@ bool Panda::can_receive(std::vector<can_frame>& out_vec) {
 }

 bool Panda::unpack_can_buffer(uint8_t *data, int size, std::vector<can_frame> &out_vec) {
-  recv_buf.clear();
-  for (int i = 0; i < size; i += USBPACKET_MAX_SIZE) {
-    if (data[i] != i / USBPACKET_MAX_SIZE) {
-      LOGE("CAN: MALFORMED USB RECV PACKET");
-      handle->comms_healthy = false;
-      return false;
-    }
-    int chunk_len = std::min(USBPACKET_MAX_SIZE, (size - i));
-    recv_buf.insert(recv_buf.end(), &data[i + 1], &data[i + chunk_len]);
+  if (size < sizeof(uint32_t)) {
+    return true;
+  }
+
+  uint32_t magic;
+  memcpy(&magic, &data[0], sizeof(uint32_t));
+  if (magic != CAN_TRANSACTION_MAGIC) {
+    LOGE("CAN recv: buffer didn't start with magic");
+    handle->comms_healthy = false;
+    return false;
  }

-  int pos = 0;
-  while (pos < recv_buf.size()) {
+  int pos = sizeof(uint32_t);
+  while (pos < size) {
    can_header header;
-    memcpy(&header, &recv_buf[pos], CANPACKET_HEAD_SIZE);
+    memcpy(&header, &data[pos], sizeof(can_header));

    can_frame &canData = out_vec.emplace_back();
    canData.busTime = 0;
    canData.address = header.addr;
    canData.src = header.bus + bus_offset;
-    if (header.rejected) { canData.src += CANPACKET_REJECTED; }
-    if (header.returned) { canData.src += CANPACKET_RETURNED; }
+    if (header.rejected) {
+      canData.src += CAN_REJECTED_BUS_OFFSET;
+    }
+    if (header.returned) {
+      canData.src += CAN_RETURNED_BUS_OFFSET;
+    }

    const uint8_t data_len = dlc_to_len[header.data_len_code];
-    canData.dat.assign((char *)&recv_buf[pos + CANPACKET_HEAD_SIZE], data_len);
+    canData.dat.assign((char *)&data[pos + sizeof(can_header)], data_len);

-    pos += CANPACKET_HEAD_SIZE + data_len;
+    pos += sizeof(can_header) + data_len;
  }
  return true;
 }
--- a/selfdrive/boardd/panda.h
+++ b/selfdrive/boardd/panda.h
@ -11,20 +11,16 @@
 #include "cereal/gen/cpp/car.capnp.h"
 #include "cereal/gen/cpp/log.capnp.h"
 #include "panda/board/health.h"
+#include "panda/board/can_definitions.h"
 #include "selfdrive/boardd/panda_comms.h"

-
-#define PANDA_CAN_CNT 3
-#define PANDA_BUS_CNT 4
-
 #define USB_TX_SOFT_LIMIT   (0x100U)
 #define USBPACKET_MAX_SIZE  (0x40)

 #define RECV_SIZE (0x4000U)
-#define CANPACKET_HEAD_SIZE 5U
-#define CANPACKET_MAX_SIZE  72U
-#define CANPACKET_REJECTED  (0xC0U)
-#define CANPACKET_RETURNED  (0x80U)
+
+#define CAN_REJECTED_BUS_OFFSET   0xC0U
+#define CAN_RETURNED_BUS_OFFSET 0x80U

 struct __attribute__((packed)) can_header {
  uint8_t reserved : 1;
@ -47,7 +43,6 @@ struct can_frame {
 class Panda {
 private:
  std::unique_ptr<PandaCommsHandle> handle;
-  std::vector<uint8_t> recv_buf;

 public:
  Panda(std::string serial="", uint32_t bus_offset=0);
--- a/selfdrive/boardd/panda_comms.h
+++ b/selfdrive/boardd/panda_comms.h
@ -13,8 +13,6 @@
 #define TIMEOUT 0
 #define SPI_BUF_SIZE 1024

-const bool PANDA_NO_RETRY = getenv("PANDA_NO_RETRY");
-

 // comms base class
 class PandaCommsHandle {
@ -52,7 +50,6 @@ public:
 private:
  libusb_context *ctx = NULL;
  libusb_device_handle *dev_handle = NULL;
-  std::vector<uint8_t> recv_buf;
  void handle_usb_issue(int err, const char func[]);
 };

--- a/selfdrive/boardd/spi.cc
+++ b/selfdrive/boardd/spi.cc
@ -6,6 +6,7 @@
 #include <cstring>

 #include "common/util.h"
+#include "common/timing.h"
 #include "common/swaglog.h"
 #include "panda/board/comms_definitions.h"
 #include "selfdrive/boardd/panda_comms.h"
@ -24,6 +25,9 @@ struct __attribute__((packed)) spi_header {
  uint16_t max_rx_len;
 };

+const int SPI_MAX_RETRIES = 5;
+const int SPI_ACK_TIMEOUT = 50; // milliseconds
+

 PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
  LOGD("opening SPI panda: %s", serial.c_str());
@ -109,7 +113,7 @@ int PandaSpiHandle::bulk_read(unsigned char endpoint, unsigned char* data, int l
 int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len) {
  std::lock_guard lk(hw_lock);

-  const int xfer_size = 0x40;
+  const int xfer_size = 0x40 * 15;

  int ret = 0;
  uint16_t length = (tx_data != NULL) ? tx_len : rx_len;
@ -119,7 +123,8 @@ int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t t
      int len = std::min(xfer_size, tx_len - (xfer_size * i));
      d = spi_transfer_retry(endpoint, tx_data + (xfer_size * i), len, NULL, 0);
    } else {
-      d = spi_transfer_retry(endpoint, NULL, 0, rx_data + (xfer_size * i), xfer_size);
+      uint16_t to_read = std::min(xfer_size, rx_len - ret);
+      d = spi_transfer_retry(endpoint, NULL, 0, rx_data + (xfer_size * i), to_read);
    }

    if (d < 0) {
@ -137,15 +142,11 @@ int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t t
  return ret;
 }

-
-
 std::vector<std::string> PandaSpiHandle::list() {
  // TODO: list all pandas available over SPI
  return {};
 }

-
-
 void add_checksum(uint8_t *data, int data_len) {
  data[data_len] = SPI_CHECKSUM_START;
  for (int i=0; i < data_len; i++) {
@ -165,17 +166,19 @@ bool check_checksum(uint8_t *data, int data_len) {
 int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len) {
  int ret;

+  int count = SPI_MAX_RETRIES;
  std::lock_guard lk(hw_lock);
  do {
    // TODO: handle error
    ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len);
-  } while (ret < 0 && connected && !PANDA_NO_RETRY);
+    count--;
+  } while (ret < 0 && connected && count > 0);

  return ret;
 }

 int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) {
-  // TODO: add timeout?
+  double start_millis = millis_since_boot();
  while (true) {
    int ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
    if (ret < 0) {
@ -189,6 +192,12 @@ int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) {
      LOGW("SPI: got NACK");
      return -1;
    }
+
+    // handle timeout
+    if (millis_since_boot() - start_millis > SPI_ACK_TIMEOUT) {
+      LOGE("SPI: timed out waiting for ACK");
+      return -1;
+    }
  }

  return 0;
--- a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc
+++ b/selfdrive/boardd/tests/test_boardd_usbprotocol.cc
@ -6,8 +6,6 @@
 #include "cereal/messaging/messaging.h"
 #include "selfdrive/boardd/panda.h"

-const unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U};
-
 int random_int(int min, int max) {
  std::random_device dev;
  std::mt19937 rng(dev());
@ -50,7 +48,7 @@ PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState
    can.setAddress(i);
    can.setSrc(random_int(0, 3) + bus_offset);
    can.setDat(kj::ArrayPtr((uint8_t *)dat.data(), dat.size()));
-    total_pakets_size += CANPACKET_HEAD_SIZE + dat.size();
+    total_pakets_size += sizeof(can_header) + dat.size();
  }

  can_data_list = can_list.asReader();
@ -60,14 +58,11 @@ PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState
 void PandaTest::test_can_send() {
  std::vector<uint8_t> unpacked_data;
  this->pack_can_buffer(can_data_list, [&](uint8_t *chunk, size_t size) {
-    int size_left = size;
-    for (int i = 0, counter = 0; i < size; i += USBPACKET_MAX_SIZE, counter++) {
-      REQUIRE(chunk[i] == counter);
-
-      const int len = std::min(USBPACKET_MAX_SIZE, size_left);
-      unpacked_data.insert(unpacked_data.end(), &chunk[i + 1], &chunk[i + len]);
-      size_left -= len;
-    }
+    uint32_t magic;
+    memcpy(&magic, &chunk[0], sizeof(uint32_t));
+
+    REQUIRE(magic == CAN_TRANSACTION_MAGIC);
+    unpacked_data.insert(unpacked_data.end(), &chunk[sizeof(uint32_t)], &chunk[size]);
  });
  REQUIRE(unpacked_data.size() == total_pakets_size);

@ -75,9 +70,9 @@ void PandaTest::test_can_send() {
  INFO("test can message integrity");
  for (int pos = 0, pckt_len = 0; pos < unpacked_data.size(); pos += pckt_len) {
    can_header header;
-    memcpy(&header, &unpacked_data[pos], CANPACKET_HEAD_SIZE);
+    memcpy(&header, &unpacked_data[pos], sizeof(can_header));
    const uint8_t data_len = dlc_to_len[header.data_len_code];
-    pckt_len = CANPACKET_HEAD_SIZE + data_len;
+    pckt_len = sizeof(can_header) + data_len;

    REQUIRE(header.addr == cnt);
    REQUIRE(test_data.find(data_len) != test_data.end());
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@ -2,16 +2,13 @@
 import math
 from cereal import car
 from common.realtime import DT_CTRL
-from selfdrive.car import scale_rot_inertia, scale_tire_stiffness, get_safety_config
+from selfdrive.car import get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.body.values import SPEED_FROM_RPM

 class CarInterface(CarInterfaceBase):
  @staticmethod
-  def get_params(candidate, fingerprint=None, car_fw=None, experimental_long=False):
-
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
-
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
    ret.notCar = True
    ret.carName = "body"
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]
@ -31,10 +28,6 @@ class CarInterface(CarInterfaceBase):
    ret.openpilotLongitudinalControl = True
    ret.steerControlType = car.CarParams.SteerControlType.angle

-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
-
-    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
-
    return ret

  def _update(self, c):
--- a/selfdrive/car/body/values.py
+++ b/selfdrive/car/body/values.py
@ -26,6 +26,12 @@ CAR_INFO: Dict[str, CarInfo] = {
  CAR.BODY: CarInfo("comma body", package="All"),
 }

+FINGERPRINTS = {
+  CAR.BODY: [{
+    513: 8, 516: 8, 514: 3, 515: 4,
+  }],
+}
+
 FW_QUERY_CONFIG = FwQueryConfig(
  requests=[
    Request(
@ -40,10 +46,13 @@ FW_VERSIONS = {
  CAR.BODY: {
    (Ecu.engine, 0x720, None): [
      b'0.0.01',
-      b'02/27/2022'
+      b'02/27/2022',
+      b'0.3.00a',
    ],
+    # git hash of the firmware used
    (Ecu.debug, 0x721, None): [
-      b'166bd860' # git hash of the firmware used
+      b'166bd860',
+      b'dc780f85',
    ],
  },
 }
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@ -1,21 +1,18 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car import STD_CARGO_KG, get_safety_config
 from selfdrive.car.chrysler.values import CAR, DBC, RAM_HD, RAM_DT
 from selfdrive.car.interfaces import CarInterfaceBase


 class CarInterface(CarInterfaceBase):
  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
    ret.carName = "chrysler"
-
    ret.dashcamOnly = candidate in RAM_HD

    ret.radarOffCan = DBC[candidate]['radar'] is None
-
    ret.steerActuatorDelay = 0.1
    ret.steerLimitTimer = 0.4

@ -75,14 +72,6 @@ class CarInterface(CarInterfaceBase):
      raise ValueError(f"Unsupported car: {candidate}")

    ret.centerToFront = ret.wheelbase * 0.44
-
-    # starting with reasonable value for civic and scaling by mass and wheelbase
-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
-
-    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
-    # mass and CG position, so all cars will have approximately similar dyn behaviors
-    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
-
    ret.enableBsm = 720 in fingerprint[0]

    return ret
--- a/selfdrive/car/docs.py
+++ b/selfdrive/car/docs.py
@ -40,6 +40,7 @@ def get_all_car_info() -> List[CarInfo]:

    for _car_info in car_info:
      if not hasattr(_car_info, "row"):
+        _car_info.init_make(CP)
        _car_info.init(CP, footnotes)
      all_car_info.append(_car_info)

--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@ -73,12 +73,11 @@ CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only"], default

 class CommonFootnote(Enum):
  EXP_LONG_AVAIL = CarFootnote(
-    "Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `master-ci`. " +
-    "Using openpilot longitudinal may disable Automatic Emergency Braking (AEB).",
+    "Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. ",
    Column.LONGITUDINAL, docs_only=True)
  EXP_LONG_DSU = CarFootnote(
-    "When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace " +
-    "stock Adaptive Cruise Control (ACC). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b>",
+    "By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace " +
+    "stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b>",
    Column.LONGITUDINAL)


@ -173,6 +172,9 @@ class CarInfo:

    return self

+  def init_make(self, CP: car.CarParams):
+    """CarInfo subclasses can add make-specific logic for harness selection, footnotes, etc."""
+
  def get_detail_sentence(self, CP):
    if not CP.notCar:
      sentence_builder = "openpilot upgrades your <strong>{car_model}</strong> with automated lane centering{alc} and adaptive cruise control{acc}."
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
 from common.conversions import Conversions as CV
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car import STD_CARGO_KG, get_safety_config
 from selfdrive.car.ford.values import CAR, Ecu, TransmissionType, GearShifter
 from selfdrive.car.interfaces import CarInterfaceBase

@ -10,12 +10,7 @@ CarParams = car.CarParams

 class CarInterface(CarInterfaceBase):
  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
-    if car_fw is None:
-      car_fw = []
-
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
-
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
    ret.carName = "ford"
    ret.dashcamOnly = True
    ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.ford)]
@ -24,7 +19,6 @@ class CarInterface(CarInterfaceBase):
    ret.steerControlType = CarParams.SteerControlType.angle
    ret.steerActuatorDelay = 0.4
    ret.steerLimitTimer = 1.0
-    tire_stiffness_factor = 1.0

    if candidate == CAR.ESCAPE_MK4:
      ret.wheelbase = 2.71
@ -60,10 +54,7 @@ class CarInterface(CarInterfaceBase):
    ret.minSteerSpeed = 0.

    ret.autoResumeSng = ret.minEnableSpeed == -1.
-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
    ret.centerToFront = ret.wheelbase * 0.44
-    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
-                                                                         tire_stiffness_factor=tire_stiffness_factor)
    return ret

  def _update(self, c):
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@ -100,6 +100,9 @@ class CarState(CarStateBase):
    if self.CP.networkLocation == NetworkLocation.fwdCamera:
      ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
      ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
+      # openpilot controls nonAdaptive when not pcmCruise
+      if self.CP.pcmCruise:
+        ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)

    return ret

@ -112,6 +115,7 @@ class CarState(CarStateBase):
        ("AEBCmdActive", "AEBCmd"),
        ("RollingCounter", "ASCMLKASteeringCmd"),
        ("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"),
+        ("ACCCruiseState", "ASCMActiveCruiseControlStatus"),
      ]
      checks += [
        ("AEBCmd", 10),
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@ -4,7 +4,7 @@ from math import fabs
 from panda import Panda

 from common.conversions import Conversions as CV
-from selfdrive.car import STD_CARGO_KG, create_button_events, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car import STD_CARGO_KG, create_button_events, scale_tire_stiffness, get_safety_config
 from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR
 from selfdrive.car.interfaces import CarInterfaceBase

@ -44,8 +44,7 @@ class CarInterface(CarInterfaceBase):
      return CarInterfaceBase.get_steer_feedforward_default

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
    ret.carName = "gm"
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
    ret.autoResumeSng = False
@ -98,7 +97,7 @@ class CarInterface(CarInterfaceBase):
    # These cars have been put into dashcam only due to both a lack of users and test coverage.
    # These cars likely still work fine. Once a user confirms each car works and a test route is
    # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX, CAR.BOLT_EV}
+    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX}

    # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
    # Some GMs need some tolerance above 10 kph to avoid a fault
@ -171,7 +170,7 @@ class CarInterface(CarInterfaceBase):
      ret.lateralTuning.pid.kf = 0.000045
      tire_stiffness_factor = 1.0

-    elif candidate in (CAR.BOLT_EV, CAR.BOLT_EUV):
+    elif candidate == CAR.BOLT_EUV:
      ret.mass = 1669. + STD_CARGO_KG
      ret.wheelbase = 2.63779
      ret.steerRatio = 16.8
@ -195,10 +194,6 @@ class CarInterface(CarInterfaceBase):
      ret.centerToFront = ret.wheelbase * 0.4
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

-    # TODO: get actual value, for now starting with reasonable value for
-    # civic and scaling by mass and wheelbase
-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
-
    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
    # mass and CG position, so all cars will have approximately similar dyn behaviors
    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
@ -210,18 +205,16 @@ class CarInterface(CarInterfaceBase):
  def _update(self, c):
    ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)

-    button_events = []
-    for be in create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
-                                   unpressed_btn=CruiseButtons.UNPRESS, init_btn=CruiseButtons.INIT):
-      # Suppress resume button if we're resuming from stop so we don't adjust speed.
-      if be.type == ButtonType.accelCruise and (ret.cruiseState.enabled and ret.standstill):
-        be.type = ButtonType.unknown
-      button_events.append(be)
-    ret.buttonEvents = button_events
+    ret.buttonEvents = create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
+                                            unpressed_btn=CruiseButtons.UNPRESS, init_btn=CruiseButtons.INIT)

+    # The ECM allows enabling on falling edge of set, but only rising edge of resume
    events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low,
                                                         GearShifter.eco, GearShifter.manumatic],
-                                       pcm_enable=self.CP.pcmCruise)
+                                       pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,))
+    if not self.CP.pcmCruise:
+      if any(b.type == ButtonType.accelCruise and b.pressed for b in ret.buttonEvents):
+        events.add(EventName.buttonEnable)

    # Enabling at a standstill with brake is allowed
    # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@ -1,5 +1,5 @@
 from collections import defaultdict
-from dataclasses import dataclass, field
+from dataclasses import dataclass
 from enum import Enum
 from typing import Dict, List, Union

@ -68,7 +68,6 @@ class CAR:
  ACADIA = "GMC ACADIA DENALI 2018"
  BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
  ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
-  BOLT_EV = "CHEVROLET BOLT EV 2022"
  BOLT_EUV = "CHEVROLET BOLT EUV 2022"
  SILVERADO = "CHEVROLET SILVERADO 1500 2020"
  EQUINOX = "CHEVROLET EQUINOX 2019"
@ -84,25 +83,32 @@ class Footnote(Enum):
@dataclass
 class GMCarInfo(CarInfo):
  package: str = "Adaptive Cruise Control (ACC)"
-  harness: Enum = Harness.obd_ii
-  footnotes: List[Enum] = field(default_factory=lambda: [Footnote.OBD_II])
+
+  def init_make(self, CP: car.CarParams):
+    if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera:
+      self.harness = Harness.gm
+    else:
+      self.harness = Harness.obd_ii
+      self.footnotes.append(Footnote.OBD_II)


 CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
  CAR.HOLDEN_ASTRA: GMCarInfo("Holden Astra 2017"),
-  CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0),
+  CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"),
  CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"),
  CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017"),
  CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
  CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
  CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
-  CAR.BOLT_EV: GMCarInfo("Chevrolet Bolt EV 2022-23", footnotes=[], harness=Harness.gm),
-  CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", "https://youtu.be/xvwzGMUA210", footnotes=[], harness=Harness.gm),
+  CAR.BOLT_EUV: [
+    GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", "https://youtu.be/xvwzGMUA210"),
+    GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
+  ],
  CAR.SILVERADO: [
-    GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II", footnotes=[], harness=Harness.gm),
-    GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", footnotes=[], harness=Harness.gm),
+    GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
+    GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", "https://youtu.be/5HbNoBLzRwE"),
  ],
-  CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22", footnotes=[], harness=Harness.gm),
+  CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22"),
 }


@ -188,9 +194,9 @@ FINGERPRINTS = {

 DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))

-EV_CAR = {CAR.VOLT, CAR.BOLT_EV, CAR.BOLT_EUV}
+EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}

 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
-CAMERA_ACC_CAR = {CAR.BOLT_EV, CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX}
+CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX}

 STEER_THRESHOLD = 1.0
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@ -99,6 +99,12 @@ HUDData = namedtuple("HUDData",
                      "lanes_visible", "fcw", "acc_alert", "steer_required"])


+def rate_limit_steer(new_steer, last_steer):
+  # TODO just hardcoded ramp to min/max in 0.33s for all Honda
+  MAX_DELTA = 3 * DT_CTRL
+  return clip(new_steer, last_steer - MAX_DELTA, last_steer + MAX_DELTA)
+
+
 class CarController:
  def __init__(self, dbc_name, CP, VM):
    self.CP = CP
@ -116,6 +122,7 @@ class CarController:
    self.speed = 0.0
    self.gas = 0.0
    self.brake = 0.0
+    self.last_steer = 0.0

  def update(self, CC, CS):
    actuators = CC.actuators
@ -130,6 +137,10 @@ class CarController:
      accel = 0.0
      gas, brake = 0.0, 0.0

+    # *** rate limit steer ***
+    limited_steer = rate_limit_steer(actuators.steer, self.last_steer)
+    self.last_steer = limited_steer
+
    # *** apply brake hysteresis ***
    pre_limit_brake, self.braking, self.brake_steady = actuator_hysteresis(brake, self.braking, self.brake_steady,
                                                                           CS.out.vEgo, self.CP.carFingerprint)
@ -143,7 +154,7 @@ class CarController:
    # **** process the car messages ****

    # steer torque is converted back to CAN reference (positive when steering right)
-    apply_steer = int(interp(-actuators.steer * self.params.STEER_MAX,
+    apply_steer = int(interp(-limited_steer * self.params.STEER_MAX,
                             self.params.STEER_LOOKUP_BP, self.params.STEER_LOOKUP_V))

    # Send CAN commands
@ -178,14 +189,14 @@ class CarController:
                     clip(CS.out.vEgo + 0.0, 0.0, 100.0),
                     clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
      pcm_speed = interp(gas - brake, pcm_speed_BP, pcm_speed_V)
-      pcm_accel = int(1.0 * 0xc6)
+      pcm_accel = int(1.0 * self.params.NIDEC_GAS_MAX)
    else:
      pcm_speed_V = [0.0,
                     clip(CS.out.vEgo - 2.0, 0.0, 100.0),
                     clip(CS.out.vEgo + 2.0, 0.0, 100.0),
                     clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
      pcm_speed = interp(gas - brake, pcm_speed_BP, pcm_speed_V)
-      pcm_accel = int(clip((accel / 1.44) / max_accel, 0.0, 1.0) * 0xc6)
+      pcm_accel = int(clip((accel / 1.44) / max_accel, 0.0, 1.0) * self.params.NIDEC_GAS_MAX)

    if not self.CP.openpilotLongitudinalControl:
      if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:  # radarless cars don't have supplemental message
@ -243,13 +254,14 @@ class CarController:
        self.speed = pcm_speed

        if not self.CP.enableGasInterceptor:
-          self.gas = pcm_accel / 0xc6
+          self.gas = pcm_accel / self.params.NIDEC_GAS_MAX

    new_actuators = actuators.copy()
    new_actuators.speed = self.speed
    new_actuators.accel = self.accel
    new_actuators.gas = self.gas
    new_actuators.brake = self.brake
+    new_actuators.steer = self.last_steer

    self.frame += 1
    return new_actuators, can_sends
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@ -4,7 +4,7 @@ from panda import Panda
 from common.conversions import Conversions as CV
 from common.numpy_fast import interp
 from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
-from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_events, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_events, scale_tire_stiffness, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.disable_ecu import disable_ecu

@ -29,8 +29,7 @@ class CarInterface(CarInterfaceBase):
      return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], experimental_long=False):  # pylint: disable=dangerous-default-value
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
    ret.carName = "honda"

    if candidate in HONDA_BOSCH:
@ -291,10 +290,6 @@ class CarInterface(CarInterfaceBase):
    stop_and_go = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor
    ret.minEnableSpeed = -1. if stop_and_go else 25.5 * CV.MPH_TO_MS

-    # TODO: get actual value, for now starting with reasonable value for
-    # civic and scaling by mass and wheelbase
-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
-
    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
    # mass and CG position, so all cars will have approximately similar dyn behaviors
    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@ -27,6 +27,7 @@ class CarControllerParams:
  NIDEC_MAX_ACCEL_V = [0.5, 2.4, 1.4, 0.6]
  NIDEC_MAX_ACCEL_BP = [0.0, 4.0, 10., 20.]

+  NIDEC_GAS_MAX = 198  # 0xc6
  NIDEC_BRAKE_MAX = 1024 // 4

  BOSCH_ACCEL_MIN = -3.5  # m/s^2
@ -106,40 +107,46 @@ class Footnote(Enum):
 class HondaCarInfo(CarInfo):
  package: str = "Honda Sensing"

+  def init_make(self, CP: car.CarParams):
+    if CP.carFingerprint in HONDA_BOSCH:
+      self.harness = Harness.bosch_b if CP.carFingerprint in HONDA_BOSCH_RADARLESS else Harness.bosch_a
+    else:
+      self.harness = Harness.nidec
+

 CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
  CAR.ACCORD: [
-    HondaCarInfo("Honda Accord 2018-22", "All", "https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
-    HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+    HondaCarInfo("Honda Accord 2018-22", "All", "https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
+    HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
  ],
-  CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
-  CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec, video_link="https://youtu.be/-IkImTe1NYE"),
+  CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+  CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"),
  CAR.CIVIC_BOSCH: [
-    HondaCarInfo("Honda Civic 2019-21", "All", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], 2. * CV.MPH_TO_MS, harness=Harness.bosch_a),
-    HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+    HondaCarInfo("Honda Civic 2019-21", "All", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], 2. * CV.MPH_TO_MS),
+    HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
  ],
  CAR.CIVIC_BOSCH_DIESEL: None,  # same platform
  CAR.CIVIC_2022: [
-    HondaCarInfo("Honda Civic 2022", "All", harness=Harness.bosch_b),
-    HondaCarInfo("Honda Civic Hatchback 2022", "All", harness=Harness.bosch_b),
+    HondaCarInfo("Honda Civic 2022", "All"),
+    HondaCarInfo("Honda Civic Hatchback 2022", "All"),
  ],
-  CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS, harness=Harness.nidec),
-  CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
-  CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+  CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
+  CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
  CAR.CRV_EU: None,  # HondaCarInfo("Honda CR-V EU", "Touring"),  # Euro version of CRV Touring
-  CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.bosch_a),
-  CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
-  CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
-  CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
-  CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", harness=Harness.nidec),
+  CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20"),
  CAR.ODYSSEY_CHN: None,  # Chinese version of Odyssey
-  CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
-  CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
-  CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
-  CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
-  CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
-  CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
-  CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+  CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+  CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+  CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
 }

 FW_QUERY_CONFIG = FwQueryConfig(
@ -236,7 +243,7 @@ FW_VERSIONS = {
      b'39990-TVA-A340\x00\x00',
      b'39990-TVA-X030\x00\x00',
      b'39990-TVA-X040\x00\x00',
-      b'39990-TVA,A150\x00\x00',
+      b'39990-TVA,A150\x00\x00', # modified firmware
      b'39990-TVE-H130\x00\x00',
    ],
    (Ecu.unknown, 0x18da3af1, None): [
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@ -60,9 +60,6 @@ class CarController:

    # steering torque
    steer = actuators.steer
-    if self.CP.carFingerprint in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
-      # these cars have significantly more torque than most HKG; limit to 70% of max
-      steer = clip(steer, -0.7, 0.7)
    new_steer = int(round(steer * self.params.STEER_MAX))
    apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)

@ -85,7 +82,7 @@ class CarController:
    # *** common hyundai stuff ***

    # tester present - w/ no response (keeps relevant ECU disabled)
-    if self.frame % 100 == 0 and self.CP.openpilotLongitudinalControl:
+    if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and self.CP.openpilotLongitudinalControl:
      addr, bus = 0x7d0, 0
      if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
        addr, bus = 0x730, 5
@ -122,7 +119,8 @@ class CarController:
        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CP, CC.enabled))

      if self.CP.openpilotLongitudinalControl:
-        can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.frame))
+        if hda2:
+          can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.frame))
        if self.frame % 2 == 0:
          can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CP, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
                                                           set_speed_in_units))
@ -175,7 +173,7 @@ class CarController:
      if self.frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
                                                          CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV, CAR.KONA_EV_2022,
                                                          CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022,
-                                                          CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022):
+                                                          CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022):
        can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled))

      # 5 Hz ACC options
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@ -6,7 +6,7 @@ from cereal import car
 from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.car.hyundai.values import HyundaiFlags, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
 from selfdrive.car.interfaces import CarStateBase

 PREV_BUTTON_SAMPLES = 8
@ -197,7 +197,9 @@ class CarState(CarStateBase):
      ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0

    ret.cruiseState.available = True
-    self.is_metric = cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] != 1
+    cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
+    distance_unit_msg = cruise_btn_msg if self.CP.carFingerprint == CAR.KIA_SORENTO_PHEV_4TH_GEN else "CLUSTER_INFO"
+    self.is_metric = cp.vl[distance_unit_msg]["DISTANCE_UNIT"] != 1
    if not self.CP.openpilotLongitudinalControl:
      speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
      cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp
@ -206,7 +208,6 @@ class CarState(CarStateBase):
      ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2)
      self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"])

-    cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
    self.prev_cruise_buttons = self.cruise_buttons[-1]
    self.cruise_buttons.extend(cp.vl_all[cruise_btn_msg]["CRUISE_BUTTONS"])
    self.main_buttons.extend(cp.vl_all[cruise_btn_msg]["ADAPTIVE_CRUISE_MAIN_BTN"])
@ -446,6 +447,9 @@ class CarState(CarStateBase):
      ("DRIVER_SEATBELT_LATCHED", "DOORS_SEATBELTS"),
    ]

+    if CP.carFingerprint == CAR.KIA_SORENTO_PHEV_4TH_GEN:
+      signals.append(("DISTANCE_UNIT", cruise_btn_msg))
+
    checks = [
      ("WHEEL_SPEEDS", 100),
      (gear_msg, 100),
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@ -20,7 +20,8 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
  if car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
                         CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
                         CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
-                         CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
+                         CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022,
+                         CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022):
    values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
    values["CF_Lkas_LdwsOpt_USM"] = 2

--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@ -2,9 +2,9 @@
 from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
-from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
-from selfdrive.car import STD_CARGO_KG, create_button_events, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car import STD_CARGO_KG, create_button_events, scale_tire_stiffness, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.disable_ecu import disable_ecu

@ -18,13 +18,7 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu

 class CarInterface(CarInterfaceBase):
  @staticmethod
-  def get_pid_accel_limits(CP, current_speed, cruise_speed):
-    return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
-
-  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], experimental_long=False):  # pylint: disable=dangerous-default-value
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
-
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
    ret.carName = "hyundai"
    ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None

@ -120,8 +114,8 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.67
      ret.steerRatio = 14.00 * 1.15
      tire_stiffness_factor = 0.385
-    elif candidate == CAR.TUCSON_HYBRID_4TH_GEN:
-      ret.mass = 1680. + STD_CARGO_KG  # average of all 3 trims
+    elif candidate in (CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN):
+      ret.mass = 1630. + STD_CARGO_KG  # average
      ret.wheelbase = 2.756
      ret.steerRatio = 16.
      tire_stiffness_factor = 0.385
@ -158,7 +152,7 @@ class CarInterface(CarInterfaceBase):
      tire_stiffness_factor = 0.5
      if candidate == CAR.KIA_OPTIMA_G4:
        ret.minSteerSpeed = 32 * CV.MPH_TO_MS
-    elif candidate == CAR.KIA_STINGER:
+    elif candidate in (CAR.KIA_STINGER, CAR.KIA_STINGER_2022):
      ret.mass = 1825. + STD_CARGO_KG
      ret.wheelbase = 2.78
      ret.steerRatio = 14.4 * 1.15   # 15% higher at the center seems reasonable
@ -191,6 +185,10 @@ class CarInterface(CarInterfaceBase):
      ret.mass = 1767. + STD_CARGO_KG  # SX Prestige trim support only
      ret.wheelbase = 2.756
      ret.steerRatio = 13.6
+    elif candidate == CAR.KIA_SORENTO_PHEV_4TH_GEN:
+      ret.mass = 4095.8 * CV.LB_TO_KG + STD_CARGO_KG # weight from EX and above trims, average of FWD and AWD versions (EX, X-Line EX AWD, SX, SX Pestige, X-Line SX Prestige AWD)
+      ret.wheelbase = 2.81
+      ret.steerRatio = 13.27 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sorento-phev/2022/specifications

    # Genesis
    elif candidate == CAR.GENESIS_G70:
@ -219,7 +217,7 @@ class CarInterface(CarInterfaceBase):
    if candidate in CANFD_CAR:
      ret.longitudinalTuning.kpV = [0.1]
      ret.longitudinalTuning.kiV = [0.0]
-      ret.experimentalLongitudinalAvailable = bool(ret.flags & HyundaiFlags.CANFD_HDA2)
+      ret.experimentalLongitudinalAvailable = candidate in (HYBRID_CAR | EV_CAR) and candidate not in CANFD_RADAR_SCC_CAR
    else:
      ret.longitudinalTuning.kpV = [0.5]
      ret.longitudinalTuning.kiV = [0.0]
@ -269,11 +267,11 @@ class CarInterface(CarInterfaceBase):
    elif candidate in EV_CAR:
      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS

-    ret.centerToFront = ret.wheelbase * 0.4
+    if candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
+      ret.flags |= HyundaiFlags.ALT_LIMITS.value
+      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS

-    # TODO: get actual value, for now starting with reasonable value for
-    # civic and scaling by mass and wheelbase
-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
+    ret.centerToFront = ret.wheelbase * 0.4

    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
    # mass and CG position, so all cars will have approximately similar dyn behaviors
@ -283,7 +281,7 @@ class CarInterface(CarInterfaceBase):

  @staticmethod
  def init(CP, logcan, sendcan):
-    if CP.openpilotLongitudinalControl:
+    if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value):
      addr, bus = 0x7d0, 0
      if CP.flags & HyundaiFlags.CANFD_HDA2.value:
        addr, bus = 0x730, 5
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@ -39,6 +39,12 @@ class CarControllerParams:
                               CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO):
      self.STEER_MAX = 255

+    # these cars have significantly more torque than most HKG; limit to 70% of max
+    elif CP.flags & HyundaiFlags.ALT_LIMITS:
+      self.STEER_MAX = 270
+      self.STEER_DELTA_UP = 2
+      self.STEER_DELTA_DOWN = 3
+
    # Default for most HKG
    else:
      self.STEER_MAX = 384
@ -50,6 +56,8 @@ class HyundaiFlags(IntFlag):
  CANFD_ALT_GEARS = 4
  CANFD_CAMERA_SCC = 8

+  ALT_LIMITS = 16
+

 class CAR:
  # Hyundai
@ -78,6 +86,7 @@ class CAR:
  VELOSTER = "HYUNDAI VELOSTER 2019"
  SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
  IONIQ_5 = "HYUNDAI IONIQ 5 2022"
+  TUCSON_4TH_GEN = "HYUNDAI TUCSON 4TH GEN"
  TUCSON_HYBRID_4TH_GEN = "HYUNDAI TUCSON HYBRID 4TH GEN"
  SANTA_CRUZ_1ST_GEN = "HYUNDAI SANTA CRUZ 1ST GEN"

@ -93,8 +102,10 @@ class CAR:
  KIA_SELTOS = "KIA SELTOS 2021"
  KIA_SPORTAGE_5TH_GEN = "KIA SPORTAGE 5TH GEN"
  KIA_SORENTO = "KIA SORENTO GT LINE 2018"
+  KIA_SORENTO_PHEV_4TH_GEN = "KIA SORENTO PLUG-IN HYBRID 4TH GEN"
  KIA_SPORTAGE_HYBRID_5TH_GEN = "KIA SPORTAGE HYBRID 5TH GEN"
  KIA_STINGER = "KIA STINGER GT2 2018"
+  KIA_STINGER_2022 = "KIA STINGER 2022"
  KIA_CEED = "KIA CEED INTRO ED 2019"
  KIA_EV6 = "KIA EV6 2022"

@ -147,11 +158,15 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
  CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e),
  CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness=Harness.hyundai_a),
  CAR.IONIQ_5: [
-    HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23" , "Highway Driving Assist", harness=Harness.hyundai_k),
+    HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", harness=Harness.hyundai_k),
    HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", harness=Harness.hyundai_q),
  ],
+  CAR.TUCSON_4TH_GEN: [
+    HyundaiCarInfo("Hyundai Tucson 2022", harness=Harness.hyundai_n),
+    HyundaiCarInfo("Hyundai Tucson 2023", "All", harness=Harness.hyundai_n),
+  ],
  CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022", "All", harness=Harness.hyundai_n),
-  CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2021-22", "Smart Cruise Control (SCC)", harness=Harness.hyundai_n),
+  CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2021-22", harness=Harness.hyundai_n),

