diff --git a/README.md b/README.md
index 1222bdf9aa..c5d51f499e 100644
--- a/README.md
+++ b/README.md
@@ -12,7 +12,7 @@ Here are [some](https://www.youtube.com/watch?v=9OwTJFuDI7g) [videos](https://ww
 Hardware
 ------
 
-Right now openpilot supports the [NEO research platform](http://github.com/commaai/neo) and the [EON Dashcam DevKit](https://shop.comma.ai/products/eon-dashcam-devkit). We'd like to support other platforms as well.
+Right now openpilot supports the [EON Dashcam DevKit](https://shop.comma.ai/products/eon-dashcam-devkit). We'd like to support other platforms as well.
 
 Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.
 
diff --git a/RELEASES.md b/RELEASES.md
index bd55709de6..2c63e90833 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,13 @@
+Version 0.4.4 (2018-04-13)
+==========================
+ * EON are flipped! Flip your EON's mount!
+ * Alpha Honda Ridgeline support thanks to energee!
+ * Support optional front camera recording
+ * Upload over cellular toggle now applies to all files, not just video
+ * Increase acceleration when closing lead gap
+ * User now prompted for future updates
+ * NEO no longer supported :(
+
 Version 0.4.3.2 (2018-03-29)
 ============================
  * Improve autofocus
diff --git a/apk/ai.comma.plus.frame.apk b/apk/ai.comma.plus.frame.apk
index 64df31e0cb..ed96c2bd4f 100644
Binary files a/apk/ai.comma.plus.frame.apk and b/apk/ai.comma.plus.frame.apk differ
diff --git a/apk/ai.comma.plus.offroad.apk b/apk/ai.comma.plus.offroad.apk
index 449fa568d1..78d7529d9e 100644
Binary files a/apk/ai.comma.plus.offroad.apk and b/apk/ai.comma.plus.offroad.apk differ
diff --git a/cereal/car.capnp b/cereal/car.capnp
index beb6e8a783..7e94de7ed0 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -55,6 +55,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     manualRestart @30;
     lowSpeedLockout @31;
     plannerError @32;
+    ipasOverride @33;
+    debugAlert @34;
   }
 }
 
@@ -192,6 +194,7 @@ struct RadarState {
 struct CarControl {
   # must be true for any actuator commands to work
   enabled @0 :Bool;
+  active @7 :Bool;
 
   gasDEPRECATED @1 :Float32;
   brakeDEPRECATED @2 :Float32;
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 2d3b50bfad..5d001a611e 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -485,6 +485,7 @@ struct EncodeIndex {
     bigBoxHEVC @2;       # bcamera.hevc
     chffrAndroidH264 @3; # acamera
     fullLosslessClip @4; # prcamera.mkv
+    front @5;            # dcamera.hevc
   }
 }
 
@@ -542,6 +543,7 @@ struct Plan {
     cruise @0;
     mpc1 @1;
     mpc2 @2;
+    mpc3 @3;
   }
 }
 
@@ -1376,6 +1378,7 @@ struct GPSPlannerPlan {
   acceleration @4 :Float32;
   pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
   points @6 :List(ECEFPoint);
+  xLookahead @7 :Float32;
 }
 
 struct TrafficEvent @0xacfa74a094e62626 {
diff --git a/cereal/mapd.capnp b/cereal/mapd.capnp
index 868d9dd32b..2fbf286dd4 100644
--- a/cereal/mapd.capnp
+++ b/cereal/mapd.capnp
@@ -3,7 +3,7 @@ $Cxx.namespace("cereal");
 
 using Java = import "java.capnp";
 $Java.package("ai.comma.openpilot.cereal");
-$Java.outerClassname("Log");
+$Java.outerClassname("Map");
 
 using Log = import "log.capnp";
 
diff --git a/common/fingerprints.py b/common/fingerprints.py
index be85de8c42..f7724312af 100644
--- a/common/fingerprints.py
+++ b/common/fingerprints.py
@@ -15,6 +15,9 @@ class TOYOTA:
   COROLLA = "TOYOTA COROLLA 2017"
   LEXUS_RXH = "LEXUS RX HYBRID 2017"
 
