diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml
new file mode 100644
index 0000000000..f2a24e4368
--- /dev/null
+++ b/.github/workflows/stale.yaml
@@ -0,0 +1,28 @@
+name: stale
+on:
+  schedule:
+    - cron: '30 1 * * *'
+  workflow_dispatch:
+
+env:
+  DAYS_BEFORE_PR_CLOSE: 7
+  DAYS_BEFORE_PR_STALE: 30
+
+jobs:
+  stale:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/stale@v8
+        with:
+          exempt-milestones: true
+
+          # pull request config
+          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
+          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
+          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
+          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
+          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
+          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
+
+          # issue config
+          days-before-issue-stale: -1 # ignore issues for now
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index c1c24d1096..6992141556 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -38,10 +38,10 @@ repos:
         entry: mypy
         language: system
         types: [python]
-        args: ['--explicit-package-bases']
+        args: ['--explicit-package-bases', '--local-partial-types']
         exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.1.5
+    rev: v0.1.6
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
diff --git a/Jenkinsfile b/Jenkinsfile
index 1e1d485b10..5859920a56 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -216,7 +216,7 @@ node {
           ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
           ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
           ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
-          ["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"],
+          ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
         ])
       },
 
diff --git a/common/modeldata.h b/common/modeldata.h
deleted file mode 100644
index 6dc02cc792..0000000000
--- a/common/modeldata.h
+++ /dev/null
@@ -1,38 +0,0 @@
-#pragma once
-
-#include <array>
-#include "common/mat.h"
-#include "system/hardware/hw.h"
-
-const int TRAJECTORY_SIZE = 33;
-const int LAT_MPC_N = 16;
-const int LON_MPC_N = 32;
-const float MIN_DRAW_DISTANCE = 10.0;
-const float MAX_DRAW_DISTANCE = 100.0;
-
-const float RYG_GREEN = 0.01165;
-const float RYG_YELLOW = 0.06157;
-
-template <typename T, size_t size>
-constexpr std::array<T, size> build_idxs(float max_val) {
-  std::array<T, size> result{};
-  for (int i = 0; i < size; ++i) {
-    result[i] = max_val * ((i / (double)(size - 1)) * (i / (double)(size - 1)));
-  }
-  return result;
-}
-
-constexpr auto T_IDXS = build_idxs<double, TRAJECTORY_SIZE>(10.0);
-constexpr auto T_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(10.0);
-constexpr auto X_IDXS = build_idxs<double, TRAJECTORY_SIZE>(192.0);
-constexpr auto X_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(192.0);
-
-const mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2,
-                                           0.0, 2648.0, 1208.0 / 2,
-                                           0.0, 0.0, 1.0}};
-
-// tici ecam focal probably wrong? magnification is not consistent across frame
-// Need to retrain model before this can be changed
-const mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2,
-                                           0.0, 567.0, 1208.0 / 2,
-                                           0.0, 0.0, 1.0}};
diff --git a/panda b/panda
index 7a197ff30d..83acc65743 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 7a197ff30dda000539ce6a3d5c22422cf0c7311c
+Subproject commit 83acc65743364f9f2c214bb4d68976ab3b043949
diff --git a/poetry.lock b/poetry.lock
index 3b4fdea759..78b88ebb61 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -2,111 +2,98 @@
 
 [[package]]
 name = "aiohttp"
-version = "3.8.6"
+version = "3.9.0"
 description = "Async http client/server framework (asyncio)"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.8"
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 aiosignal = ">=1.1.2"
-async-timeout = ">=4.0.0a3,<5.0"
 attrs = ">=17.3.0"
-charset-normalizer = ">=2.0,<4.0"
 frozenlist = ">=1.1.1"
 multidict = ">=4.5,<7.0"
 yarl = ">=1.0,<2.0"
 
 [package.extras]
-speedups = ["Brotli", "aiodns", "cchardet"]
+speedups = ["Brotli", "aiodns", "brotlicffi"]
 
 [[package]]
 name = "aioice"
@@ -220,17 +207,6 @@ files = [
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-optional = false
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-
 [[package]]
 name = "atomicwrites"
 version = "1.4.1"
@@ -468,13 +444,13 @@ numpy = "*"
 
 [[package]]
 name = "certifi"
-version = "2023.7.22"
+version = "2023.11.17"
 description = "Python package for providing Mozilla's CA Bundle."
 optional = false
 python-versions = ">=3.6"
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 [[package]]
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 python-versions = ">=3.8"
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 [package.dependencies]
@@ -2625,35 +2611,35 @@ reference = ["Pillow", "google-re2"]
 
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@@ -4148,13 +4135,13 @@ test = ["asv", "gmpy2", "mpmath", "pooch", "pytest", "pytest-cov", "pytest-timeo
 
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+    {file = "yarl-1.9.3-cp39-cp39-win_amd64.whl", hash = "sha256:d92d897cb4b4bf915fbeb5e604c7911021a8456f0964f3b8ebbe7f9188b9eabb"},
+    {file = "yarl-1.9.3-py3-none-any.whl", hash = "sha256:271d63396460b6607b588555ea27a1a02b717ca2e3f2cf53bdde4013d7790929"},
+    {file = "yarl-1.9.3.tar.gz", hash = "sha256:4a14907b597ec55740f63e52d7fee0e9ee09d5b9d57a4f399a7423268e457b57"},
 ]
 
 [package.dependencies]
diff --git a/release/files_common b/release/files_common
index 53720aa05a..46c2c26a5b 100644
--- a/release/files_common
+++ b/release/files_common
@@ -163,7 +163,6 @@ common/ratekeeper.h
 common/watchdog.cc
 common/watchdog.h
 
-common/modeldata.h
 common/mat.h
 common/timing.h
 
diff --git a/release/files_tici b/release/files_tici
index ab49de34f6..1e5adab498 100644
--- a/release/files_tici
+++ b/release/files_tici
@@ -12,7 +12,7 @@ system/camerad/cameras/camera_util.cc
 system/camerad/cameras/camera_util.h
 system/camerad/cameras/real_debayer.cl
 
-system/sensord/rawgps/*
+system/qcomgpsd/*
 
 selfdrive/ui/qt/spinner_larch64
 selfdrive/ui/qt/text_larch64
diff --git a/scripts/code_stats.py b/scripts/code_stats.py
index 59b5724a68..3189cd7cc1 100755
--- a/scripts/code_stats.py
+++ b/scripts/code_stats.py
@@ -13,7 +13,7 @@ for d in ["cereal", "common", "scripts", "selfdrive", "tools"]:
       if f.endswith(".py"):
         pyf.append(os.path.join(root, f))
 