  # Kia
  CAR.KIA_FORTE: HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g),
@ -174,13 +189,15 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
    HyundaiCarInfo("Kia Optima Hybrid 2019"),
  ],
  CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a),
-  CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", "Smart Cruise Control (SCC)", harness=Harness.hyundai_n),
+  CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", harness=Harness.hyundai_n),
  CAR.KIA_SORENTO: [
    HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", "https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c),
    HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e),
  ],
+  CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a),
  CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", harness=Harness.hyundai_n),
  CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
+  CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", harness=Harness.hyundai_k),
  CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e),
  CAR.KIA_EV6: [
    HyundaiCarInfo("Kia EV6 (without HDA II) 2022", "Highway Driving Assist", harness=Harness.hyundai_l),
@ -790,6 +807,23 @@ FW_VERSIONS = {
      b'\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
    ],
  },
+  CAR.KIA_STINGER_2022: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00CK__ SCC F-CUP      1.00 1.00 99110-J5500         ',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81640R0051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5380 4C2VR503',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CK  MFC  AT AUS RHD 1.00 1.00 99211-J5500 210622',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6',
+    ],
+  },
  CAR.PALISADE: {
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00LX2_ SCC F-CUP      1.00 1.04 99110-S8100         ',
@ -1002,11 +1036,13 @@ FW_VERSIONS = {
      b'\xf1\x8799110L2000\xf1\000DL3_ SCC FHCUP      1.00 1.03 99110-L2000         ',
      b'\xf1\x8799110L2100\xf1\x00DL3_ SCC F-CUP      1.00 1.03 99110-L2100         ',
      b'\xf1\x8799110L2100\xf1\x00DL3_ SCC FHCUP      1.00 1.03 99110-L2100         ',
+      b'\xf1\x00DL3_ SCC F-CUP      1.00 1.03 99110-L2100         ',
    ],
    (Ecu.eps, 0x7D4, None): [
      b'\xf1\x8756310-L3110\xf1\000DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101',
      b'\xf1\x8756310-L3220\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101',
      b'\xf1\x8757700-L3000\xf1\x00DL3 MDPS R 1.00 1.02 57700-L3000 4DLAP102',
+      b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101',
    ],
    (Ecu.fwdCamera, 0x7C4, None): [
      b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.03 99210-L3000 200915',
@ -1017,6 +1053,7 @@ FW_VERSIONS = {
      b'\xf1\x8758910-L3200\xf1\000DL ESC \006 101 \004\002 58910-L3200',
      b'\xf1\x8758910-L3800\xf1\x00DL ESC \t 101 \x07\x02 58910-L3800',
      b'\xf1\x8758910-L3600\xf1\x00DL ESC \x03 100 \x08\x02 58910-L3600',
+      b'\xf1\x00DL ESC \t 100 \x06\x02 58910-L3800',
    ],
    (Ecu.engine, 0x7E0, None): [
      b'\xf1\x87391212MKT0',
@ -1029,6 +1066,7 @@ FW_VERSIONS = {
      b'\xf1\x87SALFEA6046104GK2wvwgeTeFg\x88\x96xwwwwffvfe?\xfd\xff\x86fo\xff\x97A\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL2T16NB1ia\x0b\xb8',
      b'\xf1\x87SCMSAA8572454GK1\x87x\x87\x88Vf\x86hgwvwvwwgvwwgT?\xfb\xff\x97fo\xffH\xb8\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18',
      b'\xf1\x87954A02N300\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  WDL3T25XXX730NS2b\x1f\xb8%',
+      b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18',
    ],
  },
  CAR.KONA_EV: {
@ -1371,6 +1409,14 @@ FW_VERSIONS = {
      b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00'
    ],
  },
+  CAR.KIA_SORENTO_PHEV_4TH_GEN: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00MQhe SCC FHCUP      1.00 1.06 99110-P4000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00MQ4HMFC  AT USA LHD 1.00 1.11 99210-P2000 211217',
+    ]
+  },
  CAR.KIA_EV6: {
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00CV1_ RDR -----      1.00 1.01 99110-CV000         ',
@ -1394,10 +1440,19 @@ FW_VERSIONS = {
      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.05 99211-GI010 220614',
    ],
  },
+  CAR.TUCSON_4TH_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NX4__               1.01 1.00 99110-N9100         ',
+    ],
+  },
  CAR.TUCSON_HYBRID_4TH_GEN: {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q',
      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A',
    ],
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00NX4__               1.00 1.00 99110-N9100         ',
@ -1451,18 +1506,18 @@ FEATURES = {
  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022},

  # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
-  "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022},
+  "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022, CAR.KIA_STINGER_2022},
 }

-CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN}
+CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN}

 # The radar does SCC on these cars when HDA I, rather than the camera
-CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, }
+CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN}

 # The camera does SCC on these cars, rather than the radar
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }

-HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN}  # these cars use a different gas signal
+HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN}  # these cars use a different gas signal
 EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5}

 # these cars require a special panda safety mode due to missing counters and checksums in the messages
@ -1496,6 +1551,7 @@ DBC = {
  CAR.KIA_SELTOS: dbc_dict('hyundai_kia_generic', None),
  CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
  CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None),
+  CAR.KIA_STINGER_2022: dbc_dict('hyundai_kia_generic', None),
  CAR.KONA: dbc_dict('hyundai_kia_generic', None),
  CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None),
  CAR.KONA_EV_2022: dbc_dict('hyundai_kia_generic', None),
@ -1512,10 +1568,12 @@ DBC = {
  CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None),
  CAR.KIA_EV6: dbc_dict('hyundai_canfd', None),
  CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
+  CAR.TUCSON_4TH_GEN: dbc_dict('hyundai_canfd', None),
  CAR.TUCSON_HYBRID_4TH_GEN: dbc_dict('hyundai_canfd', None),
  CAR.IONIQ_5: dbc_dict('hyundai_canfd', None),
  CAR.SANTA_CRUZ_1ST_GEN: dbc_dict('hyundai_canfd', None),
  CAR.KIA_SPORTAGE_5TH_GEN: dbc_dict('hyundai_canfd', None),
  CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: dbc_dict('hyundai_canfd', None),
  CAR.GENESIS_GV70_1ST_GEN: dbc_dict('hyundai_canfd', None),
+  CAR.KIA_SORENTO_PHEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
 }
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@ -10,8 +10,8 @@ from common.conversions import Conversions as CV
 from common.kalman.simple_kalman import KF1D
 from common.numpy_fast import interp
 from common.realtime import DT_CTRL
-from selfdrive.car import apply_hysteresis, gen_empty_fingerprint
-from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_deadzone
+from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness
+from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_center_deadzone
 from selfdrive.controls.lib.events import Events
 from selfdrive.controls.lib.vehicle_model import VehicleModel

@ -88,10 +88,34 @@ class CarInterfaceBase(ABC):
  def get_pid_accel_limits(CP, current_speed, cruise_speed):
    return ACCEL_MIN, ACCEL_MAX

+  @classmethod
+  def get_params(cls, candidate: str, fingerprint: Optional[Dict[int, Dict[int, int]]] = None, car_fw: Optional[List[car.CarParams.CarFw]] = None, experimental_long: bool = False):
+    if fingerprint is None:
+      fingerprint = gen_empty_fingerprint()
+
+    if car_fw is None:
+      car_fw = list()
+
+    ret = CarInterfaceBase.get_std_params(candidate)
+    ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long)
+
+    # Set common params using fields set by the car interface
+    # TODO: get actual value, for now starting with reasonable value for
+    # civic and scaling by mass and wheelbase
+    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
+
+    # TODO: some car interfaces set stiffness factor
+    if ret.tireStiffnessFront == 0 or ret.tireStiffnessRear == 0:
+      # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
+      # mass and CG position, so all cars will have approximately similar dyn behaviors
+      ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
+
+    return ret
+
  @staticmethod
  @abstractmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
-    pass
+  def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool):
+    raise NotImplementedError

  @staticmethod
  def init(CP, logcan, sendcan):
@ -110,7 +134,7 @@ class CarInterfaceBase(ABC):
  def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, friction_compensation):
    # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction)
    friction_interp = interp(
-      apply_deadzone(lateral_accel_error, lateral_accel_deadzone),
+      apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
      [-FRICTION_THRESHOLD, FRICTION_THRESHOLD],
      [-torque_params.friction, torque_params.friction]
    )
@ -122,7 +146,7 @@ class CarInterfaceBase(ABC):

  # returns a set of default params to avoid repetition in car specific params
  @staticmethod
-  def get_std_params(candidate, fingerprint):
+  def get_std_params(candidate):
    ret = car.CarParams.new_message()
    ret.carFingerprint = candidate

@ -251,14 +275,9 @@ class CarInterfaceBase(ABC):
      # Enable OP long on falling edge of enable buttons (defaults to accelCruise and decelCruise, overridable per-port)
      if not self.CP.pcmCruise and (b.type in enable_buttons and not b.pressed):
        events.add(EventName.buttonEnable)
-
-      # Disable while cancel is depressed on rising edge of cancel for both stock and OP long
+      # Disable on rising and falling edge of cancel for both stock and OP long
      if b.type == ButtonType.cancel:
-        self.cancel_depressed = b.pressed
-
-    # noEntry while cancel is depressed, matches panda
-    if self.cancel_depressed:
-      events.add(EventName.buttonCancel)
+        events.add(EventName.buttonCancel)

    # Handle permanent and temporary steering faults
    self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@ -137,17 +137,17 @@ class IsoTpParallelQuery:
          else:
            response_timeouts[tx_addr] = 0
            request_done[tx_addr] = True
-            cloudlog.warning(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
+            cloudlog.error(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")

      cur_time = time.monotonic()
      if cur_time - max(response_timeouts.values()) > 0:
        for tx_addr in msgs:
          if request_counter[tx_addr] > 0 and not request_done[tx_addr]:
-            cloudlog.warning(f"iso-tp query timeout after receiving response: {tx_addr}")
+            cloudlog.error(f"iso-tp query timeout after receiving response: {tx_addr}")
        break

      if cur_time - start_time > total_timeout:
-        cloudlog.warning("iso-tp query timeout while receiving data")
+        cloudlog.error("iso-tp query timeout while receiving data")
        break

    return results
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@ -2,7 +2,7 @@
 from cereal import car
 from common.conversions import Conversions as CV
 from selfdrive.car.mazda.values import CAR, LKAS_LIMITS
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase

 ButtonType = car.CarState.ButtonEvent.Type
@ -11,9 +11,7 @@ EventName = car.CarEvent.EventName
 class CarInterface(CarInterfaceBase):

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
-
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
    ret.carName = "mazda"
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
    ret.radarOffCan = True
@ -48,10 +46,6 @@ class CarInterface(CarInterfaceBase):

    ret.centerToFront = ret.wheelbase * 0.41

-    # TODO: get actual value, for now starting with reasonable value for
-    # civic and scaling by mass and wheelbase
-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
-
    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
    # mass and CG position, so all cars will have approximately similar dyn behaviors
    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
--- a/selfdrive/car/mock/interface.py
+++ b/selfdrive/car/mock/interface.py
@ -1,39 +1,28 @@
 #!/usr/bin/env python3
-import math
 from cereal import car
-from common.conversions import Conversions as CV
 from system.swaglog import cloudlog
 import cereal.messaging as messaging
-from selfdrive.car import gen_empty_fingerprint, get_safety_config
+from selfdrive.car import get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase

-# mocked car interface to work with chffrplus
-TS = 0.01  # 100Hz
-YAW_FR = 0.2  # ~0.8s time constant on yaw rate filter
-# low pass gain
-LPG = 2 * math.pi * YAW_FR * TS / (1 + 2 * math.pi * YAW_FR * TS)
-

+# mocked car interface to work with chffrplus
 class CarInterface(CarInterfaceBase):
  def __init__(self, CP, CarController, CarState):
    super().__init__(CP, CarController, CarState)

    cloudlog.debug("Using Mock Car Interface")

-    self.sm = messaging.SubMaster(['gyroscope', 'gpsLocation', 'gpsLocationExternal'])
+    self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])

    self.speed = 0.
    self.prev_speed = 0.
-    self.yaw_rate = 0.
-    self.yaw_rate_meas = 0.

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
    ret.carName = "mock"
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)]
    ret.mass = 1700.
-    ret.rotationalInertia = 2500.
    ret.wheelbase = 2.70
    ret.centerToFront = ret.wheelbase * 0.5
    ret.steerRatio = 13.  # reasonable
@ -45,11 +34,6 @@ class CarInterface(CarInterfaceBase):
  # returns a car.CarState
  def _update(self, c):
    self.sm.update(0)
-
-    # get basic data from phone and gps since CAN isn't connected
-    if self.sm.updated['gyroscope']:
-      self.yaw_rate_meas = -self.sm['gyroscope'].gyroUncalibrated.v[0]
-
    gps_sock = 'gpsLocationExternal' if self.sm.rcv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
    if self.sm.updated[gps_sock]:
      self.prev_speed = self.speed
@ -61,10 +45,9 @@ class CarInterface(CarInterfaceBase):
    # speeds
    ret.vEgo = self.speed
    ret.vEgoRaw = self.speed
-    a = self.speed - self.prev_speed

-    ret.aEgo = a
-    ret.brakePressed = a < -0.5
+    ret.aEgo = self.speed - self.prev_speed
+    ret.brakePressed = ret.aEgo < -0.5

    ret.standstill = self.speed < 0.01
    ret.wheelSpeeds.fl = self.speed
@ -72,10 +55,6 @@ class CarInterface(CarInterfaceBase):
    ret.wheelSpeeds.rl = self.speed
    ret.wheelSpeeds.rr = self.speed

-    self.yawRate = LPG * self.yaw_rate_meas + (1. - LPG) * self.yaw_rate
-    curvature = self.yaw_rate / max(self.speed, 1.)
-    ret.steeringAngleDeg = curvature * self.CP.steerRatio * self.CP.wheelbase * CV.RAD_TO_DEG
-
    return ret

  def apply(self, c):
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car import STD_CARGO_KG, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.nissan.values import CAR

@ -8,9 +8,7 @@ from selfdrive.car.nissan.values import CAR
 class CarInterface(CarInterfaceBase):

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
-
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
    ret.carName = "nissan"
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
    ret.autoResumeSng = False
@ -20,6 +18,9 @@ class CarInterface(CarInterfaceBase):
    ret.steerActuatorDelay = 0.1
    ret.steerRatio = 17

+    ret.steerControlType = car.CarParams.SteerControlType.angle
+    ret.radarOffCan = True
+
    if candidate in (CAR.ROGUE, CAR.XTRAIL):
      ret.mass = 1610 + STD_CARGO_KG
      ret.wheelbase = 2.705
@ -35,17 +36,6 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.824
      ret.centerToFront = ret.wheelbase * 0.44

-    ret.steerControlType = car.CarParams.SteerControlType.angle
-    ret.radarOffCan = True
-
-    # TODO: get actual value, for now starting with reasonable value for
-    # civic and scaling by mass and wheelbase
-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
-
-    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
-    # mass and CG position, so all cars will have approximately similar dyn behaviors
-    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
-
    return ret

  # returns a car.CarState
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car import STD_CARGO_KG, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS

@ -9,9 +9,7 @@ from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS
 class CarInterface(CarInterfaceBase):

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
-
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
    ret.carName = "subaru"
    ret.radarOffCan = True
    ret.dashcamOnly = candidate in PREGLOBAL_CARS
@ -103,14 +101,6 @@ class CarInterface(CarInterfaceBase):
    else:
      raise ValueError(f"unknown car: {candidate}")

-    # TODO: get actual value, for now starting with reasonable value for
-    # civic and scaling by mass and wheelbase
-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
-
-    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
-    # mass and CG position, so all cars will have approximately similar dyn behaviors
-    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
-
    return ret

  # returns a car.CarState
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@ -63,7 +63,7 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
  ],
  CAR.IMPREZA_2020: [
    SubaruCarInfo("Subaru Impreza 2020-22"),
-    SubaruCarInfo("Subaru Crosstrek 2020-21"),
+    SubaruCarInfo("Subaru Crosstrek 2020-23"),
    SubaruCarInfo("Subaru XV 2020-21"),
  ],
  CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"),
@ -235,12 +235,14 @@ FW_VERSIONS = {
      b'\x9a\xc0\000\000',
      b'\n\xc0\004\000',
      b'\x9a\xc0\x04\x00',
+      b'\n\xc0\x04\x01',
    ],
    (Ecu.fwdCamera, 0x787, None): [
      b'\000\000eb\037@ \"',
      b'\000\000e\x8f\037@ )',
      b'\x00\x00eq\x1f@ "',
      b'\x00\x00eq\x00\x00\x00\x00',
+      b'\x00\x00e\x8f\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x7e0, None): [
      b'\xca!ap\a',
@ -250,6 +252,7 @@ FW_VERSIONS = {
      b'\xcc!fp\a',
      b'\xca!f@\x07',
      b'\xca!fp\x07',
+      b'\xf3"f@\x07',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'\xe6\xf5\004\000\000',
@ -258,6 +261,7 @@ FW_VERSIONS = {
      b'\xe7\xf5D0\000',
      b'\xf1\x00\xd7\x10@',
      b'\xe6\xf5D0\x00',
+      b'\xe9\xf6F0\x00',
    ],
  },
  CAR.FORESTER: {
@ -461,6 +465,7 @@ FW_VERSIONS = {
      b'\xa1  \x08\x02',
      b'\xa1 \x06\x02',
      b'\xa1  \x08\x00',
+      b'\xa1 "\t\x00',
    ],
    (Ecu.eps, 0x746, None): [
      b'\x9b\xc0\x10\x00',
@ -482,6 +487,7 @@ FW_VERSIONS = {
      b'\xe2"`p\x07',
      b'\xf1\x82\xe2,\xa0@\x07',
      b'\xbc"`q\x07',
+      b'\xe3,\xa0@\x07',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'\xa5\xfe\xf7@\x00',
--- a/selfdrive/car/tesla/interface.py
+++ b/selfdrive/car/tesla/interface.py
@ -2,14 +2,13 @@
 from cereal import car
 from panda import Panda
 from selfdrive.car.tesla.values import CANBUS, CAR
-from selfdrive.car import STD_CARGO_KG, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_safety_config
+from selfdrive.car import STD_CARGO_KG, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase


 class CarInterface(CarInterfaceBase):
  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
    ret.carName = "tesla"

    # There is no safe way to do steer blending with user torque,
@ -51,9 +50,6 @@ class CarInterface(CarInterfaceBase):
    else:
      raise ValueError(f"Unsupported car: {candidate}")

-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
-    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
-
    return ret

  def _update(self, c):
--- a/selfdrive/car/tesla/values.py
+++ b/selfdrive/car/tesla/values.py
@ -99,8 +99,8 @@ BUTTONS = [
  Button(car.CarState.ButtonEvent.Type.rightBlinker, "STW_ACTN_RQ", "TurnIndLvr_Stat", [2]),
  Button(car.CarState.ButtonEvent.Type.accelCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [4, 16]),
  Button(car.CarState.ButtonEvent.Type.decelCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [8, 32]),
-  Button(car.CarState.ButtonEvent.Type.cancel, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [2]),
-  Button(car.CarState.ButtonEvent.Type.resumeCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [1]),
+  Button(car.CarState.ButtonEvent.Type.cancel, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [1]),
+  Button(car.CarState.ButtonEvent.Type.resumeCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [2]),
 ]

 class CarControllerParams:
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@ -22,7 +22,6 @@ non_tested_cars = [
  GM.HOLDEN_ASTRA,
  GM.MALIBU,
  GM.EQUINOX,
-  GM.BOLT_EV,
  HYUNDAI.GENESIS_G90,
  HYUNDAI.KIA_OPTIMA_H,
  HONDA.ODYSSEY_CHN,
@ -51,6 +50,7 @@ routes = [
  CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV),
  CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT),
  CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV, segment=1),
+  CarTestRoute("555d4087cf86aa91|2022-12-02--12-15-07", GM.BOLT_EUV, segment=14),  # Bolt EV
  CarTestRoute("38aa7da107d5d252|2022-08-15--16-01-12", GM.SILVERADO),

  CarTestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G),
@ -96,8 +96,10 @@ routes = [
  CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA),
  CarTestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF),
  CarTestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON),
+  CarTestRoute("db68bbe12250812c|2022-12-05--00-54-12", HYUNDAI.TUCSON_4TH_GEN),  # 2023
  CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.TUCSON_HYBRID_4TH_GEN),
  CarTestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
+  CarTestRoute("628935d7d3e5f4f7|2022-11-30--01-12-46", HYUNDAI.KIA_SORENTO_PHEV_4TH_GEN),
  CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
  CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.IONIQ_5),  # HDA2
  CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019),
@ -111,6 +113,7 @@ routes = [
  CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.KONA_EV_2022, segment=11),
  CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV),
  CarTestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER),
+  CarTestRoute("5b50b883a4259afb|2022-11-09--15-00-42", HYUNDAI.KIA_STINGER_2022),
  CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER),
  CarTestRoute("d545129f3ca90f28|2022-10-19--09-22-54", HYUNDAI.KIA_EV6),  # HDA2
  CarTestRoute("68d6a96e703c00c9|2022-09-10--16-09-39", HYUNDAI.KIA_EV6),  # HDA1
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@ -31,6 +31,8 @@ class TestCarInterfaces(unittest.TestCase):
    assert car_interface

    self.assertGreater(car_params.mass, 1)
+    self.assertGreater(car_params.wheelbase, 0)
+    self.assertGreater(car_params.centerToFront, 0)
    self.assertGreater(car_params.maxLateralAccel, 0)

    if car_params.steerControlType != car.CarParams.SteerControlType.angle:
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@ -9,7 +9,6 @@ from parameterized import parameterized_class

 from cereal import log, car
 from common.realtime import DT_CTRL
-from selfdrive.boardd.boardd import can_capnp_to_can_list
 from selfdrive.car.fingerprints import all_known_cars
 from selfdrive.car.car_helpers import interfaces
 from selfdrive.car.gm.values import CAR as GM
@ -20,8 +19,7 @@ from selfdrive.test.openpilotci import get_url
 from tools.lib.logreader import LogReader
 from tools.lib.route import Route