+class GM:
+  VOLT = "CHEVROLET VOLT PREMIER 2017"
+
 _DEBUG_ADDRESS = {1880: 8}   # reserved for debug purposes
 
 _FINGERPRINTS = {
@@ -76,6 +79,9 @@ _FINGERPRINTS = {
   TOYOTA.LEXUS_RXH: [{
     36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 812: 3, 814: 8, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1071: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1777: 8, 1779: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1840: 8, 1848: 8, 1904: 8, 1912: 8, 1940: 8, 1941: 8, 1948: 8, 1949: 8, 1952: 8, 1956: 8, 1960: 8, 1964: 8, 1986: 8, 1990: 8, 1994: 8, 1998: 8, 2004: 8, 2012: 8
   }],
+  GM.VOLT: [{
+    170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
+  }],
 }
 
 # support additional internal only fingerprints
diff --git a/common/params.py b/common/params.py
index 3ef3d1d668..7955c88ed9 100755
--- a/common/params.py
+++ b/common/params.py
@@ -74,6 +74,8 @@ keys = {
   "DoUninstall": TxType.CLEAR_ON_MANAGER_START,
   "ShouldDoUpdate": TxType.CLEAR_ON_MANAGER_START,
   "IsUpdateAvailable": TxType.PERSISTANT,
+
+  "RecordFront": TxType.PERSISTANT,
 }
 
 def fsync_dir(path):
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index bdc123c612..388af85f9f 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -5,41 +5,26 @@ from common.fingerprints import eliminate_incompatible_cars, all_known_cars
 
 from selfdrive.swaglog import cloudlog
 import selfdrive.messaging as messaging
-from selfdrive.car.honda.interface import CarInterface as HondaInterface
-from selfdrive.car.toyota.interface import CarInterface as ToyotaInterface
-from selfdrive.car.mock.interface import CarInterface as MockInterface
-from common.fingerprints import HONDA, TOYOTA
-
-try:
-  from .simulator.interface import CarInterface as SimInterface
-except ImportError:
-  SimInterface = None
-
-try:
-  from .simulator2.interface import CarInterface as Sim2Interface
-except ImportError:
-  Sim2Interface = None
-
-
-interfaces = {
-  HONDA.CIVIC: HondaInterface,
-  HONDA.ACURA_ILX: HondaInterface,
-  HONDA.CRV: HondaInterface,
-  HONDA.ODYSSEY: HondaInterface,
-  HONDA.ACURA_RDX: HondaInterface,
-  HONDA.PILOT: HondaInterface,
-  HONDA.RIDGELINE: HondaInterface,
-
-
-  TOYOTA.PRIUS: ToyotaInterface,
-  TOYOTA.RAV4: ToyotaInterface,
-  TOYOTA.RAV4H: ToyotaInterface,
-  TOYOTA.COROLLA: ToyotaInterface,
-  TOYOTA.LEXUS_RXH: ToyotaInterface,
-
-  "simulator2": Sim2Interface,
-  "mock": MockInterface
-}
+from common.fingerprints import HONDA, TOYOTA, GM
+
+def load_interfaces(x):
+  ret = {}
+  for interface in x:
+    try:
+      imp = __import__('selfdrive.car.%s.interface' % interface, fromlist=['CarInterface']).CarInterface
+    except ImportError:
+      imp = None
+    for car in x[interface]:
+      ret[car] = imp
+  return ret
+
+# imports from directory selfdrive/car/<name>/
+interfaces = load_interfaces({
+  'honda': [HONDA.CIVIC, HONDA.ACURA_ILX, HONDA.CRV, HONDA.ODYSSEY, HONDA.ACURA_RDX, HONDA.PILOT, HONDA.RIDGELINE],
+  'toyota': [TOYOTA.PRIUS, TOYOTA.RAV4, TOYOTA.RAV4H, TOYOTA.COROLLA, TOYOTA.LEXUS_RXH],
+  'gm': [GM.VOLT],
+  'simulator2': ['simulator2'],
+  'mock': ['mock']})
 