-imps = set()
+imps: set[str] = set()
 
 class Analyzer(ast.NodeVisitor):
   def visit_Import(self, node):
diff --git a/selfdrive/debug/profiling/snapdragon/.gitignore b/selfdrive/debug/profiling/snapdragon/.gitignore
index 5d3033efb3..80078842a0 100644
--- a/selfdrive/debug/profiling/snapdragon/.gitignore
+++ b/selfdrive/debug/profiling/snapdragon/.gitignore
@@ -1 +1 @@
-SnapdragonProfiler/
+SnapdragonProfiler/
\ No newline at end of file
diff --git a/selfdrive/debug/profiling/snapdragon/README b/selfdrive/debug/profiling/snapdragon/README
deleted file mode 100644
index ee826b413a..0000000000
--- a/selfdrive/debug/profiling/snapdragon/README
+++ /dev/null
@@ -1,7 +0,0 @@
-snapdragon profiler
---------
-
-* download from https://developer.qualcomm.com/software/snapdragon-profiler
-* unzip to selfdrive/debug/profiling/snapdragon/SnapdragonProfiler
-* run ./setup-agnos.sh
-* run selfdrive/debug/adb.sh on device
diff --git a/selfdrive/debug/profiling/snapdragon/README.md b/selfdrive/debug/profiling/snapdragon/README.md
new file mode 100644
index 0000000000..664814b611
--- /dev/null
+++ b/selfdrive/debug/profiling/snapdragon/README.md
@@ -0,0 +1,13 @@
+snapdragon profiler
+--------
+
+
+* download from https://developer.qualcomm.com/software/snapdragon-profiler/tools-archive (need a qc developer account)
+  * choose v2021.5 (verified working with 20.04 dev environment)
+* unzip to selfdrive/debug/profiling/snapdragon/SnapdragonProfiler
+* run ```./setup-profiler.sh```
+* run ```./setup-agnos.sh```
+* run ```selfdrive/debug/adb.sh``` on device
+* run the ```adb connect xxx``` command that was given to you on local pc
+* cd to SnapdragonProfiler and run ```./run_sdp.sh```
+* connect to device -> choose device you just setup
diff --git a/selfdrive/debug/profiling/snapdragon/setup-profiler.sh b/selfdrive/debug/profiling/snapdragon/setup-profiler.sh
new file mode 100755
index 0000000000..aaec1bf756
--- /dev/null
+++ b/selfdrive/debug/profiling/snapdragon/setup-profiler.sh
@@ -0,0 +1,14 @@
+#!/bin/bash
+
+# install depends
+sudo apt update
+sudo apt-get install libc++1 libc++abi1 default-jre android-tools-adb gtk-sharp2
+
+# setup mono
+sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 3FA7E0328081BFF6A14DA29AA6A19B38D3D831EF
+sudo apt install apt-transport-https ca-certificates
+echo "deb https://download.mono-project.com/repo/ubuntu stable-xenial main" | sudo tee /etc/apt/sources.list.d/mono-official-stable.list
+sudo apt update
+sudo apt-get install -y mono-complete
+
+echo "Setup successful, you should now be able to run the profiler with cd SnapdragonProfiler and ./run_sdp.sh"
\ No newline at end of file
diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py
index 320958d344..6f974b0687 100644
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@@ -68,7 +68,7 @@ procs = [
   PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
   PythonProcess("deleter", "system.loggerd.deleter", always_run),
   PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
-  PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", qcomgps, enabled=TICI),
+  PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
   PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
   PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 0e9d207da3..17026dc69f 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -69,7 +69,7 @@ PROCS.update({
   },
   "tizi": {
      "./boardd": 19.0,
-    "system.sensord.rawgps.rawgpsd": 1.0,
+    "system.qcomgpsd.qcomgpsd": 1.0,
   }
 }.get(HARDWARE.get_device_type(), {}))
 
diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc
index 87304a4585..18a79b5983 100644
--- a/selfdrive/ui/qt/widgets/controls.cc
+++ b/selfdrive/ui/qt/widgets/controls.cc
@@ -12,13 +12,14 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons
   hlayout->setSpacing(20);
 
   // left icon
-  icon_label = new QLabel();
+  icon_label = new QLabel(this);
+  hlayout->addWidget(icon_label);
   if (!icon.isEmpty()) {
     icon_pixmap = QPixmap(icon).scaledToWidth(80, Qt::SmoothTransformation);
     icon_label->setPixmap(icon_pixmap);
     icon_label->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
-    hlayout->addWidget(icon_label);
   }
+  icon_label->setVisible(!icon.isEmpty());
 
   // title
   title_label = new QPushButton(title);
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 03df2cf57a..7b2d24b53a 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -38,7 +38,7 @@ static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y,
 int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) {
   const auto line_x = line.getX();
   int max_idx = 0;
-  for (int i = 1; i < TRAJECTORY_SIZE && line_x[i] <= path_height; ++i) {
+  for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) {
     max_idx = i;
   }
   return max_idx;
@@ -84,10 +84,10 @@ void update_model(UIState *s,
                   const cereal::UiPlan::Reader &plan) {
   UIScene &scene = s->scene;
   auto plan_position = plan.getPosition();
-  if (plan_position.getX().size() < TRAJECTORY_SIZE){
+  if (plan_position.getX().size() < model.getPosition().getX().size()) {
     plan_position = model.getPosition();
   }
-  float max_distance = std::clamp(plan_position.getX()[TRAJECTORY_SIZE - 1],
+  float max_distance = std::clamp(*(plan_position.getX().end() - 1),
                                   MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
 
   // update lane lines
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index dc180eebfb..d9a03344b6 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -3,7 +3,6 @@
 #include <map>
 #include <memory>
 #include <string>
-#include <optional>
 
 #include <QObject>
 #include <QTimer>
@@ -13,9 +12,10 @@
 #include <QTransform>
 
 #include "cereal/messaging/messaging.h"
-#include "common/modeldata.h"
+#include "common/mat.h"
 #include "common/params.h"
 #include "common/timing.h"
+#include "system/hardware/hw.h"
 
 const int UI_BORDER_SIZE = 30;
 const int UI_HEADER_HEIGHT = 420;
@@ -24,7 +24,18 @@ const int UI_FREQ = 20; // Hz
 const int BACKLIGHT_OFFROAD = 50;
 typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert;
 
-const mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }};
+const float MIN_DRAW_DISTANCE = 10.0;
+const float MAX_DRAW_DISTANCE = 100.0;
+constexpr mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }};
+constexpr mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2,
+                                           0.0, 2648.0, 1208.0 / 2,
+                                           0.0, 0.0, 1.0}};
+// tici ecam focal probably wrong? magnification is not consistent across frame
+// Need to retrain model before this can be changed
+constexpr mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2,
+                                           0.0, 567.0, 1208.0 / 2,
+                                           0.0, 0.0, 1.0}};
+
 
 constexpr vec3 default_face_kpts_3d[] = {
   {-5.98, -51.20, 8.00}, {-17.64, -49.14, 8.00}, {-23.81, -46.40, 8.00}, {-29.98, -40.91, 8.00}, {-32.04, -37.49, 8.00},
diff --git a/selfdrive/updated.py b/selfdrive/updated.py
index 1e128fb11c..fabe28920f 100755
--- a/selfdrive/updated.py
+++ b/selfdrive/updated.py
@@ -428,6 +428,9 @@ def main() -> None:
   # invalidate old finalized update
   set_consistent_flag(False)
 
+  # wait a bit before first cycle
+  wait_helper.sleep(60)
+
   # Run the update loop
   while True:
     wait_helper.ready_event.clear()
diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 23b28357da..d2c7a35f6e 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -13,7 +13,6 @@
 
 #include "system/camerad/imgproc/utils.h"
 #include "common/clutil.h"
-#include "common/modeldata.h"
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "system/hardware/hw.h"
diff --git a/system/loggerd/logger.cc b/system/loggerd/logger.cc
index 1474552a13..3af2c50aa1 100644
--- a/system/loggerd/logger.cc
+++ b/system/loggerd/logger.cc
@@ -1,21 +1,7 @@
 #include "system/loggerd/logger.h"
 