-from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import package_can_msg
+from panda.tests.libpanda import libpanda_py

 PandaType = log.PandaState.PandaType

@ -118,7 +116,7 @@ class TestCarModelBase(unittest.TestCase):
    assert self.CI

    # TODO: check safetyModel is in release panda build
-    self.safety = libpandasafety_py.libpandasafety
+    self.safety = libpanda_py.libpanda

    cfg = self.CP.safetyConfigs[-1]
    set_status = self.safety.set_safety_hooks(cfg.safetyModel.raw, cfg.safetyParam)
@ -192,7 +190,7 @@ class TestCarModelBase(unittest.TestCase):
        if msg.src >= 64:
          continue

-        to_send = package_can_msg([msg.address, 0, msg.dat, msg.src % 4])
+        to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
        if self.safety.safety_rx_hook(to_send) != 1:
          failed_addrs[hex(msg.address)] += 1

@ -215,8 +213,8 @@ class TestCarModelBase(unittest.TestCase):
    # warm up pass, as initial states may be different
    for can in self.can_msgs[:300]:
      self.CI.update(CC, (can.as_builder().to_bytes(), ))
-      for msg in can_capnp_to_can_list(can.can, src_filter=range(64)):
-        to_send = package_can_msg(msg)
+      for msg in filter(lambda m: m.src in range(64), can.can):
+        to_send = libpanda_py.make_CANPacket(msg.address, msg.src, msg.dat)
        self.safety.safety_rx_hook(to_send)

    controls_allowed_prev = False
@ -224,10 +222,8 @@ class TestCarModelBase(unittest.TestCase):
    checks = defaultdict(lambda: 0)
    for idx, can in enumerate(self.can_msgs):
      CS = self.CI.update(CC, (can.as_builder().to_bytes(), ))
-      for msg in can_capnp_to_can_list(can.can, src_filter=range(64)):
-        msg = list(msg)
-        msg[3] %= 4
-        to_send = package_can_msg(msg)
+      for msg in filter(lambda m: m.src in range(64), can.can):
+        to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
        ret = self.safety.safety_rx_hook(to_send)
        self.assertEqual(1, ret, f"safety rx failed ({ret=}): {to_send}")

--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@ -30,11 +30,11 @@ CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112]
 CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05]
 VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1]
 VOLKSWAGEN SHARAN 2ND GEN: [2.5, 2.5, 0.1]
-HYUNDAI TUCSON HYBRID 4TH GEN: [2.5, 2.5, 0.0]
-HYUNDAI SANTA CRUZ 1ST GEN: [2.7, 2.7, 0.0]
-KIA SPORTAGE 5TH GEN: [2.7, 2.7, 0.0]
-KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.0]
-GENESIS GV70 1ST GEN: [2.42, 2.42, 0.01]
+HYUNDAI SANTA CRUZ 1ST GEN: [2.7, 2.7, 0.1]
+KIA SPORTAGE 5TH GEN: [2.7, 2.7, 0.1]
+KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.1]
+GENESIS GV70 1ST GEN: [2.42, 2.42, 0.1]
+KIA SORENTO PLUG-IN HYBRID 4TH GEN: [2.5, 2.5, 0.1]

 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]
--- a/selfdrive/car/torque_data/params.yaml
+++ b/selfdrive/car/torque_data/params.yaml
@ -27,10 +27,11 @@ HONDA PILOT 2017: [1.7262026201812795, 0.9470005614967523, 0.21351430733218763]
 HONDA RIDGELINE 2017: [1.4146525028237624, 0.7356572861629564, 0.23307177552211328]
 HYUNDAI ELANTRA 2021: [3.169, 2.1259108157250735, 0.0819]
 HYUNDAI GENESIS 2015-2016: [1.8466226943929824, 1.5552063647830634, 0.0984484465421171]
+HYUNDAI IONIQ 5 2022: [3.172929, 3.0, 0.096019]
 HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276]
 HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778]
 HYUNDAI IONIQ PLUG-IN HYBRID 2019: [2.970807902012267, 1.6312321830002083, 0.1088964990357482]
-HYUNDAI KONA ELECTRIC 2019: [4.398306735170212, 3.2961956260770484, 0.08651833437845884]
+HYUNDAI KONA ELECTRIC 2019: [3.078814714619148, 3.2961956260770484, 0.08651833437845884]
 HYUNDAI PALISADE 2020: [2.544642494803999, 1.8721703683337008, 0.1301424599248651]
 HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.1207019341823945]
 HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963]
@ -38,6 +39,7 @@ HYUNDAI SANTA FE PlUG-IN HYBRID 2022: [1.6953050513611045, 1.5837614296206861, 0
 HYUNDAI SONATA 2019: [2.2200457811703953, 1.2967330275895228, 0.14039920986586393]
 HYUNDAI SONATA 2020: [2.9638737459977467, 2.1259108157250735, 0.07813665616927593]
 HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488717382]
+HYUNDAI TUCSON HYBRID 4TH GEN: [2.035545, 2.035545, 0.110272]
 JEEP GRAND CHEROKEE 2019: [1.7321233388827006, 1.289689569171081, 0.15046331002097185]
 JEEP GRAND CHEROKEE V6 2018: [1.8776598027756923, 1.4057367824262523, 0.11725947414922003]
 KIA EV6 2022: [3.2, 3.0, 0.05]
@ -76,7 +78,7 @@ TOYOTA HIGHLANDER 2020: [2.022340166827233, 1.6183134804881791, 0.14592306380054
 TOYOTA HIGHLANDER HYBRID 2018: [1.752033, 1.6433903296845025, 0.144600]
 TOYOTA HIGHLANDER HYBRID 2020: [1.901174, 2.104015182965606, 0.14447040132184993]
 TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
-TOYOTA PRIUS 2017: [1.746445, 1.5023147650693636, 0.151515]
+TOYOTA PRIUS 2017: [1.60, 1.5023147650693636, 0.151515]
 TOYOTA PRIUS TSS2 2021: [1.972600, 1.9104337425537743, 0.170968]
 TOYOTA RAV4 2017: [2.085695074355425, 2.2142832316984733, 0.13339165270103975]
 TOYOTA RAV4 2019: [2.331293, 2.0993589721530252, 0.129822]
--- a/selfdrive/car/torque_data/substitute.yaml
+++ b/selfdrive/car/torque_data/substitute.yaml
@ -29,14 +29,15 @@ HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019
 HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019
 HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019
 HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019
-HYUNDAI IONIQ 5 2022: KIA EV6 2022
 HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019
 HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019
 HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019
 HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019
 HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020
 HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019
+HYUNDAI TUCSON 4TH GEN: HYUNDAI TUCSON HYBRID 4TH GEN
 HYUNDAI SANTA FE 2022: HYUNDAI SANTA FE HYBRID 2022
+KIA STINGER 2022: KIA STINGER GT2 2018
 GENESIS G90 2017: GENESIS G70 2018
 GENESIS G80 2017: GENESIS G70 2018
 GENESIS G70 2020: HYUNDAI SONATA 2020
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@ -6,7 +6,7 @@ from common.realtime import DT_CTRL
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.toyota.values import ToyotaFlags, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
+from selfdrive.car.toyota.values import ToyotaFlags, DBC, STEER_THRESHOLD, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR


 class CarState(CarStateBase):
@ -85,16 +85,20 @@ class CarState(CarStateBase):
    ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] * self.eps_torque_scale
    # we could use the override bit from dbc, but it's triggered at too high torque values
    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
-    # steer rate fault, goes to 21 or 25 for 1 frame, then 9 for ~2 seconds
-    ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in (0, 9, 21, 25)
+    # steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds
+    # lka msg drop out: goes to 9 then 11 for a combined total of 2 seconds
+    ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in (0, 9, 11, 21, 25)
    # 17 is a fault from a prolonged high torque delta between cmd and user
-    ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] == 17
+    # 3 is a fault from the lka command message not being received by the EPS
+    ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] in (3, 17)

    if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
+      # TODO: find the bit likely in DSU_CRUISE that describes an ACC fault. one may also exist in CLUTCH
      ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
      ret.cruiseState.speed = cp.vl["DSU_CRUISE"]["SET_SPEED"] * CV.KPH_TO_MS
      cluster_set_speed = cp.vl["PCM_CRUISE_ALT"]["UI_SET_SPEED"]
    else:
+      ret.accFaulted = cp.vl["PCM_CRUISE_2"]["ACC_FAULTED"] != 0
      ret.cruiseState.available = cp.vl["PCM_CRUISE_2"]["MAIN_ON"] != 0
      ret.cruiseState.speed = cp.vl["PCM_CRUISE_2"]["SET_SPEED"] * CV.KPH_TO_MS
      cluster_set_speed = cp.vl["PCM_CRUISE_SM"]["UI_SET_SPEED"]
@ -120,12 +124,7 @@ class CarState(CarStateBase):
      self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2

    self.pcm_acc_status = cp.vl["PCM_CRUISE"]["CRUISE_STATE"]
-    if self.CP.carFingerprint in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor:
-      # ignore standstill in hybrid vehicles, since pcm allows to restart without
-      # receiving any special command. Also if interceptor is detected
-      ret.cruiseState.standstill = False
-    else:
-      ret.cruiseState.standstill = self.pcm_acc_status == 7
+    ret.cruiseState.standstill = self.pcm_acc_status == 7
    ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"])
    ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in (1, 2, 3, 4, 5, 6)

@ -208,6 +207,7 @@ class CarState(CarStateBase):
    else:
      signals.append(("MAIN_ON", "PCM_CRUISE_2"))
      signals.append(("SET_SPEED", "PCM_CRUISE_2"))
+      signals.append(("ACC_FAULTED", "PCM_CRUISE_2"))
      signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2"))
      checks.append(("PCM_CRUISE_2", 33))

--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@ -3,7 +3,7 @@ from cereal import car
 from common.conversions import Conversions as CV
 from panda import Panda
 from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, CarControllerParams, NO_STOP_TIMER_CAR
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase

 EventName = car.CarEvent.EventName
@ -15,9 +15,7 @@ class CarInterface(CarInterfaceBase):
    return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], experimental_long=False):  # pylint: disable=dangerous-default-value
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
-
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
    ret.carName = "toyota"
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
    ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
@ -42,7 +40,8 @@ class CarInterface(CarInterfaceBase):
      # Only give steer angle deadzone to for bad angle sensor prius
      for fw in car_fw:
        if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00':
-          steering_angle_deadzone_deg = 1.0
+          steering_angle_deadzone_deg = 0.2
+          ret.steerActuatorDelay = 0.25
          CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)

    elif candidate == CAR.PRIUS_V:
@ -51,7 +50,6 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 17.4
      tire_stiffness_factor = 0.5533
      ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)

    elif candidate in (CAR.RAV4, CAR.RAV4H):
      stop_and_go = True if (candidate in CAR.RAV4H) else False
@ -190,10 +188,6 @@ class CarInterface(CarInterfaceBase):

    ret.centerToFront = ret.wheelbase * 0.44

-    # TODO: get actual value, for now starting with reasonable value for
-    # civic and scaling by mass and wheelbase
-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
-
    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
    # mass and CG position, so all cars will have approximately similar dyn behaviors
    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
@ -247,16 +241,19 @@ class CarInterface(CarInterfaceBase):
    # events
    events = self.create_common_events(ret)

-    if self.CS.low_speed_lockout and self.CP.openpilotLongitudinalControl:
-      events.add(EventName.lowSpeedLockout)
-    if ret.vEgo < self.CP.minEnableSpeed and self.CP.openpilotLongitudinalControl:
-      events.add(EventName.belowEngageSpeed)
-      if c.actuators.accel > 0.3:
-        # some margin on the actuator to not false trigger cancellation while stopping
-        events.add(EventName.speedTooLow)
-      if ret.vEgo < 0.001:
-        # while in standstill, send a user alert
-        events.add(EventName.manualRestart)
+    if self.CP.openpilotLongitudinalControl:
+      if ret.cruiseState.standstill and not ret.brakePressed and not self.CP.enableGasInterceptor:
+        events.add(EventName.resumeRequired)
+      if self.CS.low_speed_lockout:
+        events.add(EventName.lowSpeedLockout)
+      if ret.vEgo < self.CP.minEnableSpeed:
+        events.add(EventName.belowEngageSpeed)
+        if c.actuators.accel > 0.3:
+          # some margin on the actuator to not false trigger cancellation while stopping
+          events.add(EventName.speedTooLow)
+        if ret.vEgo < 0.001:
+          # while in standstill, send a user alert
+          events.add(EventName.manualRestart)

    ret.events = events.to_msg()

--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@ -113,7 +113,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
  CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
  CAR.CAMRYH: ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
  CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-22", footnotes=[Footnote.CAMRY]),
-  CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-22"),
+  CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-23"),
  CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-21"),
  CAR.CHRH: ToyotaCarInfo("Toyota C-HR Hybrid 2017-19"),
  CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19"),
@ -209,16 +209,19 @@ FW_QUERY_CONFIG = FwQueryConfig(
    Request(
      [StdQueries.SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST],
      [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.dsu, Ecu.abs, Ecu.eps],
      bus=0,
    ),
    Request(
      [StdQueries.SHORT_TESTER_PRESENT_REQUEST, StdQueries.OBD_VERSION_REQUEST],
      [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, StdQueries.OBD_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.engine],
      bus=0,
    ),
    Request(
      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.DEFAULT_DIAGNOSTIC_REQUEST, StdQueries.EXTENDED_DIAGNOSTIC_REQUEST, StdQueries.UDS_VERSION_REQUEST],
      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.DEFAULT_DIAGNOSTIC_RESPONSE, StdQueries.EXTENDED_DIAGNOSTIC_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.engine, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.abs, Ecu.eps],
      bus=0,
    ),
  ],
@ -548,10 +551,12 @@ FW_VERSIONS = {
    (Ecu.abs, 0x7b0, None): [
      b'F152633D00\x00\x00\x00\x00\x00\x00',
      b'F152633D60\x00\x00\x00\x00\x00\x00',
+      b'F152633310\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x700, None): [
      b'\x018966306Q6000\x00\x00\x00\x00',
      b'\x018966306Q7000\x00\x00\x00\x00',
+      b'\x018966306V1000\x00\x00\x00\x00',
      b'\x01896633T20000\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 15): [
@ -562,6 +567,7 @@ FW_VERSIONS = {
      b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
      b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
      b'\x028646F3305300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
+      b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
    ],
  },
  CAR.CHR: {
@ -742,6 +748,7 @@ FW_VERSIONS = {
      b'\x018966312S7000\x00\x00\x00\x00',
      b'\x018966312W3000\x00\x00\x00\x00',
      b'\x018966312W9000\x00\x00\x00\x00',
+      b'\x01896637644000\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x7e0, None): [
      b'\x0230A10000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
@ -769,6 +776,7 @@ FW_VERSIONS = {
      b'\x018965B1255000\x00\x00\x00\x00',
      b'8965B12361\x00\x00\x00\x00\x00\x00',
      b'8965B16011\x00\x00\x00\x00\x00\x00',
+      b'8965B76012\x00\x00\x00\x00\x00\x00',
      b'\x018965B12510\x00\x00\x00\x00\x00\x00',
      b'\x018965B1256000\x00\x00\x00\x00',
    ],
@ -794,6 +802,7 @@ FW_VERSIONS = {
      b'\x01F152612862\x00\x00\x00\x00\x00\x00',
      b'\x01F152612B91\x00\x00\x00\x00\x00\x00',
      b'\x01F15260A070\x00\x00\x00\x00\x00\x00',
+      b'\x01F152676250\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [
      b'\x018821F3301100\x00\x00\x00\x00',
@ -821,6 +830,7 @@ FW_VERSIONS = {
      b'\x01896637621000\x00\x00\x00\x00',
      b'\x01896637624000\x00\x00\x00\x00',
      b'\x01896637626000\x00\x00\x00\x00',
+      b'\x01896637639000\x00\x00\x00\x00',
      b'\x01896637648000\x00\x00\x00\x00',
      b'\x01896637643000\x00\x00\x00\x00',
      b'\x02896630A07000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
@ -1014,6 +1024,7 @@ FW_VERSIONS = {
      b'\x01F15264873500\x00\x00\x00\x00',
      b'\x01F152648C6300\x00\x00\x00\x00',
      b'\x01F152648J4000\x00\x00\x00\x00',
+      b'\x01F152648J5000\x00\x00\x00\x00',
      b'\x01F152648J6000\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x700, None): [
@ -1021,6 +1032,7 @@ FW_VERSIONS = {
      b'\x01896630EA1000\x00\x00\x00\x00',
      b'\x01896630EE4000\x00\x00\x00\x00',
      b'\x01896630EE4100\x00\x00\x00\x00',
+      b'\x01896630EE5000\x00\x00\x00\x00',
      b'\x01896630EE6000\x00\x00\x00\x00',
      b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
      b'\x02896630E66100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
@ -1320,6 +1332,7 @@ FW_VERSIONS = {
      b'\x01F15260R302\x00\x00\x00\x00\x00\x00',
      b'\x01F152642551\x00\x00\x00\x00\x00\x00',
      b'\x01F152642561\x00\x00\x00\x00\x00\x00',
+      b'\x01F152642601\x00\x00\x00\x00\x00\x00',
      b'\x01F152642700\x00\x00\x00\x00\x00\x00',
      b'\x01F152642701\x00\x00\x00\x00\x00\x00',
      b'\x01F152642710\x00\x00\x00\x00\x00\x00',
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@ -62,7 +62,9 @@ class CarState(CarStateBase):
    ret.gas = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] / 100.0
    ret.gasPressed = ret.gas > 0
    ret.brake = pt_cp.vl["ESP_05"]["ESP_Bremsdruck"] / 250.0  # FIXME: this is pressure in Bar, not sure what OP expects
-    ret.brakePressed = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"])
+    brake_pedal_pressed = bool(pt_cp.vl["Motor_14"]["MO_Fahrer_bremst"])
+    brake_pressure_detected = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"])
+    ret.brakePressed = brake_pedal_pressed or brake_pressure_detected
    ret.parkingBrake = bool(pt_cp.vl["Kombi_01"]["KBI_Handbremse"])  # FIXME: need to include an EPB check as well

    # Update gear and/or clutch position data.
@ -218,12 +220,13 @@ class CarState(CarStateBase):
    ret.stockAeb = False

    # Update ACC radar status.
-    self.acc_type = 0  # TODO: this is ACC "basic" with nonzero min speed, support FtS (1) later
+    self.acc_type = ext_cp.vl["ACC_System"]["ACS_Typ_ACC"]
    ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"])
-    ret.cruiseState.enabled = bool(pt_cp.vl["Motor_2"]["GRA_Status"])
+    ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["GRA_Status"] in (1, 2)
    if self.CP.pcmCruise:
      ret.accFaulted = ext_cp.vl["ACC_GRA_Anziege"]["ACA_StaACC"] in (6, 7)
-    # TODO: update opendbc with PQ TSK state for OP long accFaulted
+    else:
+      ret.accFaulted = pt_cp.vl["Motor_2"]["GRA_Status"] == 3