 # **** for use live only ****
 def fingerprint(logcan, timeout):
@@ -92,6 +77,10 @@ def get_car(logcan, sendcan=None, passive=True):
       return None, None
 
   interface_cls = interfaces[candidate]
+  if interface_cls is None:
+    cloudlog.warning("car matched %s, but interface wasn't available" % candidate)
+    return None, None
+
   params = interface_cls.get_params(candidate, fingerprints)
 
   return interface_cls(params, sendcan), params
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 6dd7732def..50ce557faa 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -157,9 +157,9 @@ class CarController(object):
 
       # windup slower
       if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle):
-        angle_rate_lim = interp(CS.v_ego, ANGLE_MAX_BP, ANGLE_DELTA_V)
+        angle_rate_lim = interp(CS.v_ego, ANGLE_DELTA_BP, ANGLE_DELTA_V)
       else:
-        angle_rate_lim = interp(CS.v_ego, ANGLE_MAX_BP, ANGLE_DELTA_VU)
+        angle_rate_lim = interp(CS.v_ego, ANGLE_DELTA_BP, ANGLE_DELTA_VU)
 
       apply_angle = clip(apply_angle, self.last_angle - angle_rate_lim, self.last_angle + angle_rate_lim)
     else:
@@ -195,11 +195,11 @@ class CarController(object):
       else:
         can_sends.append(create_steer_command(self.packer, apply_steer, frame))
 
-    if ECU.APGS in self.fake_ecus:
-      if self.angle_control:
-        can_sends.append(create_ipas_steer_command(self.packer, apply_angle, self.steer_angle_enabled))
-      else:
-        can_sends.append(create_ipas_steer_command(self.packer, 0, 0))
+    if self.angle_control:
+      can_sends.append(create_ipas_steer_command(self.packer, apply_angle, self.steer_angle_enabled, 
+                                                 ECU.APGS in self.fake_ecus))
+    elif ECU.APGS in self.fake_ecus:
+      can_sends.append(create_ipas_steer_command(self.packer, 0, 0, True))
 
     # accel cmd comes from DSU, but we can spam can to cancel the system even if we are using lat only control
     if (frame % 3 == 0 and ECU.DSU in self.fake_ecus) or (pcm_cancel_cmd and ECU.CAM in self.fake_ecus):
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index dede0bf01d..3c9a54bb58 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -36,17 +36,6 @@ def parse_gear_shifter(can_gear, car_fingerprint):
 
 
 def get_can_parser(CP):
-  # this function generates lists for signal, messages and initial values
-  if CP.carFingerprint == CAR.PRIUS:
-    dbc_f = 'toyota_prius_2017_pt_generated.dbc'
-  elif CP.carFingerprint == CAR.RAV4H:
-    dbc_f = 'toyota_rav4_hybrid_2017_pt_generated.dbc'
-  elif CP.carFingerprint == CAR.RAV4:
-    dbc_f = 'toyota_rav4_2017_pt_generated.dbc'
-  elif CP.carFingerprint == CAR.COROLLA:
-    dbc_f = 'toyota_corolla_2017_pt_generated.dbc'
-  elif CP.carFingerprint == CAR.LEXUS_RXH:
-    dbc_f = 'lexus_rx_hybrid_2017_pt_generated.dbc'
 
   signals = [
     # sig_name, sig_address, default
@@ -91,6 +80,19 @@ def get_can_parser(CP):
     ("EPS_STATUS", 25),
   ]
 