-#include <sys/stat.h>
-#include <unistd.h>
-#include <ftw.h>
-
-#include <cassert>
-#include <cerrno>
-#include <cstdint>
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <ctime>
 #include <fstream>
-#include <iostream>
 #include <map>
-#include <streambuf>
-#include <string>
 #include <vector>
 
 #include "common/params.h"
@@ -108,159 +94,51 @@ std::string logger_get_route_name() {
   return route_name;
 }
 
-void log_init_data(LoggerState *s) {
-  auto bytes = s->init_data.asBytes();
-  logger_log(s, bytes.begin(), bytes.size(), s->has_qlog);
-}
-
-
-static void lh_log_sentinel(LoggerHandle *h, SentinelType type) {
+static void log_sentinel(LoggerState *log, SentinelType type, int eixt_signal = 0) {
   MessageBuilder msg;
   auto sen = msg.initEvent().initSentinel();
   sen.setType(type);
-  sen.setSignal(h->exit_signal);
-  auto bytes = msg.toBytes();
-
-  lh_log(h, bytes.begin(), bytes.size(), true);
+  sen.setSignal(eixt_signal);
+  log->write(msg.toBytes(), true);
 }
 
-// ***** logging functions *****
-
-void logger_init(LoggerState *s, bool has_qlog) {
-  pthread_mutex_init(&s->lock, NULL);
-
-  s->part = -1;
-  s->has_qlog = has_qlog;
-  s->route_name = logger_get_route_name();
-  s->init_data = logger_build_init_data();
+LoggerState::LoggerState(const std::string &log_root) {
+  route_name = logger_get_route_name();
+  route_path = log_root + "/" + route_name;
+  init_data = logger_build_init_data();
 }
 
-static LoggerHandle* logger_open(LoggerState *s, const char* root_path) {
-  LoggerHandle *h = NULL;
-  for (int i=0; i<LOGGER_MAX_HANDLES; i++) {
-    if (s->handles[i].refcnt == 0) {
-      h = &s->handles[i];
-      break;
-    }
+LoggerState::~LoggerState() {
+  if (rlog) {
+    log_sentinel(this, SentinelType::END_OF_ROUTE, exit_signal);
+    std::remove(lock_file.c_str());
   }
-  assert(h);
-
-  snprintf(h->segment_path, sizeof(h->segment_path),
-          "%s/%s--%d", root_path, s->route_name.c_str(), s->part);
-
-  snprintf(h->log_path, sizeof(h->log_path), "%s/rlog", h->segment_path);
-  snprintf(h->qlog_path, sizeof(h->qlog_path), "%s/qlog", h->segment_path);
-  snprintf(h->lock_path, sizeof(h->lock_path), "%s.lock", h->log_path);
-  h->end_sentinel_type = SentinelType::END_OF_SEGMENT;
-  h->exit_signal = 0;
-
-  if (!util::create_directories(h->segment_path, 0775)) return nullptr;
-
-  FILE* lock_file = fopen(h->lock_path, "wb");
-  if (lock_file == NULL) return NULL;
-  fclose(lock_file);
-
-  h->log = std::make_unique<RawFile>(h->log_path);
-  if (s->has_qlog) {
-    h->q_log = std::make_unique<RawFile>(h->qlog_path);
-  }
-
-  pthread_mutex_init(&h->lock, NULL);
-  h->refcnt++;
-  return h;
 }
 
-int logger_next(LoggerState *s, const char* root_path,
-                            char* out_segment_path, size_t out_segment_path_len,
-                            int* out_part) {
-  bool is_start_of_route = !s->cur_handle;
-
-  pthread_mutex_lock(&s->lock);
-  s->part++;
-
-  LoggerHandle* next_h = logger_open(s, root_path);
-  if (!next_h) {
-    pthread_mutex_unlock(&s->lock);
-    return -1;
+bool LoggerState::next() {
+  if (rlog) {
+    log_sentinel(this, SentinelType::END_OF_SEGMENT);
+    std::remove(lock_file.c_str());
   }
 
-  if (s->cur_handle) {
-    lh_close(s->cur_handle);
-  }
-  s->cur_handle = next_h;
+  segment_path = route_path + "--" + std::to_string(++part);
+  bool ret = util::create_directories(segment_path, 0775);
+  assert(ret == true);
 
-  if (out_segment_path) {
-    snprintf(out_segment_path, out_segment_path_len, "%s", next_h->segment_path);
-  }
-  if (out_part) {
-    *out_part = s->part;
-  }
+  const std::string rlog_path = segment_path + "/rlog";
+  lock_file = rlog_path + ".lock";
+  std::ofstream{lock_file};
 
-  pthread_mutex_unlock(&s->lock);
-
-  // write beginning of log metadata
-  log_init_data(s);
-  lh_log_sentinel(s->cur_handle, is_start_of_route ? SentinelType::START_OF_ROUTE : SentinelType::START_OF_SEGMENT);
-  return 0;
-}
+  rlog.reset(new RawFile(rlog_path));
+  qlog.reset(new RawFile(segment_path + "/qlog"));
 
-LoggerHandle* logger_get_handle(LoggerState *s) {
-  pthread_mutex_lock(&s->lock);
-  LoggerHandle* h = s->cur_handle;
-  if (h) {
-    pthread_mutex_lock(&h->lock);
-    h->refcnt++;
-    pthread_mutex_unlock(&h->lock);
-  }
-  pthread_mutex_unlock(&s->lock);
-  return h;
-}
-
-void logger_log(LoggerState *s, uint8_t* data, size_t data_size, bool in_qlog) {
-  pthread_mutex_lock(&s->lock);
-  if (s->cur_handle) {
-    lh_log(s->cur_handle, data, data_size, in_qlog);
-  }
-  pthread_mutex_unlock(&s->lock);
+  // log init data & sentinel type.
+  write(init_data.asBytes(), true);
+  log_sentinel(this, part > 0 ? SentinelType::START_OF_SEGMENT : SentinelType::START_OF_ROUTE);
+  return true;
 }
 
-void logger_close(LoggerState *s, ExitHandler *exit_handler) {
-  pthread_mutex_lock(&s->lock);
-  if (s->cur_handle) {
-    s->cur_handle->exit_signal = exit_handler && exit_handler->signal.load();
-    s->cur_handle->end_sentinel_type = SentinelType::END_OF_ROUTE;
-    lh_close(s->cur_handle);
-  }
-  pthread_mutex_unlock(&s->lock);
-}
-
-void lh_log(LoggerHandle* h, uint8_t* data, size_t data_size, bool in_qlog) {
-  pthread_mutex_lock(&h->lock);
-  assert(h->refcnt > 0);
-  h->log->write(data, data_size);
-  if (in_qlog && h->q_log) {
-    h->q_log->write(data, data_size);
-  }
-  pthread_mutex_unlock(&h->lock);
-}
-
-void lh_close(LoggerHandle* h) {
-  pthread_mutex_lock(&h->lock);
-  assert(h->refcnt > 0);
-  if (h->refcnt == 1) {
-    // a very ugly hack. only here can guarantee sentinel is the last msg
-    pthread_mutex_unlock(&h->lock);
-    lh_log_sentinel(h, h->end_sentinel_type);
-    pthread_mutex_lock(&h->lock);
-  }
-  h->refcnt--;
-  if (h->refcnt == 0) {
-    h->log.reset(nullptr);
-    h->q_log.reset(nullptr);
-    unlink(h->lock_path);
-    pthread_mutex_unlock(&h->lock);
-    pthread_mutex_destroy(&h->lock);
-    return;
-  }
-  pthread_mutex_unlock(&h->lock);
+void LoggerState::write(uint8_t* data, size_t size, bool in_qlog) {
+  rlog->write(data, size);
+  if (in_qlog) qlog->write(data, size);
 }
diff --git a/system/loggerd/logger.h b/system/loggerd/logger.h
index 06b11e72f9..76a12b9e87 100644
--- a/system/loggerd/logger.h
+++ b/system/loggerd/logger.h
@@ -1,27 +1,17 @@
 #pragma once
 