    # Update ACC setpoint. When the setpoint reads as 255, the driver has not
    # yet established an ACC setpoint, so treat it as zero.
@ -268,8 +271,9 @@ class CarState(CarStateBase):
      ("Comfort_Signal_Right", "Blinkmodi_02"),  # Right turn signal including comfort blink interval
      ("AB_Gurtschloss_FA", "Airbag_02"),        # Seatbelt status, driver
      ("AB_Gurtschloss_BF", "Airbag_02"),        # Seatbelt status, passenger
-      ("ESP_Fahrer_bremst", "ESP_05"),           # Brake pedal pressed
-      ("ESP_Bremsdruck", "ESP_05"),              # Brake pressure applied
+      ("ESP_Fahrer_bremst", "ESP_05"),           # Driver applied brake pressure over threshold
+      ("MO_Fahrer_bremst", "Motor_14"),          # Brake pedal switch
+      ("ESP_Bremsdruck", "ESP_05"),              # Brake pressure
      ("MO_Fahrpedalrohwert_01", "Motor_20"),    # Accelerator pedal value
      ("EPS_Lenkmoment", "LH_EPS_03"),           # Absolute driver torque input
      ("EPS_VZ_Lenkmoment", "LH_EPS_03"),        # Driver torque input sign
@ -304,6 +308,7 @@ class CarState(CarStateBase):
      ("ESP_02", 50),       # From J104 ABS/ESP controller
      ("GRA_ACC_01", 33),   # From J533 CAN gateway (via LIN from steering wheel controls)
      ("Gateway_72", 10),   # From J533 CAN gateway (aggregated data)
+      ("Motor_14", 10),     # From J623 Engine control module
      ("Airbag_02", 5),     # From J234 Airbag control module
      ("Kombi_01", 2),      # From J285 Instrument cluster
      ("Blinkmodi_02", 1),  # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active)
@ -318,7 +323,6 @@ class CarState(CarStateBase):
    elif CP.transmissionType == TransmissionType.manual:
      signals += [("MO_Kuppl_schalter", "Motor_14"),  # Clutch switch
                  ("BCM1_Rueckfahrlicht_Schalter", "Gateway_72")]  # Reverse light from BCM
-      checks.append(("Motor_14", 10))  # From J623 Engine control module

    if CP.networkLocation == NetworkLocation.fwdCamera:
      # Radars are here on CANBUS.pt
@ -482,15 +486,15 @@ class MqbExtraSignals:
  # Additional signal and message lists for optional or bus-portable controllers
  fwd_radar_signals = [
    ("ACC_Wunschgeschw_02", "ACC_02"),           # ACC set speed
-    ("ACC_Typ", "ACC_06"),                       # Basic vs F2S vs SNG
+    ("ACC_Typ", "ACC_06"),                       # Basic vs FtS vs SnG
    ("AWV2_Freigabe", "ACC_10"),                 # FCW brake jerk release
    ("ANB_Teilbremsung_Freigabe", "ACC_10"),     # AEB partial braking release
    ("ANB_Zielbremsung_Freigabe", "ACC_10"),     # AEB target braking release
  ]
  fwd_radar_checks = [
-    ("ACC_06", 50),                                 # From J428 ACC radar control module
-    ("ACC_10", 50),                                 # From J428 ACC radar control module
-    ("ACC_02", 17),                                 # From J428 ACC radar control module
+    ("ACC_06", 50),                              # From J428 ACC radar control module
+    ("ACC_10", 50),                              # From J428 ACC radar control module
+    ("ACC_02", 17),                              # From J428 ACC radar control module
  ]
  bsm_radar_signals = [
    ("SWA_Infostufe_SWA_li", "SWA_01"),          # Blind spot object info, left
@ -499,24 +503,26 @@ class MqbExtraSignals:
    ("SWA_Warnung_SWA_re", "SWA_01"),            # Blind spot object warning, right
  ]
  bsm_radar_checks = [
-    ("SWA_01", 20),                                 # From J1086 Lane Change Assist
+    ("SWA_01", 20),                              # From J1086 Lane Change Assist
  ]

 class PqExtraSignals:
  # Additional signal and message lists for optional or bus-portable controllers
  fwd_radar_signals = [
-    ("ACA_StaACC", "ACC_GRA_Anziege", 0),           # ACC drivetrain coordinator status
-    ("ACA_V_Wunsch", "ACC_GRA_Anziege", 0),         # ACC set speed
+    ("ACS_Typ_ACC", "ACC_System"),               # Basic vs FtS (no SnG support on PQ)
+    ("ACA_StaACC", "ACC_GRA_Anziege"),           # ACC drivetrain coordinator status
+    ("ACA_V_Wunsch", "ACC_GRA_Anziege"),         # ACC set speed
  ]
  fwd_radar_checks = [
-    ("ACC_GRA_Anziege", 25),                        # From J428 ACC radar control module
+    ("ACC_System", 50),                          # From J428 ACC radar control module
+    ("ACC_GRA_Anziege", 25),                     # From J428 ACC radar control module
  ]
  bsm_radar_signals = [
-    ("SWA_Infostufe_SWA_li", "SWA_1", 0),           # Blind spot object info, left
-    ("SWA_Warnung_SWA_li", "SWA_1", 0),             # Blind spot object warning, left
-    ("SWA_Infostufe_SWA_re", "SWA_1", 0),           # Blind spot object info, right
-    ("SWA_Warnung_SWA_re", "SWA_1", 0),             # Blind spot object warning, right
+    ("SWA_Infostufe_SWA_li", "SWA_1"),           # Blind spot object info, left
+    ("SWA_Warnung_SWA_li", "SWA_1"),             # Blind spot object warning, left
+    ("SWA_Infostufe_SWA_re", "SWA_1"),           # Blind spot object info, right
+    ("SWA_Warnung_SWA_re", "SWA_1"),             # Blind spot object warning, right
  ]
  bsm_radar_checks = [
-    ("SWA_1", 20),                                  # From J1086 Lane Change Assist
+    ("SWA_1", 20),                               # From J1086 Lane Change Assist
  ]
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@ -1,8 +1,7 @@
 from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, \
-                          gen_empty_fingerprint, get_safety_config
+from selfdrive.car import STD_CARGO_KG, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter

@ -22,8 +21,7 @@ class CarInterface(CarInterfaceBase):
      self.cp_ext = self.cp_cam

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
    ret.carName = "volkswagen"
    ret.radarOffCan = True

@ -74,7 +72,6 @@ class CarInterface(CarInterfaceBase):
    ret.steerActuatorDelay = 0.1
    ret.steerLimitTimer = 0.4
    ret.steerRatio = 15.6  # Let the params learner figure this out
-    tire_stiffness_factor = 1.0  # Let the params learner figure this out
    ret.lateralTuning.pid.kpBP = [0.]
    ret.lateralTuning.pid.kiBP = [0.]
    ret.lateralTuning.pid.kf = 0.00006
@ -137,7 +134,6 @@ class CarInterface(CarInterfaceBase):
    elif candidate == CAR.SHARAN_MK2:
      ret.mass = 1639 + STD_CARGO_KG
      ret.wheelbase = 2.92
-      ret.minEnableSpeed = 30 * CV.KPH_TO_MS
      ret.minSteerSpeed = 50 * CV.KPH_TO_MS
      ret.steerActuatorDelay = 0.2

@ -214,10 +210,7 @@ class CarInterface(CarInterfaceBase):
      raise ValueError(f"unsupported car {candidate}")

    ret.autoResumeSng = ret.minEnableSpeed == -1
-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
    ret.centerToFront = ret.wheelbase * 0.45
-    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
-                                                                         tire_stiffness_factor=tire_stiffness_factor)
    return ret

  # returns a car.CarState
@ -237,7 +230,7 @@ class CarInterface(CarInterfaceBase):
      events.add(EventName.belowSteerSpeed)

    if self.CS.CP.openpilotLongitudinalControl:
-      if ret.vEgo < self.CP.minEnableSpeed + 2.:
+      if ret.vEgo < self.CP.minEnableSpeed + 0.5:
        events.add(EventName.belowEngageSpeed)
      if c.enabled and ret.vEgo < self.CP.minEnableSpeed:
        events.add(EventName.speedTooLow)
--- a/selfdrive/car/volkswagen/pqcan.py
+++ b/selfdrive/car/volkswagen/pqcan.py
@ -66,6 +66,7 @@ def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control,
    "ACS_Sta_ADR": acc_control,
    "ACS_StSt_Info": acc_control != 1,
    "ACS_Typ_ACC": acc_type,
+    "ACS_Anhaltewunsch": acc_type == 1 and stopping,
    "ACS_Sollbeschl": accel if acc_control == 1 else 3.01,
    "ACS_zul_Regelabw": 0.2 if acc_control == 1 else 1.27,
    "ACS_max_AendGrad": 3.0 if acc_control == 1 else 5.08,
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@ -1,5 +1,5 @@
 from collections import defaultdict, namedtuple
-from dataclasses import dataclass, field
+from dataclasses import dataclass
 from enum import Enum
 from typing import Dict, List, Union

@ -165,7 +165,9 @@ class Footnote(Enum):
 class VWCarInfo(CarInfo):
  package: str = "Adaptive Cruise Control (ACC) & Lane Assist"
  harness: Enum = Harness.j533
-  footnotes: List[Enum] = field(default_factory=lambda: [Footnote.VW_EXP_LONG])
+
+  def init_make(self, CP: car.CarParams):
+    self.footnotes.insert(0, Footnote.VW_EXP_LONG)


 CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
@ -197,28 +199,28 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
    VWCarInfo("Volkswagen Jetta GLI 2021-22"),
  ],
  CAR.PASSAT_MK8: [
-    VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.VW_EXP_LONG, Footnote.PASSAT]),
+    VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.PASSAT]),
    VWCarInfo("Volkswagen Passat Alltrack 2015-22"),
    VWCarInfo("Volkswagen Passat GTE 2015-22"),
  ],
  CAR.PASSAT_NMS: VWCarInfo("Volkswagen Passat NMS 2017-22"),
  CAR.POLO_MK6: [
-    VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0]),
-    VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0]),
+    VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_MQB_A0]),
+    VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_MQB_A0]),
  ],
  CAR.SHARAN_MK2: [
    VWCarInfo("Volkswagen Sharan 2018-22"),
    VWCarInfo("SEAT Alhambra 2018-20"),
  ],
  CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022"),
-  CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0]),
+  CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]),
  CAR.TIGUAN_MK2: VWCarInfo("Volkswagen Tiguan 2019-22"),
  CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2017"),
  CAR.TRANSPORTER_T61: [
    VWCarInfo("Volkswagen Caravelle 2020"),
    VWCarInfo("Volkswagen California 2021"),
  ],
-  CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2021", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0]),
+  CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2021", footnotes=[Footnote.VW_MQB_A0]),
  CAR.AUDI_A3_MK3: [
    VWCarInfo("Audi A3 2014-19"),
    VWCarInfo("Audi A3 Sportback e-tron 2017-18"),
@ -229,11 +231,11 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
  CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2019-23"),
  CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"),
  CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"),
-  CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0, Footnote.KAMIQ]),
+  CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]),
  CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"),
  CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2018-19"),
-  CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0]),
-  CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-18"),
+  CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020", footnotes=[Footnote.VW_MQB_A0]),
+  CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-22"),
  CAR.SKODA_OCTAVIA_MK3: [
    VWCarInfo("Škoda Octavia 2015, 2018-19"),
    VWCarInfo("Škoda Octavia RS 2016"),
@ -278,12 +280,14 @@ FW_VERSIONS = {
  CAR.ARTEON_MK1: {
    (Ecu.engine, 0x7e0, None): [
      b'\xf1\x873G0906259F \xf1\x890004',
+      b'\xf1\x873G0906259N \xf1\x890004',
      b'\xf1\x873G0906259P \xf1\x890001',
      b'\xf1\x875NA907115H \xf1\x890002',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'\xf1\x8709G927158L \xf1\x893611',
      b'\xf1\x870GC300011L \xf1\x891401',
+      b'\xf1\x870GC300014M \xf1\x892802',
      b'\xf1\x870GC300040P \xf1\x891401',
    ],
    (Ecu.srs, 0x715, None): [
@ -295,8 +299,10 @@ FW_VERSIONS = {
      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1',
      b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571B00817A1',
      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\00567B0020800',
+      b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002MB4092M7N',
    ],
    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
      b'\xf1\x872Q0907572T \xf1\x890383',
      b'\xf1\x875Q0907572J \xf1\x890654',
    ],
@ -314,11 +320,13 @@ FW_VERSIONS = {
      b'\xf1\x8703H906026J \xf1\x899971',
      b'\xf1\x8703H906026S \xf1\x896693',
      b'\xf1\x8703H906026S \xf1\x899970',
+      b'\xf1\x873CN906259  \xf1\x890005',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'\xf1\x8709G927158A \xf1\x893387',
      b'\xf1\x8709G927158DR\xf1\x893536',
      b'\xf1\x8709G927158DR\xf1\x893742',
+      b'\xf1\x8709G927158F \xf1\x893489',
      b'\xf1\x8709G927158FT\xf1\x893835',
      b'\xf1\x8709G927158GL\xf1\x893939',
    ],
@ -332,6 +340,7 @@ FW_VERSIONS = {
    (Ecu.eps, 0x712, None): [
      b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\00571B60924A1',
      b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6G920A1',
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6080105',
      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6090105',
    ],
    (Ecu.fwdRadar, 0x757, None): [
@ -371,6 +380,7 @@ FW_VERSIONS = {
      b'\xf1\x870EA906016Q \xf1\x895993',
      b'\xf1\x870EA906016S \xf1\x897207',
      b'\xf1\x875G0906259  \xf1\x890007',
+      b'\xf1\x875G0906259D \xf1\x890002',
      b'\xf1\x875G0906259J \xf1\x890002',
      b'\xf1\x875G0906259L \xf1\x890002',
      b'\xf1\x875G0906259N \xf1\x890003',
@ -406,6 +416,7 @@ FW_VERSIONS = {
      b'\xf1\x870D9300012  \xf1\x895045',
      b'\xf1\x870D9300014M \xf1\x895004',
      b'\xf1\x870D9300014Q \xf1\x895006',
+      b'\xf1\x870D9300020J \xf1\x894902',
      b'\xf1\x870D9300020Q \xf1\x895201',
      b'\xf1\x870D9300020S \xf1\x895201',
      b'\xf1\x870D9300040A \xf1\x893613',
@ -453,6 +464,7 @@ FW_VERSIONS = {
      b'\xf1\x873Q0909144F \xf1\x895043\xf1\x82\x0561A01612A0',
      b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\x0566A0J612A1',
      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A00514A1',
+      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A01613A1',
      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A0J712A1',
      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571A0J714A1',
      b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A0JA15A1',
@ -1064,6 +1076,7 @@ FW_VERSIONS = {
  },
  CAR.SKODA_SUPERB_MK3: {
    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704L906026ET\xf1\x891343',
      b'\xf1\x8704L906026FP\xf1\x891196',
      b'\xf1\x8704L906026KB\xf1\x894071',
      b'\xf1\x8704L906026KD\xf1\x894798',
@ -1074,9 +1087,11 @@ FW_VERSIONS = {
      b'\xf1\x870CW300042H \xf1\x891601',
      b'\xf1\x870D9300011T \xf1\x894801',
      b'\xf1\x870D9300012  \xf1\x894940',
+      b'\xf1\x870D9300041H \xf1\x894905',
      b'\xf1\x870GC300043  \xf1\x892301',
    ],
    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111',
      b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\022111200111121001121118112231292221111',
      b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\022111200111121001121110012211292221111',
      b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100',
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -12,12 +12,11 @@ import cereal.messaging as messaging
 from common.conversions import Conversions as CV
 from panda import ALTERNATIVE_EXPERIENCE
 from system.swaglog import cloudlog
-from system.version import is_tested_branch, get_short_branch
+from system.version import is_release_branch, get_short_branch
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
 from selfdrive.controls.lib.lateral_planner import CAMERA_OFFSET
-from selfdrive.controls.lib.drive_helpers import V_CRUISE_INITIAL, update_v_cruise, initialize_v_cruise
-from selfdrive.controls.lib.drive_helpers import get_lag_adjusted_curvature
+from selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted_curvature
 from selfdrive.controls.lib.latcontrol import LatControl
 from selfdrive.controls.lib.longcontrol import LongControl
 from selfdrive.controls.lib.latcontrol_pid import LatControlPID
@ -49,7 +48,6 @@ Desire = log.LateralPlan.Desire
 LaneChangeState = log.LateralPlan.LaneChangeState
 LaneChangeDirection = log.LateralPlan.LaneChangeDirection
 EventName = car.CarEvent.EventName
-ButtonEvent = car.CarState.ButtonEvent
 ButtonType = car.CarState.ButtonEvent.Type
 SafetyModel = car.CarParams.SafetyModel

@ -134,7 +132,7 @@ class Controls:
      safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
      self.CP.safetyConfigs = [safety_config]

-    if is_tested_branch():
+    if is_release_branch():
      self.CP.experimentalLongitudinalAvailable = False

    # Write CarParams for radard
@ -173,9 +171,6 @@ class Controls:
    self.active = False
    self.can_rcv_timeout = False
    self.soft_disable_timer = 0
-    self.v_cruise_kph = V_CRUISE_INITIAL
-    self.v_cruise_cluster_kph = V_CRUISE_INITIAL
-    self.v_cruise_kph_last = 0
    self.mismatch_counter = 0
    self.cruise_mismatch_counter = 0
    self.can_rcv_timeout_counter = 0
@ -185,11 +180,11 @@ class Controls:
    self.events_prev = []
    self.current_alert_types = [ET.PERMANENT]
    self.logged_comm_issue = None
-    self.button_timers = {ButtonEvent.Type.decelCruise: 0, ButtonEvent.Type.accelCruise: 0}
    self.last_actuators = car.CarControl.Actuators.new_message()
    self.steer_limited = False
    self.desired_curvature = 0.0
    self.desired_curvature_rate = 0.0
+    self.v_cruise_helper = VCruiseHelper(self.CP)

    # TODO: no longer necessary, aside from process replay
    self.sm['liveParameters'].valid = True
@ -219,7 +214,7 @@ class Controls:
      controls_state = Params().get("ReplayControlsState")
      if controls_state is not None:
        controls_state = log.ControlsState.from_bytes(controls_state)
-        self.v_cruise_kph = controls_state.vCruise
+        self.v_cruise_helper.v_cruise_kph = controls_state.vCruise

      if any(ps.controlsAllowed for ps in self.sm['pandaStates']):
        self.state = State.enabled
@ -245,7 +240,7 @@ class Controls:

    # Block resume if cruise never previously enabled
    resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents)
-    if not self.CP.pcmCruise and self.v_cruise_kph == V_CRUISE_INITIAL and resume_pressed:
+    if not self.CP.pcmCruise and not self.v_cruise_helper.v_cruise_initialized and resume_pressed:
      self.events.add(EventName.resumeBlocked)

    # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
@ -254,6 +249,9 @@ class Controls:
      (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
      self.events.add(EventName.pedalPressed)

+    if CS.brakePressed and CS.standstill:
+      self.events.add(EventName.preEnableStandstill)
+
    if CS.gasPressed:
      self.events.add(EventName.gasPressedOverride)

@ -280,7 +278,7 @@ class Controls:
    #  self.events.add(EventName.highCpuUsage)

    # Alert if fan isn't spinning for 5 seconds
-    if self.sm['peripheralState'].pandaType == PandaType.dos:
+    if self.sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
      if self.sm['peripheralState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50:
        if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0:
          self.events.add(EventName.fanMalfunction)
@ -422,16 +420,6 @@ class Controls:
      if self.sm['liveLocationKalman'].excessiveResets:
        self.events.add(EventName.localizerMalfunction)