+  # this function generates lists for signal, messages and initial values
+  if CP.carFingerprint == CAR.PRIUS:
+    dbc_f = 'toyota_prius_2017_pt_generated.dbc'
+    signals += [("STATE", "AUTOPARK_STATUS", 0)]
+  elif CP.carFingerprint == CAR.RAV4H:
+    dbc_f = 'toyota_rav4_hybrid_2017_pt_generated.dbc'
+  elif CP.carFingerprint == CAR.RAV4:
+    dbc_f = 'toyota_rav4_2017_pt_generated.dbc'
+  elif CP.carFingerprint == CAR.COROLLA:
+    dbc_f = 'toyota_corolla_2017_pt_generated.dbc'
+  elif CP.carFingerprint == CAR.LEXUS_RXH:
+    dbc_f = 'lexus_rx_hybrid_2017_pt_generated.dbc'
+
   return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 0)
 
 
@@ -172,4 +174,7 @@ class CarState(object):
     self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
     self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
     self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
-    self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
+    if self.CP.carFingerprint == CAR.PRIUS:
+      self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0
+    else:
+      self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
index 4cb2c0c85c..150167b9e6 100644
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -28,7 +28,7 @@ def create_video_target(frame, addr):
   return make_can_msg(addr, msg, 1, True)
 
 
-def create_ipas_steer_command(packer, steer, enabled):
+def create_ipas_steer_command(packer, steer, enabled, apgs_enabled):
   """Creates a CAN message for the Toyota Steer Command."""
   if steer < 0:
     direction = 3
@@ -46,7 +46,10 @@ def create_ipas_steer_command(packer, steer, enabled):
     "SET_ME_X10": 0x10,
     "SET_ME_X40": 0x40
   }
-  return packer.make_can_msg("STEERING_IPAS", 0, values)
+  if apgs_enabled:
+    return packer.make_can_msg("STEERING_IPAS", 0, values)
+  else:
+    return packer.make_can_msg("STEERING_IPAS_COMMA", 0, values)
 
 
 def create_steer_command(packer, steer, raw_cnt):
diff --git a/selfdrive/common/framebuffer.cc b/selfdrive/common/framebuffer.cc
index 0bee19b74e..757c2a1ead 100644
--- a/selfdrive/common/framebuffer.cc
+++ b/selfdrive/common/framebuffer.cc
@@ -56,8 +56,8 @@ extern "C" FramebufferState* framebuffer_init(
   status = SurfaceComposerClient::getDisplayInfo(s->dtoken, &s->dinfo);
   assert(status == 0);
 
-  int orientation = 3; // rotate framebuffer 270 degrees
-  //int orientation = 1; // rotate framebuffer 90 degrees
+  //int orientation = 3; // rotate framebuffer 270 degrees
+  int orientation = 1; // rotate framebuffer 90 degrees
   if(orientation == 1 || orientation == 3) {
       int temp = s->dinfo.h;
       s->dinfo.h = s->dinfo.w;
diff --git a/selfdrive/common/version.h b/selfdrive/common/version.h
index 52556d2e4f..136faef674 100644
--- a/selfdrive/common/version.h
+++ b/selfdrive/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.4.3.2-release"
+#define COMMA_VERSION "0.4.4-release"
diff --git a/selfdrive/common/visionipc.c b/selfdrive/common/visionipc.c
index 4299f512f9..d56fbdd773 100644
--- a/selfdrive/common/visionipc.c
+++ b/selfdrive/common/visionipc.c
@@ -193,6 +193,21 @@ int visionstream_init(VisionStream *s, VisionStreamType type, bool tbuffer, Visi
   return 0;
 }
 
+void visionstream_release(VisionStream *s) {
+  int err;
+  if (s->last_idx >= 0) {
+    VisionPacket rep = {
+      .type = VIPC_STREAM_RELEASE,
+      .d = { .stream_rel = {
+        .type = s->last_type,
+        .idx = s->last_idx,
+      }}
+    };
+    err = vipc_send(s->ipc_fd, &rep);
+    s->last_idx = -1;
+  }
+}
+
 VIPCBuf* visionstream_get(VisionStream *s, VIPCBufExtra *out_extra) {
   int err;
 