-#include <pthread.h>
-
 #include <cassert>
-#include <cstdint>
-#include <cstdio>
 #include <memory>
 #include <string>
 
-#include <capnp/serialize.h>
-#include <kj/array.h>
-
 #include "cereal/messaging/messaging.h"
 #include "common/util.h"
-#include "common/swaglog.h"
 #include "system/hardware/hw.h"
 
-#define LOGGER_MAX_HANDLES 16
-
 class RawFile {
  public:
-  RawFile(const char* path) {
-    file = util::safe_fopen(path, "wb");
+  RawFile(const std::string &path) {
+    file = util::safe_fopen(path.c_str(), "wb");
     assert(file != nullptr);
   }
   ~RawFile() {
@@ -41,39 +31,25 @@ class RawFile {
 
 typedef cereal::Sentinel::SentinelType SentinelType;
 
-typedef struct LoggerHandle {
-  pthread_mutex_t lock;
-  SentinelType end_sentinel_type;
-  int exit_signal;
-  int refcnt;
-  char segment_path[4096];
-  char log_path[4096];
-  char qlog_path[4096];
-  char lock_path[4096];
-  std::unique_ptr<RawFile> log, q_log;
-} LoggerHandle;
 
-typedef struct LoggerState {
-  pthread_mutex_t lock;
-  int part;
+class LoggerState {
+public:
+  LoggerState(const std::string& log_root = Path::log_root());
+  ~LoggerState();
+  bool next();
+  void write(uint8_t* data, size_t size, bool in_qlog);
+  inline int segment() const { return part; }
+  inline const std::string& segmentPath() const { return segment_path; }
+  inline const std::string& routeName() const { return route_name; }
+  inline void write(kj::ArrayPtr<kj::byte> bytes, bool in_qlog) { write(bytes.begin(), bytes.size(), in_qlog); }
+  inline void setExitSignal(int signal) { exit_signal = signal; }
+
+protected:
+  int part = -1, exit_signal = 0;
+  std::string route_path, route_name, segment_path, lock_file;
   kj::Array<capnp::word> init_data;
-  std::string route_name;
-  char log_name[64];
-  bool has_qlog;
-
-  LoggerHandle handles[LOGGER_MAX_HANDLES];
-  LoggerHandle* cur_handle;
-} LoggerState;
+  std::unique_ptr<RawFile> rlog, qlog;
+};
 
 kj::Array<capnp::word> logger_build_init_data();
 std::string logger_get_route_name();
-void logger_init(LoggerState *s, bool has_qlog);
-int logger_next(LoggerState *s, const char* root_path,
-                            char* out_segment_path, size_t out_segment_path_len,
-                            int* out_part);
-LoggerHandle* logger_get_handle(LoggerState *s);
-void logger_close(LoggerState *s, ExitHandler *exit_handler=nullptr);
-void logger_log(LoggerState *s, uint8_t* data, size_t data_size, bool in_qlog);
-
-void lh_log(LoggerHandle* h, uint8_t* data, size_t data_size, bool in_qlog);
-void lh_close(LoggerHandle* h);
diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc
index adb24c913c..8d5fcb95ac 100644
--- a/system/loggerd/loggerd.cc
+++ b/system/loggerd/loggerd.cc
@@ -13,9 +13,7 @@
 ExitHandler do_exit;
 
 struct LoggerdState {
-  LoggerState logger = {};
-  char segment_path[4096];
-  std::atomic<int> rotate_segment;
+  LoggerState logger;
   std::atomic<double> last_camera_seen_tms;
   std::atomic<int> ready_to_rotate;  // count of encoders ready to rotate
   int max_waiting = 0;
@@ -23,13 +21,11 @@ struct LoggerdState {
 };
 
 void logger_rotate(LoggerdState *s) {
-  int segment = -1;
-  int err = logger_next(&s->logger, Path::log_root().c_str(), s->segment_path, sizeof(s->segment_path), &segment);
-  assert(err == 0);
-  s->rotate_segment = segment;
+  bool ret =s->logger.next();
+  assert(ret);
   s->ready_to_rotate = 0;
   s->last_rotate_tms = millis_since_boot();
-  LOGW((s->logger.part == 0) ? "logging to %s" : "rotated to %s", s->segment_path);
+  LOGW((s->logger.segment() == 0) ? "logging to %s" : "rotated to %s", s->logger.segmentPath().c_str());
 }
 
 void rotate_if_needed(LoggerdState *s) {
@@ -85,16 +81,16 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
   }
   int offset_segment_num = idx.getSegmentNum() - re.encoderd_segment_offset;
 
-  if (offset_segment_num == s->rotate_segment) {
+  if (offset_segment_num == s->logger.segment()) {
     // loggerd is now on the segment that matches this packet
 
     // if this is a new segment, we close any possible old segments, move to the new, and process any queued packets
-    if (re.current_segment != s->rotate_segment) {
+    if (re.current_segment != s->logger.segment()) {
       if (re.recording) {
         re.writer.reset();
         re.recording = false;
       }
-      re.current_segment = s->rotate_segment;
+      re.current_segment = s->logger.segment();
       re.marked_ready_to_rotate = false;
       // we are in this segment now, process any queued messages before this one
       if (!re.q.empty()) {
@@ -117,7 +113,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
         // if we aren't actually recording, don't create the writer
         if (encoder_info.record) {
           assert(encoder_info.filename != NULL);
-          re.writer.reset(new VideoWriter(s->segment_path,
+          re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(),
             encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
             encoder_info.frame_width, encoder_info.frame_height, encoder_info.fps, idx.getType()));
           // write the header
@@ -149,28 +145,28 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
     evt.setLogMonoTime(event.getLogMonoTime());
     (evt.*(encoder_info.set_encode_idx_func))(idx);
     auto new_msg = bmsg.toBytes();
-    logger_log(&s->logger, (uint8_t *)new_msg.begin(), new_msg.size(), true);   // always in qlog?
+    s->logger.write((uint8_t *)new_msg.begin(), new_msg.size(), true);   // always in qlog?
     bytes_count += new_msg.size();
 