-    # Only allow engagement with brake pressed when stopped behind another stopped car
-    speeds = self.sm['longitudinalPlan'].speeds
-    if len(speeds) > 1:
-      v_future = speeds[-1]
-    else:
-      v_future = 100.0
-    if CS.brakePressed and v_future >= self.CP.vEgoStarting \
-      and self.CP.openpilotLongitudinalControl and CS.vEgo < 0.3:
-      self.events.add(EventName.noTarget)
-
  def data_sample(self):
    """Receive data from sockets and update carState"""

@ -478,20 +466,7 @@ class Controls:
  def state_transition(self, CS):
    """Compute conditional state transitions and execute actions on state transitions"""

-    self.v_cruise_kph_last = self.v_cruise_kph
-
-    if CS.cruiseState.available:
-      # if stock cruise is completely disabled, then we can use our own set speed logic
-      if not self.CP.pcmCruise:
-        self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.vEgo, CS.gasPressed, CS.buttonEvents,
-                                            self.button_timers, self.enabled, self.is_metric)
-        self.v_cruise_cluster_kph = self.v_cruise_kph
-      else:
-        self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
-        self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
-    else:
-      self.v_cruise_kph = V_CRUISE_INITIAL
-      self.v_cruise_cluster_kph = V_CRUISE_INITIAL
+    self.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric)

    # decrement the soft disable timer at every step, as it's reset on
    # entrance in SOFT_DISABLING state
@ -536,10 +511,7 @@ class Controls:

        # PRE ENABLING
        elif self.state == State.preEnabled:
-          if self.events.any(ET.NO_ENTRY):
-            self.state = State.disabled
-            self.current_alert_types.append(ET.NO_ENTRY)
-          elif not self.events.any(ET.PRE_ENABLE):
+          if not self.events.any(ET.PRE_ENABLE):
            self.state = State.enabled
          else:
            self.current_alert_types.append(ET.PRE_ENABLE)
@ -569,9 +541,7 @@ class Controls:
          else:
            self.state = State.enabled
          self.current_alert_types.append(ET.ENABLE)
-          if not self.CP.pcmCruise:
-            self.v_cruise_kph = initialize_v_cruise(CS.vEgo, CS.buttonEvents, self.v_cruise_kph_last)
-            self.v_cruise_cluster_kph = self.v_cruise_kph
+          self.v_cruise_helper.initialize_v_cruise(CS)

    # Check if openpilot is engaged and actuators are enabled
    self.enabled = self.state in ENABLED_STATES
@ -602,7 +572,7 @@ class Controls:
    # Check which actuators can be enabled
    CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
                   CS.vEgo > self.CP.minSteerSpeed and not CS.standstill
-    CC.longActive = self.active and not self.events.any(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
+    CC.longActive = self.enabled and not self.events.any(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl

    actuators = CC.actuators
    actuators.longControlState = self.LoC.long_control_state
@ -619,7 +589,7 @@ class Controls:

    if not self.joystick_mode:
      # accel PID loop
-      pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_kph * CV.KPH_TO_MS)
+      pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)
      t_since_plan = (self.sm.frame - self.sm.rcv_frame['longitudinalPlan']) * DT_CTRL
      actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan)

@ -683,16 +653,6 @@ class Controls:

    return CC, lac_log

-  def update_button_timers(self, buttonEvents):
-    # increment timer for buttons still pressed
-    for k in self.button_timers:
-      if self.button_timers[k] > 0:
-        self.button_timers[k] += 1
-
-    for b in buttonEvents:
-      if b.type.raw in self.button_timers:
-        self.button_timers[b.type.raw] = 1 if b.pressed else 0
-
  def publish_logs(self, CS, start_time, CC, lac_log):
    """Send actuators and hud commands to the car, send controlsstate and MPC logging"""

@ -715,7 +675,7 @@ class Controls:
      CC.cruiseControl.resume = self.enabled and CS.cruiseState.standstill and speeds[-1] > 0.1

    hudControl = CC.hudControl
-    hudControl.setSpeed = float(self.v_cruise_cluster_kph * CV.KPH_TO_MS)
+    hudControl.setSpeed = float(self.v_cruise_helper.v_cruise_cluster_kph * CV.KPH_TO_MS)
    hudControl.speedVisible = self.enabled
    hudControl.lanesVisible = self.enabled
    hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead
@ -798,8 +758,8 @@ class Controls:
    controlsState.engageable = not self.events.any(ET.NO_ENTRY)
    controlsState.longControlState = self.LoC.long_control_state
    controlsState.vPid = float(self.LoC.v_pid)
-    controlsState.vCruise = float(self.v_cruise_kph)
-    controlsState.vCruiseCluster = float(self.v_cruise_cluster_kph)
+    controlsState.vCruise = float(self.v_cruise_helper.v_cruise_kph)
+    controlsState.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
    controlsState.upAccelCmd = float(self.LoC.pid.p)
    controlsState.uiAccelCmd = float(self.LoC.pid.i)
    controlsState.ufAccelCmd = float(self.LoC.pid.f)
@ -807,6 +767,7 @@ class Controls:
    controlsState.startMonoTime = int(start_time * 1e9)
    controlsState.forceDecel = bool(force_decel)
    controlsState.canErrorCounter = self.can_rcv_timeout_counter
+    controlsState.experimentalMode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl

    lat_tuning = self.CP.lateralTuning.which()
    if self.joystick_mode:
@ -880,7 +841,6 @@ class Controls:
    self.publish_logs(CS, start_time, CC, lac_log)
    self.prof.checkpoint("Sent")

-    self.update_button_timers(CS.buttonEvents)
    self.CS_prev = CS

  def controlsd_thread(self):
@ -889,6 +849,7 @@ class Controls:
      self.rk.monitor_time()
      self.prof.display()

+
 def main(sm=None, pm=None, logcan=None):
  controls = Controls(sm, pm, logcan)
  controls.controlsd_thread()
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@ -12,6 +12,7 @@ V_CRUISE_MAX = 145  # kph
 V_CRUISE_MIN = 8  # kph
 V_CRUISE_ENABLE_MIN = 40  # kph
 V_CRUISE_INITIAL = 255  # kph
+IMPERIAL_INCREMENT = 1.6  # should be CV.MPH_TO_KPH, but this causes rounding errors

 MIN_SPEED = 1.0
 LAT_MPC_N = 16
@ -22,6 +23,7 @@ CAR_ROTATION_RADIUS = 0.0
 # EU guidelines
 MAX_LATERAL_JERK = 5.0

+ButtonEvent = car.CarState.ButtonEvent
 ButtonType = car.CarState.ButtonEvent.Type
 CRUISE_LONG_PRESS = 50
 CRUISE_NEAREST_FUNC = {
@ -34,68 +36,127 @@ CRUISE_INTERVAL_SIGN = {
 }


-def apply_deadzone(error, deadzone):
-  if error > deadzone:
-    error -= deadzone
-  elif error < - deadzone:
-    error += deadzone
-  else:
-    error = 0.
-  return error
+class VCruiseHelper:
+  def __init__(self, CP):
+    self.CP = CP
+    self.v_cruise_kph = V_CRUISE_INITIAL
+    self.v_cruise_cluster_kph = V_CRUISE_INITIAL
+    self.v_cruise_kph_last = 0
+    self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0}
+    self.button_change_states = {btn: {"standstill": False, "enabled": False} for btn in self.button_timers}
+
+  @property
+  def v_cruise_initialized(self):
+    return self.v_cruise_kph != V_CRUISE_INITIAL
+
+  def update_v_cruise(self, CS, enabled, is_metric):
+    self.v_cruise_kph_last = self.v_cruise_kph
+
+    if CS.cruiseState.available:
+      if not self.CP.pcmCruise:
+        # if stock cruise is completely disabled, then we can use our own set speed logic
+        self._update_v_cruise_non_pcm(CS, enabled, is_metric)
+        self.v_cruise_cluster_kph = self.v_cruise_kph
+        self.update_button_timers(CS, enabled)
+      else:
+        self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
+        self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
+    else:
+      self.v_cruise_kph = V_CRUISE_INITIAL
+      self.v_cruise_cluster_kph = V_CRUISE_INITIAL

+  def _update_v_cruise_non_pcm(self, CS, enabled, is_metric):
+    # handle button presses. TODO: this should be in state_control, but a decelCruise press
+    # would have the effect of both enabling and changing speed is checked after the state transition
+    if not enabled:
+      return

-def rate_limit(new_value, last_value, dw_step, up_step):
-  return clip(new_value, last_value + dw_step, last_value + up_step)
+    long_press = False
+    button_type = None

+    v_cruise_delta = 1. if is_metric else IMPERIAL_INCREMENT

-def update_v_cruise(v_cruise_kph, v_ego, gas_pressed, buttonEvents, button_timers, enabled, metric):
-  # handle button presses. TODO: this should be in state_control, but a decelCruise press
-  # would have the effect of both enabling and changing speed is checked after the state transition
-  if not enabled:
-    return v_cruise_kph
+    for b in CS.buttonEvents:
+      if b.type.raw in self.button_timers and not b.pressed:
+        if self.button_timers[b.type.raw] > CRUISE_LONG_PRESS:
+          return  # end long press
+        button_type = b.type.raw
+        break
+    else:
+      for k in self.button_timers.keys():
+        if self.button_timers[k] and self.button_timers[k] % CRUISE_LONG_PRESS == 0:
+          button_type = k
+          long_press = True
+          break

-  long_press = False
-  button_type = None
+    if button_type is None:
+      return

-  # should be CV.MPH_TO_KPH, but this causes rounding errors
-  v_cruise_delta = 1. if metric else 1.6
+    # Don't adjust speed when pressing resume to exit standstill
+    cruise_standstill = self.button_change_states[button_type]["standstill"] or CS.cruiseState.standstill
+    if button_type == ButtonType.accelCruise and cruise_standstill:
+      return

-  for b in buttonEvents:
-    if b.type.raw in button_timers and not b.pressed:
-      if button_timers[b.type.raw] > CRUISE_LONG_PRESS:
-        return v_cruise_kph  # end long press
-      button_type = b.type.raw
-      break
-  else:
-    for k in button_timers.keys():
-      if button_timers[k] and button_timers[k] % CRUISE_LONG_PRESS == 0:
-        button_type = k
-        long_press = True
-        break
+    # Don't adjust speed if we've enabled since the button was depressed (some ports enable on rising edge)
+    if not self.button_change_states[button_type]["enabled"]:
+      return

-  if button_type:
    v_cruise_delta = v_cruise_delta * (5 if long_press else 1)
-    if long_press and v_cruise_kph % v_cruise_delta != 0:  # partial interval
-      v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](v_cruise_kph / v_cruise_delta) * v_cruise_delta
+    if long_press and self.v_cruise_kph % v_cruise_delta != 0:  # partial interval
+      self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta
    else:
-      v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]
+      self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]

    # If set is pressed while overriding, clip cruise speed to minimum of vEgo
-    if gas_pressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
-      v_cruise_kph = max(v_cruise_kph, v_ego * CV.MS_TO_KPH)
+    if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
+      self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)
+
+    self.v_cruise_kph = clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)

-    v_cruise_kph = clip(round(v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
+  def update_button_timers(self, CS, enabled):
+    # increment timer for buttons still pressed
+    for k in self.button_timers:
+      if self.button_timers[k] > 0:
+        self.button_timers[k] += 1

-  return v_cruise_kph
+    for b in CS.buttonEvents:
+      if b.type.raw in self.button_timers:
+        # Start/end timer and store current state on change of button pressed
+        self.button_timers[b.type.raw] = 1 if b.pressed else 0
+        self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled}

+  def initialize_v_cruise(self, CS):
+    # initializing is handled by the PCM
+    if self.CP.pcmCruise:
+      return

-def initialize_v_cruise(v_ego, buttonEvents, v_cruise_last):
-  for b in buttonEvents:
    # 250kph or above probably means we never had a set speed
-    if b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) and v_cruise_last < 250:
-      return v_cruise_last
+    if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_kph_last < 250:
+      self.v_cruise_kph = self.v_cruise_kph_last
+    else:
+      self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN, V_CRUISE_MAX)))
+
+    self.v_cruise_cluster_kph = self.v_cruise_kph

-  return int(round(clip(v_ego * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN, V_CRUISE_MAX)))
+
+def apply_deadzone(error, deadzone):
+  if error > deadzone:
+    error -= deadzone
+  elif error < - deadzone:
+    error += deadzone
+  else:
+    error = 0.
+  return error
+
+
+def apply_center_deadzone(error, deadzone):
+  if (error > - deadzone) and (error < deadzone):
+    error = 0.
+  return error
+
+
+def rate_limit(new_value, last_value, dw_step, up_step):
+  return clip(new_value, last_value + dw_step, last_value + up_step)


 def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@ -250,10 +250,9 @@ def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messag


 def no_gps_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
-  gps_integrated = sm['peripheralState'].pandaType in (log.PandaState.PandaType.uno, log.PandaState.PandaType.dos)
  return Alert(
    "Poor GPS reception",
-    "Hardware malfunctioning if sky is visible" if gps_integrated else "Check GPS antenna placement",
+    "Hardware malfunctioning if sky is visible",
    AlertStatus.normal, AlertSize.mid,
    Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=300.)

@ -502,7 +501,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
  EventName.resumeRequired: {
    ET.WARNING: Alert(
      "STOPPED",
-      "Press Resume to Go",
+      "Press Resume to Exit Standstill",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
  },
@ -616,9 +615,9 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
                              visual_alert=VisualAlert.brakePressed),
  },

-  EventName.pedalPressedPreEnable: {
+  EventName.preEnableStandstill: {
    ET.PRE_ENABLE: Alert(
-      "Release Pedal to Engage",
+      "Release Brake to Engage",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1, creation_delay=1.),
@ -917,15 +916,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
    ET.NO_ENTRY: NoEntryAlert("Harness Relay Malfunction"),
  },

-  EventName.noTarget: {
-    ET.IMMEDIATE_DISABLE: Alert(
-      "openpilot Canceled",
-      "No close lead car",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.HIGH, VisualAlert.none, AudibleAlert.disengage, 3.),
-    ET.NO_ENTRY: NoEntryAlert("No Close Lead Car"),
-  },
-
  EventName.speedTooLow: {
    ET.IMMEDIATE_DISABLE: Alert(
      "openpilot Canceled",
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@ -10,12 +10,14 @@ LongCtrlState = car.CarControl.Actuators.LongControlState

 def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
                             v_target_1sec, brake_pressed, cruise_standstill):
+  # Ignore cruise standstill if car has a gas interceptor
+  cruise_standstill = cruise_standstill and not CP.enableGasInterceptor
  accelerating = v_target_1sec > v_target
  planned_stop = (v_target < CP.vEgoStopping and
                  v_target_1sec < CP.vEgoStopping and
                  not accelerating)
  stay_stopped = (v_ego < CP.vEgoStopping and
-               (brake_pressed or cruise_standstill))
+                  (brake_pressed or cruise_standstill))
  stopping_condition = planned_stop or stay_stopped

  starting_condition = (v_target_1sec > CP.vEgoStarting and
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@ -352,7 +352,7 @@ class LongitudinalMpc:
      x_and_cruise = np.column_stack([x, cruise_target])
      x = np.min(x_and_cruise, axis=1)

-      self.source = 'e2e' if x_and_cruise[0,0] < x_and_cruise[0,1] else 'cruise'
+      self.source = 'e2e' if x_and_cruise[1,0] < x_and_cruise[1,1] else 'cruise'

    else:
      raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner update')
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@ -6,7 +6,6 @@ from common.numpy_fast import clip, interp
 import cereal.messaging as messaging
 from common.conversions import Conversions as CV
 from common.filter_simple import FirstOrderFilter
-from common.params import Params
 from common.realtime import DT_MDL
 from selfdrive.modeld.constants import T_IDXS
 from selfdrive.controls.lib.longcontrol import LongCtrlState
@ -48,12 +47,7 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
 class LongitudinalPlanner:
  def __init__(self, CP, init_v=0.0, init_a=0.0):
    self.CP = CP
-    self.params = Params()
-    self.param_read_counter = 0
-
    self.mpc = LongitudinalMpc()
-    self.read_param()
-
    self.fcw = False

    self.a_desired = init_a
@ -65,10 +59,6 @@ class LongitudinalPlanner:
    self.j_desired_trajectory = np.zeros(CONTROL_N)
    self.solverExecutionTime = 0.0

-  def read_param(self):
-    e2e = self.params.get_bool('ExperimentalMode') and self.CP.openpilotLongitudinalControl
-    self.mpc.mode = 'blended' if e2e else 'acc'
-
  @staticmethod
  def parse_model(model_msg, model_error):
    if (len(model_msg.position.x) == 33 and
@ -85,10 +75,8 @@ class LongitudinalPlanner:
      j = np.zeros(len(T_IDXS_MPC))
    return x, v, a, j

-  def update(self, sm, read=True):
-    if self.param_read_counter % 50 == 0 and read:
-      self.read_param()
-    self.param_read_counter += 1
+  def update(self, sm):
+    self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'

    v_ego = sm['carState'].vEgo
    v_cruise_kph = sm['controlsState'].vCruise
--- a/selfdrive/controls/tests/test_cruise_speed.py
+++ b/selfdrive/controls/tests/test_cruise_speed.py
@ -1,12 +1,18 @@
 #!/usr/bin/env python3
-import unittest
 import numpy as np
-from common.params import Params
-
+from parameterized import parameterized_class
+import unittest

+from selfdrive.controls.lib.drive_helpers import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_ENABLE_MIN, IMPERIAL_INCREMENT
+from cereal import car
+from common.conversions import Conversions as CV
 from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver

-def run_cruise_simulation(cruise, t_end=20.):
+ButtonEvent = car.CarState.ButtonEvent
+ButtonType = car.CarState.ButtonEvent.Type
+
+
+def run_cruise_simulation(cruise, e2e, t_end=20.):
  man = Maneuver(
    '',
    duration=t_end,
@ -16,24 +22,129 @@ def run_cruise_simulation(cruise, t_end=20.):
    cruise_values=[cruise],
    prob_lead_values=[0.0],
    breakpoints=[0.],
+    e2e=e2e,
  )
  valid, output = man.evaluate()
  assert valid
-  return output[-1,3]
+  return output[-1, 3]


 class TestCruiseSpeed(unittest.TestCase):
  def test_cruise_speed(self):
-    params = Params()
    for e2e in [False, True]:
-      params.put_bool("ExperimentalMode", e2e)
      for speed in np.arange(5, 40, 5):
        print(f'Testing {speed} m/s')
        cruise_speed = float(speed)

-        simulation_steady_state = run_cruise_simulation(cruise_speed)
+        simulation_steady_state = run_cruise_simulation(cruise_speed, e2e)
        self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {speed} m/s')