     // free the message, we used it
     delete msg;
-  } else if (offset_segment_num > s->rotate_segment) {
+  } else if (offset_segment_num > s->logger.segment()) {
     // encoderd packet has a newer segment, this means encoderd has rolled over
     if (!re.marked_ready_to_rotate) {
       re.marked_ready_to_rotate = true;
       ++s->ready_to_rotate;
       LOGD("rotate %d -> %d ready %d/%d for %s",
-        s->rotate_segment.load(), offset_segment_num,
+        s->logger.segment(), offset_segment_num,
         s->ready_to_rotate.load(), s->max_waiting, name.c_str());
     }
     // queue up all the new segment messages, they go in after the rotate
     re.q.push_back(msg);
   } else {
-    LOGE("%s: encoderd packet has a older segment!!! idx.getSegmentNum():%d s->rotate_segment:%d re.encoderd_segment_offset:%d",
-      name.c_str(), idx.getSegmentNum(), s->rotate_segment.load(), re.encoderd_segment_offset);
+    LOGE("%s: encoderd packet has a older segment!!! idx.getSegmentNum():%d s->logger.segment():%d re.encoderd_segment_offset:%d",
+      name.c_str(), idx.getSegmentNum(), s->logger.segment(), re.encoderd_segment_offset);
     // free the message, it's useless. this should never happen
     // actually, this can happen if you restart encoderd
-    re.encoderd_segment_offset = -s->rotate_segment.load();
+    re.encoderd_segment_offset = -s->logger.segment();
     delete msg;
   }
 
@@ -179,19 +175,19 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
 
 void handle_user_flag(LoggerdState *s) {
   static int prev_segment = -1;
-  if (s->rotate_segment == prev_segment) return;
+  if (s->logger.segment() == prev_segment) return;
 
-  LOGW("preserving %s", s->segment_path);
+  LOGW("preserving %s", s->logger.segmentPath().c_str());
 
 #ifdef __APPLE__
-  int ret = setxattr(s->segment_path, PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0, 0);
+  int ret = setxattr(s->logger.segmentPath().c_str(), PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0, 0);
 #else
-  int ret = setxattr(s->segment_path, PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0);
+  int ret = setxattr(s->logger.segmentPath().c_str(), PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0);
 #endif
   if (ret) {
-    LOGE("setxattr %s failed for %s: %s", PRESERVE_ATTR_NAME, s->segment_path, strerror(errno));
+    LOGE("setxattr %s failed for %s: %s", PRESERVE_ATTR_NAME, s->logger.segmentPath().c_str(), strerror(errno));
   }
-  prev_segment = s->rotate_segment.load();
+  prev_segment = s->logger.segment();
 }
 
 void loggerd_thread() {
@@ -228,9 +224,8 @@ void loggerd_thread() {
 
   LoggerdState s;
   // init logger
-  logger_init(&s.logger, true);
   logger_rotate(&s);
-  Params().put("CurrentRoute", s.logger.route_name);
+  Params().put("CurrentRoute", s.logger.routeName());
 
   std::map<std::string, EncoderInfo> encoder_infos_dict;
   for (const auto &cam : cameras_logged) {
@@ -261,7 +256,7 @@ void loggerd_thread() {
           s.last_camera_seen_tms = millis_since_boot();
           bytes_count += handle_encoder_msg(&s, msg, service.name, remote_encoders[sock], encoder_infos_dict[service.name]);
         } else {
-          logger_log(&s.logger, (uint8_t *)msg->getData(), msg->getSize(), in_qlog);
+          s.logger.write((uint8_t *)msg->getData(), msg->getSize(), in_qlog);
           bytes_count += msg->getSize();
           delete msg;
         }
@@ -283,7 +278,7 @@ void loggerd_thread() {
   }
 
   LOGW("closing logger");
-  logger_close(&s.logger, &do_exit);
+  s.logger.setExitSignal(do_exit.signal);
 
   if (do_exit.power_failure) {
     LOGE("power failure");
diff --git a/system/loggerd/tests/fill.py b/system/loggerd/tests/fill.py
deleted file mode 100755
index 5e6f887b12..0000000000
--- a/system/loggerd/tests/fill.py
+++ /dev/null
@@ -1,27 +0,0 @@
-#!/usr/bin/env python3
-"""Script to fill up storage with fake data"""
-
-from pathlib import Path
-
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.loggerd.config import get_available_percent
-from openpilot.system.loggerd.tests.loggerd_tests_common import create_random_file
-
-
-if __name__ == "__main__":
-  segment_idx = 0
-  while True:
-    seg_name = f"1970-01-01--00-00-00--{segment_idx}"
-    seg_path = Path(Paths.log_root()) / seg_name
-
-    print(seg_path)
-
-    create_random_file(seg_path / "fcamera.hevc", 36)
-    create_random_file(seg_path / "rlog.bz2", 2)
-
-    segment_idx += 1
-
-    # Fill up to 99 percent
-    available_percent = get_available_percent()
-    if available_percent < 1.0:
-      break
diff --git a/system/loggerd/tests/test_logger.cc b/system/loggerd/tests/test_logger.cc
index 9f815c2189..2dae136e13 100644
--- a/system/loggerd/tests/test_logger.cc
+++ b/system/loggerd/tests/test_logger.cc
@@ -1,16 +1,5 @@
-#include <sys/stat.h>
-
-#include <climits>
-#include <condition_variable>
-#include <sstream>
-#include <thread>
-#include <utility>
-
 #include "catch2/catch.hpp"
-#include "cereal/messaging/messaging.h"
-#include "common/util.h"
 #include "system/loggerd/logger.h"
-#include "tools/replay/util.h"
 
 typedef cereal::Sentinel::SentinelType SentinelType;
 
@@ -57,91 +46,29 @@ void verify_segment(const std::string &route_path, int segment, int max_segment,
   }
 }
 
-void write_msg(LoggerHandle *logger) {
+void write_msg(LoggerState *logger) {
   MessageBuilder msg;
   msg.initEvent().initClocks();
-  auto bytes = msg.toBytes();
-  lh_log(logger, bytes.begin(), bytes.size(), true);
+  logger->write(msg.toBytes(), true);
 }
 
 TEST_CASE("logger") {
+  const int segment_cnt = 100;
   const std::string log_root = "/tmp/test_logger";
   system(("rm " + log_root + " -rf").c_str());
-
-  ExitHandler do_exit;
-
-  LoggerState logger = {};
-  logger_init(&logger, true);
-  char segment_path[PATH_MAX] = {};
-  int segment = -1;
-
-  SECTION("single thread logging & rotation(100 segments, one thread)") {
-    const int segment_cnt = 100;
+  std::string route_name;
+  {
+    LoggerState logger(log_root);
+    route_name = logger.routeName();
     for (int i = 0; i < segment_cnt; ++i) {
-      REQUIRE(logger_next(&logger, log_root.c_str(), segment_path, sizeof(segment_path), &segment) == 0);
-      REQUIRE(util::file_exists(std::string(segment_path) + "/rlog.lock"));
-      REQUIRE(segment == i);
-      write_msg(logger.cur_handle);
-    }
-    do_exit = true;
-    do_exit.signal = 1;
-    logger_close(&logger, &do_exit);
-    for (int i = 0; i < segment_cnt; ++i) {
-      verify_segment(log_root + "/" + logger.route_name, i, segment_cnt, 1);
+      REQUIRE(logger.next());
+      REQUIRE(util::file_exists(logger.segmentPath() + "/rlog.lock"));
+      REQUIRE(logger.segment() == i);
+      write_msg(&logger);
     }
+    logger.setExitSignal(1);
   }
-  SECTION("multiple threads logging & rotation(100 segments, 10 threads") {
-    const int segment_cnt = 100, thread_cnt = 10;
-    std::atomic<int> event_cnt[segment_cnt] = {};
-    std::atomic<int> main_segment = -1;
-
-    auto logging_thread = [&]() -> void {
-      LoggerHandle *lh = logger_get_handle(&logger);
-      assert(lh != nullptr);
-      int segment = main_segment;
-      int delayed_cnt = 0;
-      while (!do_exit) {
-        // write 2 more messages in the current segment and then rotate to the new segment.
-        if (main_segment > segment && ++delayed_cnt == 2) {
-          lh_close(lh);
-          lh = logger_get_handle(&logger);
-          segment = main_segment;
-          delayed_cnt = 0;
-        }
-        write_msg(lh);
-        event_cnt[segment] += 1;
-        usleep(1);
-      }
-      lh_close(lh);
-    };
-
-    // start logging
-    std::vector<std::thread> threads;
-    for (int i = 0; i < segment_cnt; ++i) {
-      REQUIRE(logger_next(&logger, log_root.c_str(), segment_path, sizeof(segment_path), &segment) == 0);
-      REQUIRE(segment == i);
-      main_segment = segment;
-      if (i == 0) {
-        for (int j = 0; j < thread_cnt; ++j) {
-          threads.push_back(std::thread(logging_thread));
-        }
-      }
-      for (int j = 0; j < 100; ++j) {
-        write_msg(logger.cur_handle);
-        usleep(1);
-      }
-      event_cnt[segment] += 100;
-    }
-
-    // end logging
-    for (auto &t : threads) t.join();
-    do_exit = true;
-    do_exit.signal = 1;
-    logger_close(&logger, &do_exit);
-    REQUIRE(logger.cur_handle->refcnt == 0);
-
-    for (int i = 0; i < segment_cnt; ++i) {
-      verify_segment(log_root + "/" + logger.route_name, i, segment_cnt, event_cnt[i]);
-    }
+  for (int i = 0; i < segment_cnt; ++i) {
+    verify_segment(log_root + "/" + route_name, i, segment_cnt, 1);
   }
 }
diff --git a/system/loggerd/tools/mark_all_uploaded.py b/system/loggerd/tools/mark_all_uploaded.py
deleted file mode 100644
index 0502184380..0000000000
--- a/system/loggerd/tools/mark_all_uploaded.py
+++ /dev/null
@@ -1,8 +0,0 @@
-import os
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE
-
-for folder in os.walk(Paths.log_root()):
-  for file1 in folder[2]:
-    full_path = os.path.join(folder[0], file1)
-    os.setxattr(full_path, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE)
diff --git a/system/loggerd/tools/mark_unuploaded.py b/system/loggerd/tools/mark_unuploaded.py
deleted file mode 100755
index ef50280441..0000000000
--- a/system/loggerd/tools/mark_unuploaded.py
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env python3
-import os
-import sys
-from openpilot.system.loggerd.uploader import UPLOAD_ATTR_NAME
-
-for fn in sys.argv[1:]:
-  print(f"unmarking {fn}")
-  os.removexattr(fn, UPLOAD_ATTR_NAME)
diff --git a/system/sensord/rawgps/modemdiag.py b/system/qcomgpsd/modemdiag.py
similarity index 100%
rename from system/sensord/rawgps/modemdiag.py
rename to system/qcomgpsd/modemdiag.py
diff --git a/system/sensord/rawgps/nmeaport.py b/system/qcomgpsd/nmeaport.py
similarity index 96%
rename from system/sensord/rawgps/nmeaport.py
rename to system/qcomgpsd/nmeaport.py
index 01b9b179b9..231096fc5d 100644
--- a/system/sensord/rawgps/nmeaport.py
+++ b/system/qcomgpsd/nmeaport.py
@@ -120,11 +120,11 @@ def process_nmea_port_messages(device:str="/dev/ttyUSB1") -> NoReturn:
 def main() -> NoReturn:
   from openpilot.common.gpio import gpio_init, gpio_set
   from openpilot.system.hardware.tici.pins import GPIO
-  from openpilot.system.sensord.rawgps.rawgpsd import at_cmd
+  from openpilot.system.qcomgpsd.qcomgpsd import at_cmd
 
   try:
-    check_output(["pidof", "rawgpsd"])
-    print("rawgpsd is running, please kill openpilot before running this script! (aborted)")
+    check_output(["pidof", "qcomgpsd"])
+    print("qcomgpsd is running, please kill openpilot before running this script! (aborted)")
     sys.exit(1)
   except CalledProcessError as e:
     if e.returncode != 1: # 1 == no process found (boardd not running)
diff --git a/system/sensord/rawgps/rawgpsd.py b/system/qcomgpsd/qcomgpsd.py
similarity index 98%
rename from system/sensord/rawgps/rawgpsd.py
rename to system/qcomgpsd/qcomgpsd.py
index 787a9316d3..ac862052d3 100755
--- a/system/sensord/rawgps/rawgpsd.py
+++ b/system/qcomgpsd/qcomgpsd.py
@@ -18,8 +18,8 @@ import cereal.messaging as messaging
 from openpilot.common.gpio import gpio_init, gpio_set
 from openpilot.system.hardware.tici.pins import GPIO
 from openpilot.system.swaglog import cloudlog
-from openpilot.system.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
-from openpilot.system.sensord.rawgps.structs import (dict_unpacker, position_report, relist,
+from openpilot.system.qcomgpsd.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
+from openpilot.system.qcomgpsd.structs import (dict_unpacker, position_report, relist,
                                               gps_measurement_report, gps_measurement_report_sv,
                                               glonass_measurement_report, glonass_measurement_report_sv,
                                               oemdre_measurement_report, oemdre_measurement_report_sv, oemdre_svpoly_report,
@@ -101,7 +101,7 @@ def at_cmd(cmd: str) -> Optional[str]:
     try:
       return subprocess.check_output(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True, encoding='utf8')
     except subprocess.CalledProcessError:
-      cloudlog.exception("rawgps.mmcli_command_failed")
+      cloudlog.exception("qcomgps.mmcli_command_failed")
       time.sleep(1.0)
   raise Exception(f"failed to execute mmcli command {cmd=}")
 
@@ -163,7 +163,7 @@ def inject_assistance():
       return
     except subprocess.CalledProcessError as e:
       cloudlog.event(
-        "rawgps.assistance_loading_failed",
+        "qcomgps.assistance_loading_failed",
         error=True,
         cmd=e.cmd,
         output=e.output,
@@ -379,7 +379,7 @@ def main() -> NoReturn:
       gps.bearingDeg = report["q_FltHeadingRad"] * 180/math.pi
 
       # TODO needs update if there is another leap second, after june 2024?
-      dt_timestamp = (datetime.datetime(1980, 1, 6, 0, 0, 0, 0, None) +
+      dt_timestamp = (datetime.datetime(1980, 1, 6, 0, 0, 0, 0, datetime.timezone.utc) +
                       datetime.timedelta(weeks=report['w_GpsWeekNumber']) +
                       datetime.timedelta(seconds=(1e-3*report['q_GpsFixTimeMs'] - 18)))
       gps.unixTimestampMillis = dt_timestamp.timestamp()*1e3
diff --git a/system/sensord/rawgps/structs.py b/system/qcomgpsd/structs.py
similarity index 100%
rename from system/sensord/rawgps/structs.py
rename to system/qcomgpsd/structs.py
diff --git a/system/sensord/rawgps/test_rawgps.py b/system/qcomgpsd/tests/test_qcomgpsd.py
similarity index 84%
rename from system/sensord/rawgps/test_rawgps.py
rename to system/qcomgpsd/tests/test_qcomgpsd.py
index 3642438132..8291f2cc32 100755
--- a/system/sensord/rawgps/test_rawgps.py
+++ b/system/qcomgpsd/tests/test_qcomgpsd.py
@@ -8,7 +8,7 @@ import unittest
 import subprocess
 
 import cereal.messaging as messaging
-from openpilot.system.sensord.rawgps.rawgpsd import at_cmd, wait_for_modem
+from openpilot.system.qcomgpsd.qcomgpsd import at_cmd, wait_for_modem
 from openpilot.selfdrive.manager.process_config import managed_processes
 
 GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0')))
@@ -24,7 +24,7 @@ class TestRawgpsd(unittest.TestCase):
 
   @classmethod
   def tearDownClass(cls):
-    managed_processes['rawgpsd'].stop()
+    managed_processes['qcomgpsd'].stop()
     os.system("sudo systemctl restart systemd-resolved")
     os.system("sudo systemctl restart ModemManager lte")
 
@@ -33,7 +33,7 @@ class TestRawgpsd(unittest.TestCase):
     self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements'])
 
   def tearDown(self):
-    managed_processes['rawgpsd'].stop()
+    managed_processes['qcomgpsd'].stop()
     os.system("sudo systemctl restart systemd-resolved")
 
   def _wait_for_output(self, t):
@@ -51,7 +51,7 @@ class TestRawgpsd(unittest.TestCase):
 
   def test_wait_for_modem(self):
     os.system("sudo systemctl stop ModemManager")
-    managed_processes['rawgpsd'].start()
+    managed_processes['qcomgpsd'].start()
     assert not self._wait_for_output(5)
 
     os.system("sudo systemctl restart ModemManager")
@@ -62,15 +62,15 @@ class TestRawgpsd(unittest.TestCase):
       if not internet:
         os.system("sudo systemctl stop systemd-resolved")
       with self.subTest(internet=internet):
-        managed_processes['rawgpsd'].start()
+        managed_processes['qcomgpsd'].start()
         assert self._wait_for_output(7)
-        managed_processes['rawgpsd'].stop()
+        managed_processes['qcomgpsd'].stop()
 
   def test_turns_off_gnss(self):
     for s in (0.1, 1, 5):
-      managed_processes['rawgpsd'].start()
+      managed_processes['qcomgpsd'].start()
       time.sleep(s)
-      managed_processes['rawgpsd'].stop()
+      managed_processes['qcomgpsd'].stop()
 
       ls = subprocess.check_output("mmcli -m any --location-status --output-json", shell=True, encoding='utf-8')
       loc_status = json.loads(ls)
@@ -94,29 +94,29 @@ class TestRawgpsd(unittest.TestCase):
       assert valid_duration == '0'
 
   def test_assistance_loading(self):
-    managed_processes['rawgpsd'].start()
+    managed_processes['qcomgpsd'].start()
     assert self._wait_for_output(10)
-    managed_processes['rawgpsd'].stop()
+    managed_processes['qcomgpsd'].stop()
     self.check_assistance(True)
 
   def test_no_assistance_loading(self):
     os.system("sudo systemctl stop systemd-resolved")
 
-    managed_processes['rawgpsd'].start()
+    managed_processes['qcomgpsd'].start()
     assert self._wait_for_output(10)
-    managed_processes['rawgpsd'].stop()
+    managed_processes['qcomgpsd'].stop()
     self.check_assistance(False)
 
   def test_late_assistance_loading(self):
     os.system("sudo systemctl stop systemd-resolved")
 
-    managed_processes['rawgpsd'].start()
+    managed_processes['qcomgpsd'].start()
     self._wait_for_output(17)
     assert self.sm.updated['qcomGnss']
 
     os.system("sudo systemctl restart systemd-resolved")
     time.sleep(15)
-    managed_processes['rawgpsd'].stop()
+    managed_processes['qcomgpsd'].stop()
     self.check_assistance(True)
 
 if __name__ == "__main__":
diff --git a/tools/bodyteleop/web.py b/tools/bodyteleop/web.py
index 717afdeaf8..929cfa26fe 100644
--- a/tools/bodyteleop/web.py
+++ b/tools/bodyteleop/web.py
@@ -18,11 +18,14 @@ import cereal.messaging as messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.tools.bodyteleop.bodyav import BodyMic, WebClientSpeaker, force_codec, play_sound, MediaBlackhole, EncodedBodyVideo
 
+from typing import Optional
+
 logger = logging.getLogger("pc")
 logging.basicConfig(level=logging.INFO)
 
-pcs = set()
-pm, sm = None, None
+pcs: set[RTCPeerConnection] = set()
+pm: Optional[messaging.PubMaster] = None
+sm: Optional[messaging.SubMaster] = None
 TELEOPDIR = f"{BASEDIR}/tools/bodyteleop"
 
 
diff --git a/tools/cabana/tools/findsignal.cc b/tools/cabana/tools/findsignal.cc
index 5155ad91d2..387a912787 100644
--- a/tools/cabana/tools/findsignal.cc
+++ b/tools/cabana/tools/findsignal.cc
@@ -214,7 +214,9 @@ void FindSignalDlg::setInitialSignals() {
   sig.factor = factor_edit->text().toDouble();
   sig.offset = offset_edit->text().toDouble();
 
-  auto [first_sec, last_sec] = std::minmax(first_time_edit->text().toDouble(), last_time_edit->text().toDouble());
+  double first_time_val = first_time_edit->text().toDouble();
+  double last_time_val = last_time_edit->text().toDouble();
+  auto [first_sec, last_sec] = std::minmax(first_time_val, last_time_val);
   uint64_t first_time = (can->routeStartTime() + first_sec) * 1e9;
   model->last_time = std::numeric_limits<uint64_t>::max();
   if (last_sec > 0) {
diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc
index 719bbd69ca..3332aa9c90 100644
--- a/tools/replay/consoleui.cc
+++ b/tools/replay/consoleui.cc
@@ -29,7 +29,7 @@ const std::initializer_list<std::pair<std::string, std::string>> keyboard_shortc
   },
   {
     {"enter", "Enter seek request"},
-    {"x", "+/-Replay speed"},
+    {"+/-", "Playback speed"},
     {"q", "Exit"},
   },
 };
@@ -331,13 +331,18 @@ void ConsoleUI::handleKey(char c) {
     refresh();
     getch_timer.start(1000, this);
 