+# TODO: test pcmCruise
+@parameterized_class(('pcm_cruise',), [(False,)])
+class TestVCruiseHelper(unittest.TestCase):
+  def setUp(self):
+    self.CP = car.CarParams(pcmCruise=self.pcm_cruise)  # pylint: disable=E1101
+    self.v_cruise_helper = VCruiseHelper(self.CP)
+    self.reset_cruise_speed_state()
+
+  def reset_cruise_speed_state(self):
+    # Two resets previous cruise speed
+    for _ in range(2):
+      self.v_cruise_helper.update_v_cruise(car.CarState(cruiseState={"available": False}), enabled=False, is_metric=False)
+
+  def enable(self, v_ego):
+    # Simulates user pressing set with a current speed
+    self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego))
+
+  def test_adjust_speed(self):
+    """
+    Asserts speed changes on falling edges of buttons.
+    """
+
+    self.enable(V_CRUISE_ENABLE_MIN * CV.KPH_TO_MS)
+
+    for btn in (ButtonType.accelCruise, ButtonType.decelCruise):
+      for pressed in (True, False):
+        CS = car.CarState(cruiseState={"available": True})
+        CS.buttonEvents = [ButtonEvent(type=btn, pressed=pressed)]
+
+        self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=False)
+        self.assertEqual(pressed, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last)
+
+  def test_rising_edge_enable(self):
+    """
+    Some car interfaces may enable on rising edge of a button,
+    ensure we don't adjust speed if enabled changes mid-press.
+    """
+
+    # NOTE: enabled is always one frame behind the result from button press in controlsd
+    for enabled, pressed in ((False, False),
+                             (False, True),
+                             (True, False)):
+      CS = car.CarState(cruiseState={"available": True})
+      CS.buttonEvents = [ButtonEvent(type=ButtonType.decelCruise, pressed=pressed)]
+      self.v_cruise_helper.update_v_cruise(CS, enabled=enabled, is_metric=False)
+      if pressed:
+        self.enable(V_CRUISE_ENABLE_MIN * CV.KPH_TO_MS)
+
+      # Expected diff on enabling. Speed should not change on falling edge of pressed
+      self.assertEqual(not pressed, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last)
+
+  def test_resume_in_standstill(self):
+    """
+    Asserts we don't increment set speed if user presses resume/accel to exit cruise standstill.
+    """
+
+    self.enable(0)
+
+    for standstill in (True, False):
+      for pressed in (True, False):
+        CS = car.CarState(cruiseState={"available": True, "standstill": standstill})
+        CS.buttonEvents = [ButtonEvent(type=ButtonType.accelCruise, pressed=pressed)]
+        self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=False)
+
+        # speed should only update if not at standstill and button falling edge
+        should_equal = standstill or pressed
+        self.assertEqual(should_equal, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last)
+
+  def test_set_gas_pressed(self):
+    """
+    Asserts pressing set while enabled with gas pressed sets
+    the speed to the maximum of vEgo and current cruise speed.
+    """
+
+    for v_ego in np.linspace(0, 100, 101):
+      self.reset_cruise_speed_state()
+      self.enable(V_CRUISE_ENABLE_MIN * CV.KPH_TO_MS)
+
+      # first decrement speed, then perform gas pressed logic
+      expected_v_cruise_kph = self.v_cruise_helper.v_cruise_kph - IMPERIAL_INCREMENT
+      expected_v_cruise_kph = max(expected_v_cruise_kph, v_ego * CV.MS_TO_KPH)  # clip to min of vEgo
+      expected_v_cruise_kph = float(np.clip(round(expected_v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX))
+
+      CS = car.CarState(vEgo=float(v_ego), gasPressed=True, cruiseState={"available": True})
+      CS.buttonEvents = [ButtonEvent(type=ButtonType.decelCruise, pressed=False)]
+      self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=False)
+
+      # TODO: fix skipping first run due to enabled on rising edge exception
+      if v_ego == 0.0:
+        continue
+      self.assertEqual(expected_v_cruise_kph, self.v_cruise_helper.v_cruise_kph)
+
+  def test_initialize_v_cruise(self):
+    """
+    Asserts allowed cruise speeds on enabling with SET.
+    """
+
+    for v_ego in np.linspace(0, 100, 101):
+      self.reset_cruise_speed_state()
+      self.assertFalse(self.v_cruise_helper.v_cruise_initialized)
+
+      self.enable(float(v_ego))
+      self.assertTrue(V_CRUISE_ENABLE_MIN <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX)
+      self.assertTrue(self.v_cruise_helper.v_cruise_initialized)
+
+
 if __name__ == "__main__":
  unittest.main()
--- a/selfdrive/controls/tests/test_following_distance.py
+++ b/selfdrive/controls/tests/test_following_distance.py
@ -1,12 +1,11 @@
 #!/usr/bin/env python3
 import unittest
 import numpy as np
-from common.params import Params
-

 from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance
 from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver

+
 def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False):
  man = Maneuver(
    '',
@ -16,7 +15,7 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False):
    initial_distance_lead=100,
    speed_lead_values=[v_lead],
    breakpoints=[0.],
-    e2e=e2e
+    e2e=e2e,
  )
  valid, output = man.evaluate()
  assert valid
@ -25,13 +24,11 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False):

 class TestFollowingDistance(unittest.TestCase):
  def test_following_distance(self):
-    params = Params()
    for e2e in [False, True]:
-      params.put_bool("ExperimentalMode", e2e)
      for speed in np.arange(0, 40, 5):
        print(f'Testing {speed} m/s')
        v_lead = float(speed)
-        simulation_steady_state = run_following_distance_simulation(v_lead)
+        simulation_steady_state = run_following_distance_simulation(v_lead, e2e=e2e)
        correct_steady_state = desired_follow_distance(v_lead, v_lead)
        err_ratio = 0.2 if e2e else 0.1
        self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5))
--- a/selfdrive/controls/tests/test_state_machine.py
+++ b/selfdrive/controls/tests/test_state_machine.py
@ -79,7 +79,7 @@ class TestStateMachine(unittest.TestCase):
    self.assertEqual(self.controlsd.state, State.disabled)

  def test_no_entry(self):
-    # disabled with enable events
+    # Make sure noEntry keeps us disabled
    for et in ENABLE_EVENT_TYPES:
      self.controlsd.events.add(make_event([ET.NO_ENTRY, et]))
      self.controlsd.state_transition(self.CS)
@ -87,11 +87,11 @@ class TestStateMachine(unittest.TestCase):
      self.controlsd.events.clear()

  def test_no_entry_pre_enable(self):
-    # preEnabled with preEnabled event
+    # preEnabled with noEntry event
    self.controlsd.state = State.preEnabled
    self.controlsd.events.add(make_event([ET.NO_ENTRY, ET.PRE_ENABLE]))
    self.controlsd.state_transition(self.CS)
-    self.assertEqual(self.controlsd.state, State.disabled)
+    self.assertEqual(self.controlsd.state, State.preEnabled)

  def test_maintain_states(self):
    # Given current state's event type, we should maintain state
--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/selfdrive/debug/test_fw_query_on_routes.py
@ -68,7 +68,7 @@ if __name__ == "__main__":
      CP = None
      for msg in lr:
        if msg.which() == "pandaStates":
-          if msg.pandaStates[0].pandaType not in ('uno', 'blackPanda', 'dos'):
+          if msg.pandaStates[0].pandaType in ('unknown', 'whitePanda', 'greyPanda', 'pedal'):
            print("wrong panda type")
            break

--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@ -187,6 +187,7 @@ class Laikad:
        "gpsTimeOfWeek": tow,
        "positionECEF": measurement_msg(value=ecef_pos.tolist(), std=pos_std.tolist(), valid=kf_valid),
        "velocityECEF": measurement_msg(value=ecef_vel.tolist(), std=vel_std.tolist(), valid=kf_valid),
+        # TODO std is incorrectly the dimension of the measurements and not 3D
        "positionFixECEF": measurement_msg(value=self.last_pos_fix, std=self.last_pos_residual, valid=self.last_pos_fix_t == t),
        "ubloxMonoTime": gnss_mono_time,
        "correctedMeasurements": meas_msgs
--- a/selfdrive/locationd/liblocationd.cc
+++ b/selfdrive/locationd/liblocationd.cc
@ -26,4 +26,16 @@ extern "C" {
    memcpy(std_buff, stdev.data(), sizeof(double) * stdev.size());
  }

+  bool is_gps_ok(Localizer *localizer){
+    return localizer->is_gps_ok();
+  }
+
+  bool are_inputs_ok(Localizer *localizer){
+    return localizer->are_inputs_ok();
+  }
+
+  void observation_timings_invalid_reset(Localizer *localizer){
+    localizer->observation_timings_invalid_reset();
+  }
+
 }
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@ -19,6 +19,9 @@ const double VALID_TIME_SINCE_RESET = 1.0; // s
 const double VALID_POS_STD = 50.0; // m
 const double MAX_RESET_TRACKER = 5.0;
 const double SANE_GPS_UNCERTAINTY = 1500.0; // m
+const double INPUT_INVALID_THRESHOLD = 5.0; // same as reset tracker
+const double DECAY = 0.99995; // same as reset tracker
+const double MAX_FILTER_REWIND_TIME = 0.8; // s

 // TODO: GPS sensor time offsets are empirically calculated
 // They should be replaced with synced time from a real clock
@ -200,6 +203,14 @@ VectorXd Localizer::get_stdev() {
  return this->kf->get_P().diagonal().array().sqrt();
 }

+bool Localizer::are_inputs_ok() {
+  return this->critical_services_valid(this->observation_values_invalid) && !this->observation_timings_invalid;
+}
+
+void Localizer::observation_timings_invalid_reset(){
+  this->observation_timings_invalid = false;
+}
+
 void Localizer::handle_sensor(double current_time, const cereal::SensorEventData::Reader& log) {
  // TODO does not yet account for double sensor readings in the log

@ -209,10 +220,15 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData
  }

  double sensor_time = 1e-9 * log.getTimestamp();
-
+  
  // sensor time and log time should be close
  if (std::abs(current_time - sensor_time) > 0.1) {
    LOGE("Sensor reading ignored, sensor timestamp more than 100ms off from log time");
+    this->observation_timings_invalid = true;
+    return;
+  }
+  else if (!this->is_timestamp_valid(sensor_time)) {
+    this->observation_timings_invalid = true;
    return;
  }

@ -227,6 +243,10 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData
    auto meas = Vector3d(-v[2], -v[1], -v[0]);
    if (meas.norm() < ROTATION_SANITY_CHECK) {
      this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_GYRO, { meas });
+      this->observation_values_invalid["gyroscope"] *= DECAY;
+    }
+    else{
+      this->observation_values_invalid["gyroscope"] += 1.0;
    }
  }

@ -242,6 +262,10 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData
    auto meas = Vector3d(-v[2], -v[1], -v[0]);
    if (meas.norm() < ACCEL_SANITY_CHECK) {
      this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_ACCEL, { meas });
+      this->observation_values_invalid["accelerometer"] *= DECAY;
+    }
+    else{
+      this->observation_values_invalid["accelerometer"] += 1.0;
    }
  }
 }
@ -335,8 +359,14 @@ void Localizer::handle_car_state(double current_time, const cereal::CarState::Re
 void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log) {
  VectorXd rot_device = this->device_from_calib * floatlist2vector(log.getRot());
  VectorXd trans_device = this->device_from_calib * floatlist2vector(log.getTrans());
+  
+  if (!this->is_timestamp_valid(current_time)) {
+    this->observation_timings_invalid = true;
+    return;
+  }

  if ((rot_device.norm() > ROTATION_SANITY_CHECK) || (trans_device.norm() > TRANS_SANITY_CHECK)) {
+    this->observation_values_invalid["cameraOdometry"] += 1.0;
    return;
  }

@ -344,10 +374,12 @@ void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry
  VectorXd trans_calib_std = floatlist2vector(log.getTransStd());

  if ((rot_calib_std.minCoeff() <= MIN_STD_SANITY_CHECK) || (trans_calib_std.minCoeff() <= MIN_STD_SANITY_CHECK)) {
+    this->observation_values_invalid["cameraOdometry"] += 1.0;
    return;
  }

  if ((rot_calib_std.norm() > 10 * ROTATION_SANITY_CHECK) || (trans_calib_std.norm() > 10 * TRANS_SANITY_CHECK)) {
+    this->observation_values_invalid["cameraOdometry"] += 1.0;
    return;
  }

@ -363,12 +395,19 @@ void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry
    { rot_device }, { rot_device_cov });
  this->kf->predict_and_observe(current_time, OBSERVATION_CAMERA_ODO_TRANSLATION,
    { trans_device }, { trans_device_cov });
+  this->observation_values_invalid["cameraOdometry"] *= DECAY;
 }

 void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log) {
+  if (!this->is_timestamp_valid(current_time)) {
+    this->observation_timings_invalid = true;
+    return;
+  }
+
  if (log.getRpyCalib().size() > 0) {
    auto live_calib = floatlist2vector(log.getRpyCalib());
    if ((live_calib.minCoeff() < -CALIB_RPY_SANITY_CHECK) || (live_calib.maxCoeff() > CALIB_RPY_SANITY_CHECK)) {
+      this->observation_values_invalid["liveCalibration"] += 1.0;
      return;
    }

@ -376,6 +415,7 @@ void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibra
    this->device_from_calib = euler2rot(this->calib);
    this->calib_from_device = this->device_from_calib.transpose();
    this->calibrated = log.getCalStatus() == 1;
+    this->observation_values_invalid["liveCalibration"] *= DECAY;
  }
 }

@ -407,8 +447,8 @@ void Localizer::time_check(double current_time) {

 void Localizer::update_reset_tracker() {
  // reset tracker is tuned to trigger when over 1reset/10s over 2min period
-  if (this->isGpsOK()) {
-    this->reset_tracker *= .99995;
+  if (this->is_gps_ok()) {
+    this->reset_tracker *= DECAY;
  } else {
    this->reset_tracker = 0.0;
  }
@ -483,10 +523,28 @@ kj::ArrayPtr<capnp::byte> Localizer::get_message_bytes(MessageBuilder& msg_build
  return msg_builder.toBytes();
 }

-bool Localizer::isGpsOK() {
+bool Localizer::is_gps_ok() {
  return this->gps_valid;
 }

+bool Localizer::critical_services_valid(std::map<std::string, double> critical_services) {
+  for (auto &kv : critical_services){
+    if (kv.second >= INPUT_INVALID_THRESHOLD){
+      return false;
+    }
+  }
+  return true;
+}
+
+bool Localizer::is_timestamp_valid(double current_time) {  
+  double filter_time = this->kf->get_filter_time();
+  if (!std::isnan(filter_time) && ((filter_time - current_time) > MAX_FILTER_REWIND_TIME)) {
+    LOGE("Observation timestamp is older than the max rewind threshold of the filter");
+    return false;
+  }
+  return true;
+}
+
 void Localizer::determine_gps_mode(double current_time) {
  // 1. If the pos_std is greater than what's not acceptable and localizer is in gps-mode, reset to no-gps-mode
  // 2. If the pos_std is greater than what's not acceptable and localizer is in no-gps-mode, fake obs
@ -521,10 +579,15 @@ int Localizer::locationd_thread() {

  uint64_t cnt = 0;
  bool filterInitialized = false;
+  const std::vector<std::string> critical_input_services = {"cameraOdometry", "liveCalibration", "accelerometer", "gyroscope"};
+  for (std::string service : critical_input_services) {
+    this->observation_values_invalid.insert({service, 0.0});
+  }

  while (!do_exit) {
    sm.update();
    if (filterInitialized){
+      this->observation_timings_invalid_reset();
      for (const char* service : service_list) {
        if (sm.updated(service) && sm.valid(service)){
          const cereal::Event::Reader log = sm[service];
@ -538,8 +601,8 @@ int Localizer::locationd_thread() {
    // 100Hz publish for notcars, 20Hz for cars
    const char* trigger_msg = sm["carParams"].getCarParams().getNotCar() ? "accelerometer" : "cameraOdometry";
    if (sm.updated(trigger_msg)) {
-      bool inputsOK = sm.allAliveAndValid();
-      bool gpsOK = this->isGpsOK();
+      bool inputsOK = sm.allAliveAndValid() && this->are_inputs_ok();
+      bool gpsOK = this->is_gps_ok();
      bool sensorsOK = sm.allAliveAndValid({"accelerometer", "gyroscope"});

      MessageBuilder msg_builder;
--- a/selfdrive/locationd/locationd.h
+++ b/selfdrive/locationd/locationd.h
@ -3,6 +3,7 @@
 #include <eigen3/Eigen/Dense>
 #include <fstream>
 #include <memory>
+#include <map>
 #include <string>

 #include "cereal/messaging/messaging.h"
@ -32,8 +33,12 @@ public:
  void finite_check(double current_time = NAN);
  void time_check(double current_time = NAN);
  void update_reset_tracker();
-  bool isGpsOK();
+  bool is_gps_ok();
+  bool critical_services_valid(std::map<std::string, double> critical_services);
+  bool is_timestamp_valid(double current_time);
  void determine_gps_mode(double current_time);
+  bool are_inputs_ok();
+  void observation_timings_invalid_reset();

  kj::ArrayPtr<capnp::byte> get_message_bytes(MessageBuilder& msg_builder,
    bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid);
@ -73,4 +78,6 @@ private:
  bool gps_mode = false;
  bool gps_valid = false;
  bool ublox_available = true;
+  bool observation_timings_invalid = false;
+  std::map<std::string, double> observation_values_invalid;  
 };
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@ -16,9 +16,9 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 HISTORY = 5  # secs
 POINTS_PER_BUCKET = 1500
 MIN_POINTS_TOTAL = 4000
-MIN_POINTS_TOTAL_QLOG = 800
+MIN_POINTS_TOTAL_QLOG = 600
 FIT_POINTS_TOTAL = 2000
-FIT_POINTS_TOTAL_QLOG = 800
+FIT_POINTS_TOTAL_QLOG = 600
 MIN_VEL = 15  # m/s
 FRICTION_FACTOR = 1.5  # ~85% of data coverage
 FACTOR_SANITY = 0.3
--- a/selfdrive/loggerd/loggerd.h
+++ b/selfdrive/loggerd/loggerd.h
@ -10,6 +10,7 @@
 #include <string>
 #include <thread>
 #include <unordered_map>
+#include <utility>

 #include "cereal/messaging/messaging.h"
 #include "cereal/services.h"
--- a/selfdrive/loggerd/tests/test_logger.cc
+++ b/selfdrive/loggerd/tests/test_logger.cc
@ -4,6 +4,7 @@
 #include <condition_variable>
 #include <sstream>
 #include <thread>
+#include <utility>

 #include "catch2/catch.hpp"
 #include "cereal/messaging/messaging.h"
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@ -24,6 +24,7 @@ procs = [
  NativeProcess("logcatd", "system/logcatd", ["./logcatd"]),
  NativeProcess("proclogd", "system/proclogd", ["./proclogd"]),
  PythonProcess("logmessaged", "system.logmessaged", offroad=True),
+  PythonProcess("micd", "system.micd"),
  PythonProcess("timezoned", "system.timezoned", enabled=not PC, offroad=True),

  DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
@ -31,7 +32,8 @@ procs = [
  NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]),
  NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging),
  NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
-  # NativeProcess("mapsd", "selfdrive/navd", ["./map_renderer"]),
+  NativeProcess("mapsd", "selfdrive/navd", ["./map_renderer"], enabled=False),
+  NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], enabled=False),
  NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC),
  NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=(not PC or WEBCAM)),
  NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)),
--- a/selfdrive/manager/test/test_manager.py
+++ b/selfdrive/manager/test/test_manager.py
@ -4,6 +4,7 @@ import signal
 import time
 import unittest

+from common.params import Params
 import selfdrive.manager.manager as manager
 from selfdrive.manager.process import DaemonProcess
 from selfdrive.manager.process_config import managed_processes
@ -20,6 +21,10 @@ class TestManager(unittest.TestCase):
    os.environ['PASSIVE'] = '0'
    HARDWARE.set_power_save(False)

+    # ensure clean CarParams
+    params = Params()
+    params.clear_all()
+
  def tearDown(self):
    manager.manager_cleanup()

@ -40,6 +45,7 @@ class TestManager(unittest.TestCase):
      Ensure all processes exit cleanly when stopped.
    """
    HARDWARE.set_power_save(False)
+    manager.manager_init()
    manager.manager_prepare()
    for p in ALL_PROCESSES:
      managed_processes[p].start()
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@ -112,3 +112,8 @@ llenv.Program('_modeld', [
    "modeld.cc",
    "models/driving.cc",
  ]+common_model, LIBS=libs + transformations)
+
+lenv.Program('_navmodeld', [
+    "navmodeld.cc",
+    "models/nav.cc",
+  ]+common_model, LIBS=libs + transformations)
--- a/selfdrive/modeld/models/commonmodel.h
+++ b/selfdrive/modeld/models/commonmodel.h
@ -13,6 +13,7 @@
 #endif