-  } else if (c == 'x') {
-    if (replay->hasFlag(REPLAY_FLAG_FULL_SPEED)) {
-      replay->removeFlag(REPLAY_FLAG_FULL_SPEED);
-      rWarning("replay at normal speed");
-    } else {
-      replay->addFlag(REPLAY_FLAG_FULL_SPEED);
-      rWarning("replay at full speed");
+  } else if (c == '+' || c == '=') {
+    auto it = std::upper_bound(speed_array.begin(), speed_array.end(), replay->getSpeed());
+    if (it != speed_array.end()) {
+      rWarning("playback speed: %.1fx", *it);
+      replay->setSpeed(*it);
+    }
+  } else if (c == '_' || c == '-') {
+    auto it = std::lower_bound(speed_array.begin(), speed_array.end(), replay->getSpeed());
+    if (it != speed_array.begin()) {
+      auto prev = std::prev(it);
+      rWarning("playback speed: %.1fx", *prev);
+      replay->setSpeed(*prev);
     }
   } else if (c == 'e') {
     replay->seekToFlag(FindFlag::nextEngagement);
diff --git a/tools/replay/consoleui.h b/tools/replay/consoleui.h
index 20e07524dd..6ed44bc623 100644
--- a/tools/replay/consoleui.h
+++ b/tools/replay/consoleui.h
@@ -16,6 +16,7 @@ class ConsoleUI : public QObject {
 public:
   ConsoleUI(Replay *replay, QObject *parent = 0);
   ~ConsoleUI();
+  inline static const std::array speed_array = {0.2f, 0.5f, 1.0f, 2.0f, 3.0f};
 
 private:
   void initWindows();
diff --git a/tools/replay/main.cc b/tools/replay/main.cc
index 945cb4cd09..a0c072438d 100644
--- a/tools/replay/main.cc
+++ b/tools/replay/main.cc
@@ -33,6 +33,8 @@ int main(int argc, char *argv[]) {
   parser.addOption({{"b", "block"}, "blacklist of services to send", "block"});
   parser.addOption({{"c", "cache"}, "cache <n> segments in memory. default is 5", "n"});
   parser.addOption({{"s", "start"}, "start from <seconds>", "seconds"});
+  parser.addOption({"x", QString("playback <speed>. between %1 - %2")
+                        .arg(ConsoleUI::speed_array.front()).arg(ConsoleUI::speed_array.back()), "speed"});
   parser.addOption({"demo", "use a demo route instead of providing your own"});
   parser.addOption({"data_dir", "local directory with routes", "data_dir"});
   parser.addOption({"prefix", "set OPENPILOT_PREFIX", "prefix"});
@@ -67,6 +69,10 @@ int main(int argc, char *argv[]) {
   if (!parser.value("c").isEmpty()) {
     replay->setSegmentCacheLimit(parser.value("c").toInt());
   }
+  if (!parser.value("x").isEmpty()) {
+    replay->setSpeed(std::clamp(parser.value("x").toFloat(),
+                                ConsoleUI::speed_array.front(), ConsoleUI::speed_array.back()));
+  }
   if (!replay->load()) {
     return 0;
   }
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index 1ec484d677..9657375be7 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -363,7 +363,7 @@ void Replay::publishFrame(const Event *e) {
 
 void Replay::stream() {
   cereal::Event::Which cur_which = cereal::Event::Which::INIT_DATA;
-  double prev_replay_speed = 1.0;
+  double prev_replay_speed = speed_;
   std::unique_lock lk(stream_lock_);
 
   while (true) {
@@ -398,14 +398,14 @@ void Replay::stream() {
           evt_start_ts = cur_mono_time_;
           loop_start_ts = nanos_since_boot();
           prev_replay_speed = speed_;
-        } else if (behind_ns > 0 && !hasFlag(REPLAY_FLAG_FULL_SPEED)) {
+        } else if (behind_ns > 0) {
           precise_nano_sleep(behind_ns);
         }
 
         if (!evt->frame) {
           publishMessage(evt);
         } else if (camera_server_) {
-          if (hasFlag(REPLAY_FLAG_FULL_SPEED)) {
+          if (speed_ > 1.0) {
             camera_server_->waitForSent();
           }
           publishFrame(evt);
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index 1144da2601..1a74b69c3d 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -27,7 +27,6 @@ enum REPLAY_FLAGS {
   REPLAY_FLAG_NO_FILE_CACHE = 0x0020,
   REPLAY_FLAG_QCAMERA = 0x0040,
   REPLAY_FLAG_NO_HW_DECODER = 0x0100,
-  REPLAY_FLAG_FULL_SPEED = 0x0200,
   REPLAY_FLAG_NO_VIPC = 0x0400,
   REPLAY_FLAG_ALL_SERVICES = 0x0800,
 };
diff --git a/tools/sim/lib/manual_ctrl.py b/tools/sim/lib/manual_ctrl.py
index 1687a2e6ba..04e228c18c 100755
--- a/tools/sim/lib/manual_ctrl.py
+++ b/tools/sim/lib/manual_ctrl.py
@@ -4,7 +4,7 @@ import array
 import os
 import struct
 from fcntl import ioctl
-from typing import NoReturn
+from typing import NoReturn, Dict, List
 
 # Iterate over the joystick devices.
 print('Available devices:')
@@ -13,8 +13,8 @@ for fn in os.listdir('/dev/input'):
     print(f'  /dev/input/{fn}')
 
 # We'll store the states here.
-axis_states = {}
-button_states = {}
+axis_states: Dict[str, float] = {}
+button_states: Dict[str, float] = {}
 
 # These constants were borrowed from linux/input.h
 axis_names = {
@@ -88,8 +88,8 @@ button_names = {
   0x2c3 : 'dpad_down',
 }
 
-axis_map = []
-button_map = []
+axis_name_list: List[str] = []
+button_name_list: List[str] = []
 
 def wheel_poll_thread(q: 'Queue[str]') -> NoReturn:
   # Open the joystick device.
@@ -119,7 +119,7 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn:
 
   for _axis in buf[:num_axes]:
     axis_name = axis_names.get(_axis, f'unknown(0x{_axis:02x})')
-    axis_map.append(axis_name)
+    axis_name_list.append(axis_name)
     axis_states[axis_name] = 0.0
 
   # Get the button map.
@@ -128,11 +128,11 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn:
 
   for btn in buf[:num_buttons]:
     btn_name = button_names.get(btn, f'unknown(0x{btn:03x})')
-    button_map.append(btn_name)
+    button_name_list.append(btn_name)
     button_states[btn_name] = 0
 
-  print('%d axes found: %s' % (num_axes, ', '.join(axis_map)))
-  print('%d buttons found: %s' % (num_buttons, ', '.join(button_map)))
+  print('%d axes found: %s' % (num_axes, ', '.join(axis_name_list)))
+  print('%d buttons found: %s' % (num_buttons, ', '.join(button_name_list)))
 
   # Enable FF
   import evdev
@@ -147,7 +147,7 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn:
     value, mtype, number = struct.unpack('4xhBB', evbuf)
     # print(mtype, number, value)
     if mtype & 0x02:  # wheel & paddles
-      axis = axis_map[number]
+      axis = axis_name_list[number]
 
       if axis == "z":  # gas
         fvalue = value / 32767.0
diff --git a/tools/sim/tests/test_carla_bridge.py b/tools/sim/tests/test_carla_bridge.py
index dcf2b9c6e2..3a654c993a 100755
--- a/tools/sim/tests/test_carla_bridge.py
+++ b/tools/sim/tests/test_carla_bridge.py
@@ -2,18 +2,20 @@
 import subprocess
 import time
 import unittest
+from subprocess import Popen
 
 from openpilot.selfdrive.manager.helpers import unblock_stdout
 from openpilot.tools.sim.run_bridge import parse_args
 from openpilot.tools.sim.bridge.carla.carla_bridge import CarlaBridge
 from openpilot.tools.sim.tests.test_sim_bridge import SIM_DIR, TestSimBridgeBase
 
+from typing import Optional
 
 class TestCarlaBridge(TestSimBridgeBase):
   """
   Tests need Carla simulator to run
   """
-  carla_process = None
+  carla_process: Optional[Popen] = None
 
   def setUp(self):
     super().setUp()