 #include "common/mat.h"
+#include "cereal/messaging/messaging.h"
 #include "selfdrive/modeld/transforms/loadyuv.h"
 #include "selfdrive/modeld/transforms/transform.h"

@ -21,6 +22,11 @@ const bool send_raw_pred = getenv("SEND_RAW_PRED") != NULL;
 void softmax(const float* input, float* output, size_t len);
 float sigmoid(float input);

+template<class T, size_t size>
+constexpr const kj::ArrayPtr<const T> to_kj_array_ptr(const std::array<T, size> &arr) {
+  return kj::ArrayPtr(arr.data(), arr.size());
+}
+
 class ModelFrame {
 public:
  ModelFrame(cl_device_id device_id, cl_context context);
--- a/selfdrive/modeld/models/driving.cc
+++ b/selfdrive/modeld/models/driving.cc
@ -22,11 +22,6 @@ std::array<float, 3> prev_brake_3ms2_probs = {0,0,0};

 // #define DUMP_YUV

-template<class T, size_t size>
-constexpr const kj::ArrayPtr<const T> to_kj_array_ptr(const std::array<T, size> &arr) {
-  return kj::ArrayPtr(arr.data(), arr.size());
-}
-
 void model_init(ModelState* s, cl_device_id device_id, cl_context context) {
  s->frame = new ModelFrame(device_id, context);
  s->wide_frame = new ModelFrame(device_id, context);
--- a/selfdrive/modeld/models/nav.cc
+++ b/selfdrive/modeld/models/nav.cc
@ -0,0 +1,66 @@
+#include "selfdrive/modeld/models/nav.h"
+
+#include <cstdio>
+#include <cstring>
+
+#include "common/mat.h"
+#include "common/modeldata.h"
+#include "common/timing.h"
+
+
+void navmodel_init(NavModelState* s) {
+#ifdef USE_ONNX_MODEL
+  s->m = new ONNXModel("models/navmodel.onnx", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, false, true);
+#else
+  s->m = new SNPEModel("models/navmodel_q.dlc", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, false, true);
+#endif
+}
+
+NavModelResult* navmodel_eval_frame(NavModelState* s, VisionBuf* buf) {
+  memcpy(s->net_input_buf, buf->addr, NAV_INPUT_SIZE);
+
+  double t1 = millis_since_boot();
+  s->m->addImage((float*)s->net_input_buf, NAV_INPUT_SIZE/sizeof(float));
+  s->m->execute();
+  double t2 = millis_since_boot();
+
+  NavModelResult *model_res = (NavModelResult*)&s->output;
+  model_res->dsp_execution_time = (t2 - t1) / 1000.;
+  return model_res;
+}
+
+void fill_plan(cereal::NavModelData::Builder &framed, const NavModelOutputPlan &plan) {
+  std::array<float, TRAJECTORY_SIZE> pos_x, pos_y;
+  std::array<float, TRAJECTORY_SIZE> pos_x_std, pos_y_std;
+
+  for (int i=0; i<TRAJECTORY_SIZE; i++) {
+    pos_x[i] = plan.mean[i].x;
+    pos_y[i] = plan.mean[i].y;
+    pos_x_std[i] = exp(plan.std[i].x);
+    pos_y_std[i] = exp(plan.std[i].y);
+  }
+
+  auto position = framed.initPosition();
+  position.setX(to_kj_array_ptr(pos_x));
+  position.setY(to_kj_array_ptr(pos_y));
+  position.setXStd(to_kj_array_ptr(pos_x_std));
+  position.setYStd(to_kj_array_ptr(pos_y_std));
+}
+
+void navmodel_publish(PubMaster &pm, uint32_t frame_id, const NavModelResult &model_res, float execution_time) {
+  // make msg
+  MessageBuilder msg;
+  auto framed = msg.initEvent().initNavModel();
+  framed.setFrameId(frame_id);
+  framed.setModelExecutionTime(execution_time);
+  framed.setDspExecutionTime(model_res.dsp_execution_time);
+  framed.setFeatures(to_kj_array_ptr(model_res.features.values));
+  framed.setDesirePrediction(to_kj_array_ptr(model_res.desire_pred.values));
+  fill_plan(framed, model_res.plans.get_best_prediction());
+
+  pm.send("navModel", msg);
+}
+
+void navmodel_free(NavModelState* s) {
+  delete s->m;
+}
--- a/selfdrive/modeld/models/nav.h
+++ b/selfdrive/modeld/models/nav.h
@ -0,0 +1,73 @@
+#pragma once
+
+#include "cereal/messaging/messaging.h"
+#include "cereal/visionipc/visionipc_client.h"
+#include "common/util.h"
+#include "common/modeldata.h"
+#include "selfdrive/modeld/models/commonmodel.h"
+#include "selfdrive/modeld/runners/run.h"
+
+constexpr int NAV_INPUT_SIZE = 256*256;
+constexpr int NAV_FEATURE_LEN = 64;
+constexpr int NAV_DESIRE_LEN = 32;
+constexpr int NAV_PLAN_MHP_N = 5;
+
+struct NavModelOutputXY {
+  float x;
+  float y;
+};
+static_assert(sizeof(NavModelOutputXY) == sizeof(float)*2);
+
+struct NavModelOutputPlan {
+  std::array<NavModelOutputXY, TRAJECTORY_SIZE> mean;
+  std::array<NavModelOutputXY, TRAJECTORY_SIZE> std;
+  float prob;
+};
+static_assert(sizeof(NavModelOutputPlan) == sizeof(NavModelOutputXY)*TRAJECTORY_SIZE*2 + sizeof(float));
+
+struct NavModelOutputPlans {
+  std::array<NavModelOutputPlan, NAV_PLAN_MHP_N> predictions;
+
+  constexpr const NavModelOutputPlan &get_best_prediction() const {
+    int max_idx = 0;
+    for (int i = 1; i < predictions.size(); i++) {
+      if (predictions[i].prob > predictions[max_idx].prob) {
+        max_idx = i;
+      }
+    }
+    return predictions[max_idx];
+  }
+};
+static_assert(sizeof(NavModelOutputPlans) == sizeof(NavModelOutputPlan)*NAV_PLAN_MHP_N);
+
+struct NavModelOutputDesirePrediction {
+  std::array<float, NAV_DESIRE_LEN> values;
+};
+static_assert(sizeof(NavModelOutputDesirePrediction) == sizeof(float)*NAV_DESIRE_LEN);
+
+struct NavModelOutputFeatures {
+  std::array<float, NAV_FEATURE_LEN> values;
+};
+static_assert(sizeof(NavModelOutputFeatures) == sizeof(float)*NAV_FEATURE_LEN);
+
+struct NavModelResult {
+  const NavModelOutputPlans plans;
+  const NavModelOutputDesirePrediction desire_pred;
+  const NavModelOutputFeatures features;
+  float dsp_execution_time;
+};
+static_assert(sizeof(NavModelResult) == sizeof(NavModelOutputPlans) + sizeof(NavModelOutputDesirePrediction) + sizeof(NavModelOutputFeatures) + sizeof(float));
+
+constexpr int NAV_OUTPUT_SIZE = sizeof(NavModelResult) / sizeof(float);
+constexpr int NAV_NET_OUTPUT_SIZE = NAV_OUTPUT_SIZE - 1;
+
+struct NavModelState {
+  RunModel *m;
+  uint8_t net_input_buf[NAV_INPUT_SIZE];
+  float output[NAV_OUTPUT_SIZE];
+};
+
+void navmodel_init(NavModelState* s);
+NavModelResult* navmodel_eval_frame(NavModelState* s, VisionBuf* buf);
+void navmodel_publish(PubMaster &pm, uint32_t frame_id, const NavModelResult &model_res, float execution_time);
+void navmodel_free(NavModelState* s);
--- a/selfdrive/modeld/models/navmodel.onnx
+++ b/selfdrive/modeld/models/navmodel.onnx
@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eab4b986e14d7d842d6d5487011c329d356fb56995b2ae7dc7188aefe6df9d97
+size 12285002
--- a/selfdrive/modeld/models/navmodel_q.dlc
+++ b/selfdrive/modeld/models/navmodel_q.dlc
@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83d53efc40053b02fe7d3da4ef6213a4a5a1ae4d1bd49c121b9beb6a54ea1148
+size 3154868
--- a/selfdrive/modeld/navmodeld
+++ b/selfdrive/modeld/navmodeld
@ -0,0 +1,12 @@
+#!/bin/sh
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+if [ -f /TICI ]; then
+  export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/third_party/snpe/larch64:$LD_LIBRARY_PATH"
+  export ADSP_LIBRARY_PATH="/data/pythonpath/third_party/snpe/dsp/"
+else
+  export LD_LIBRARY_PATH="$DIR/../../third_party/snpe/x86_64-linux-clang:$DIR/../../openpilot/third_party/snpe/x86_64:$LD_LIBRARY_PATH"
+fi
+exec ./_navmodeld
--- a/selfdrive/modeld/navmodeld.cc
+++ b/selfdrive/modeld/navmodeld.cc
@ -0,0 +1,59 @@
+#include <sys/resource.h>
+#include <limits.h>
+
+#include <cstdio>
+#include <cstdlib>
+
+#include "cereal/visionipc/visionipc_client.h"
+#include "common/swaglog.h"
+#include "common/util.h"
+#include "selfdrive/modeld/models/nav.h"
+
+ExitHandler do_exit;
+
+void run_model(NavModelState &model, VisionIpcClient &vipc_client) {
+  PubMaster pm({"navModel"});
+
+  double last_ts = 0;
+  uint32_t last_frame_id = 0;
+  VisionIpcBufExtra extra = {};
+
+  while (!do_exit) {
+    VisionBuf *buf = vipc_client.recv(&extra);
+    if (buf == nullptr) continue;
+
+    double t1 = millis_since_boot();
+    NavModelResult *model_res = navmodel_eval_frame(&model, buf);
+    double t2 = millis_since_boot();
+
+    // send navmodel packet
+    navmodel_publish(pm, extra.frame_id, *model_res, (t2 - t1) / 1000.0);
+
+    //printf("navmodel process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last_ts);
+    last_ts = t1;
+    last_frame_id = extra.frame_id;
+  }
+}
+
+int main(int argc, char **argv) {
+  setpriority(PRIO_PROCESS, 0, -15);
+
+  // init the models
+  NavModelState model;
+  navmodel_init(&model);
+  LOGW("models loaded, navmodeld starting");
+
+  VisionIpcClient vipc_client = VisionIpcClient("navd", VISION_STREAM_MAP, true);
+  while (!do_exit && !vipc_client.connect(false)) {
+    util::sleep_for(100);
+  }
+
+  // run the models
+  if (vipc_client.connected) {
+    LOGW("connected with buffer size: %d", vipc_client.buffers[0].len);
+    run_model(model, vipc_client);
+  }
+
+  navmodel_free(&model);
+  return 0;
+}
--- a/selfdrive/monitoring/driver_monitor.py
+++ b/selfdrive/monitoring/driver_monitor.py
@ -156,6 +156,11 @@ class DriverStatus():

    self._set_timers(active_monitoring=True)

+  def _reset_awareness(self):
+    self.awareness = 1.
+    self.awareness_active = 1.
+    self.awareness_passive = 1.
+
  def _set_timers(self, active_monitoring):
    if self.active_monitoring_mode and self.awareness <= self.threshold_prompt:
      if active_monitoring:
@ -289,17 +294,17 @@ class DriverStatus():
      self.hi_stds = 0

  def update_events(self, events, driver_engaged, ctrl_active, standstill):
-    if (driver_engaged and self.awareness > 0) or not ctrl_active:
-      # reset only when on disengagement if red reached
-      self.awareness = 1.
-      self.awareness_active = 1.
-      self.awareness_passive = 1.
+    if (driver_engaged and self.awareness > 0 and not self.active_monitoring_mode) or not ctrl_active: # reset only when on disengagement if red reached
+      self._reset_awareness()
      return

    driver_attentive = self.driver_distraction_filter.x < 0.37
    awareness_prev = self.awareness

    if (driver_attentive and self.face_detected and self.pose.low_std and self.awareness > 0):
+      if driver_engaged:
+        self._reset_awareness()
+        return
      # only restore awareness when paying attention and alert is not red
      self.awareness = min(self.awareness + ((self.settings._RECOVERY_FACTOR_MAX-self.settings._RECOVERY_FACTOR_MIN)*(1.-self.awareness)+self.settings._RECOVERY_FACTOR_MIN)*self.step_change, 1.)
      if self.awareness == 1.:
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@ -101,11 +101,12 @@ class TestMonitoring(unittest.TestCase):
                      ((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0], EventName.driverUnresponsive)

  # engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel
-  #  - should have short orange recovery time and no green afterwards; should recover rightaway on wheel touch
+  #  - should have short orange recovery time and no green afterwards; wheel touch only recovers when paying attention
  def test_normal_driver(self):
    ds_vector = [msg_DISTRACTED] * int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON) + \
                [msg_ATTENTIVE] * int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON) + \
-                [msg_DISTRACTED] * (int(TEST_TIMESPAN/DT_DMON)-int(DISTRACTED_SECONDS_TO_ORANGE*2/DT_DMON))
+                [msg_DISTRACTED] * int((DISTRACTED_SECONDS_TO_ORANGE+2)/DT_DMON) + \
+                [msg_ATTENTIVE] * (int(TEST_TIMESPAN/DT_DMON)-int((DISTRACTED_SECONDS_TO_ORANGE*3+2)/DT_DMON))
    interaction_vector = [car_interaction_NOT_DETECTED] * int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON) + \
                         [car_interaction_DETECTED] * (int(TEST_TIMESPAN/DT_DMON)-int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON))
    events, _ = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
@ -113,7 +114,8 @@ class TestMonitoring(unittest.TestCase):
    self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0], EventName.promptDriverDistracted)
    self.assertEqual(len(events[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)]), 0)
    self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0], EventName.promptDriverDistracted)
-    self.assertEqual(len(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)]), 0)
+    self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0], EventName.promptDriverDistracted)
+    self.assertEqual(len(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)]), 0)

  # engaged, down to orange, driver dodges camera, then comes back still distracted, down to red, \
  #                          driver dodges, and then touches wheel to no avail, disengages and reengages
--- a/selfdrive/navd/map_renderer.cc
+++ b/selfdrive/navd/map_renderer.cc
@ -11,33 +11,18 @@
 #include "selfdrive/ui/qt/maps/map_helpers.h"

 const float DEFAULT_ZOOM = 13.5; // Don't go below 13 or features will start to disappear
-const int RENDER_HEIGHT = 512, RENDER_WIDTH = 512;
-const int HEIGHT = 256, WIDTH = 256;
+const int HEIGHT = 512, WIDTH = 512;
 const int NUM_VIPC_BUFFERS = 4;

 const int EARTH_CIRCUMFERENCE_METERS = 40075000;
 const int PIXELS_PER_TILE = 256;

-float get_meters_per_pixel(float lat, float zoom) {
-  float num_tiles = pow(2, zoom+1);
-  float meters_per_tile = cos(DEG2RAD(lat)) * EARTH_CIRCUMFERENCE_METERS / num_tiles;
-  return meters_per_tile / PIXELS_PER_TILE;
-}
-
 float get_zoom_level_for_scale(float lat, float meters_per_pixel) {
  float meters_per_tile = meters_per_pixel * PIXELS_PER_TILE;
  float num_tiles = cos(DEG2RAD(lat)) * EARTH_CIRCUMFERENCE_METERS / meters_per_tile;
  return log2(num_tiles) - 1;
 }

-void downsample(uint8_t *src, uint8_t *dst) {
-  for (int r = 0; r < HEIGHT; r++) {
-    for (int c = 0; c < WIDTH; c++) {
-      dst[r*WIDTH + c] = src[(r*2*RENDER_WIDTH + c*2) * 3];
-    }
-  }
-}
-

 MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_settings(settings) {
  QSurfaceFormat fmt;
@ -59,7 +44,7 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set
  gl_functions->initializeOpenGLFunctions();

  QOpenGLFramebufferObjectFormat fbo_format;
-  fbo.reset(new QOpenGLFramebufferObject(RENDER_WIDTH, RENDER_HEIGHT, fbo_format));
+  fbo.reset(new QOpenGLFramebufferObject(WIDTH, HEIGHT, fbo_format));

  std::string style = util::read_file(STYLE_PATH);
  m_map.reset(new QMapboxGL(nullptr, m_settings, fbo->size(), 1));
@ -69,7 +54,7 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set

  m_map->resize(fbo->size());
  m_map->setFramebufferObject(fbo->handle(), fbo->size());
-  gl_functions->glViewport(0, 0, RENDER_WIDTH, RENDER_HEIGHT);
+  gl_functions->glViewport(0, 0, WIDTH, HEIGHT);

  if (online) {
    vipc_server.reset(new VisionIpcServer("navd"));
@ -94,7 +79,7 @@ void MapRenderer::msgUpdate() {
    auto orientation = location.getCalibratedOrientationNED();

    bool localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && pos.getValid();
-    if (localizer_valid) {
+    if (localizer_valid && (sm->rcv_frame("liveLocationKalman") % 10) == 0) {
      updatePosition(QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]), RAD2DEG(orientation.getValue()[2]));
    }
  }
@ -114,9 +99,9 @@ void MapRenderer::updatePosition(QMapbox::Coordinate position, float bearing) {
    return;
  }

-  // Choose a zoom level that matches the scale of zoom level 13 at latitude 80deg
-  float scale_lat80 = get_meters_per_pixel(80, 13);
-  float zoom = get_zoom_level_for_scale(position.first, scale_lat80);
+  // Choose a scale that ensures above 13 zoom level up to and above 75deg of lat
+  float meters_per_pixel = 2;
+  float zoom = get_zoom_level_for_scale(position.first, meters_per_pixel);

  m_map->setCoordinate(position);
  m_map->setBearing(bearing);
@ -150,13 +135,15 @@ void MapRenderer::sendVipc() {
    .timestamp_eof = ts,
  };

-  assert(cap.sizeInBytes() >= buf->len*4);
+  assert(cap.sizeInBytes() >= buf->len);
  uint8_t* dst = (uint8_t*)buf->addr;
  uint8_t* src = cap.bits();

-  // 2x downsample + rgb to grayscale
+  // RGB to greyscale
  memset(dst, 128, buf->len);
-  downsample(src, dst);
+  for (int i = 0; i < WIDTH * HEIGHT; i++) {
+    dst[i] = src[i * 3];
+  }

  vipc_server->send(buf, &extra);

@ -187,8 +174,10 @@ uint8_t* MapRenderer::getImage() {
  uint8_t* src = cap.bits();
  uint8_t* dst = new uint8_t[WIDTH * HEIGHT];

-  // 2x downsample + rgb to grayscale
-  downsample(src, dst);
+  // RGB to greyscale
+  for (int i = 0; i < WIDTH * HEIGHT; i++) {
+    dst[i] = src[i * 3];
+  }

  return dst;
 }
--- a/selfdrive/navd/map_renderer.py
+++ b/selfdrive/navd/map_renderer.py
@ -9,7 +9,8 @@ from cffi import FFI
 from common.ffi_wrapper import suffix
 from common.basedir import BASEDIR

-HEIGHT = WIDTH = 256
+HEIGHT = WIDTH = SIZE = 512
+METERS_PER_PIXEL = 2


 def get_ffi():
--- a/Show More
+++ b/Show More