@@ -207,7 +222,7 @@ VIPCBuf* visionstream_get(VisionStream *s, VIPCBufExtra *out_extra) {
     VisionPacket rep = {
       .type = VIPC_STREAM_RELEASE,
       .d = { .stream_rel = {
-        .type = rp.d.stream_acq.type,
+        .type = s->last_type,
         .idx = s->last_idx,
       }}
     };
@@ -217,6 +232,7 @@ VIPCBuf* visionstream_get(VisionStream *s, VIPCBufExtra *out_extra) {
     }
   }
 
+  s->last_type = rp.d.stream_acq.type;
   s->last_idx = rp.d.stream_acq.idx;
   assert(s->last_idx < s->num_bufs);
 
@@ -228,6 +244,20 @@ VIPCBuf* visionstream_get(VisionStream *s, VIPCBufExtra *out_extra) {
 }
 
 void visionstream_destroy(VisionStream *s) {
+  int err;
+
+  if (s->last_idx >= 0) {
+    VisionPacket rep = {
+      .type = VIPC_STREAM_RELEASE,
+      .d = { .stream_rel = {
+        .type = s->last_type,
+        .idx = s->last_idx,
+      }}
+    };
+    err = vipc_send(s->ipc_fd, &rep);
+    s->last_idx = -1;
+  }
+
   for (int i=0; i<s->num_bufs; i++) {
     if (s->bufs[i].addr) {
       munmap(s->bufs[i].addr, s->bufs[i].len);
diff --git a/selfdrive/common/visionipc.h b/selfdrive/common/visionipc.h
index 2f116a4d01..8bd0dd152f 100644
--- a/selfdrive/common/visionipc.h
+++ b/selfdrive/common/visionipc.h
@@ -24,6 +24,7 @@ typedef enum VisionStreamType {
   VISION_STREAM_UI_BACK,
   VISION_STREAM_UI_FRONT,
   VISION_STREAM_YUV,
+  VISION_STREAM_YUV_FRONT,
   VISION_STREAM_MAX,
 } VisionStreamType;
 
@@ -94,12 +95,14 @@ void vipc_bufs_load(VIPCBuf *bufs, const VisionStreamBufs *stream_bufs,
 typedef struct VisionStream {
   int ipc_fd;
   int last_idx;
+  int last_type;
   int num_bufs;
   VisionStreamBufs bufs_info;
   VIPCBuf *bufs;
 } VisionStream;
 
 int visionstream_init(VisionStream *s, VisionStreamType type, bool tbuffer, VisionStreamBufs *out_bufs_info);
+void visionstream_release(VisionStream *s);
 VIPCBuf* visionstream_get(VisionStream *s, VIPCBufExtra *out_extra);
 void visionstream_destroy(VisionStream *s);
 
diff --git a/selfdrive/controls/lib/alertmanager.py b/selfdrive/controls/lib/alertmanager.py
index 5e704982d6..f67976222f 100644
--- a/selfdrive/controls/lib/alertmanager.py
+++ b/selfdrive/controls/lib/alertmanager.py
@@ -101,8 +101,8 @@ class AlertManager(object):
         Priority.MID, "steerRequired", "chimeRepeated", .1, .1, .1),
 
     "startup": Alert(
-        "Always keep hands on wheel",
         "Be ready to take over at any time",
+        "Always keep hands on wheel and eyes on road",
         AlertStatus.normal, AlertSize.mid,
         Priority.LOWEST, None, None, 0., 0., 15.),
 
diff --git a/selfdrive/controls/lib/longitudinal_mpc/generator.cpp b/selfdrive/controls/lib/longitudinal_mpc/generator.cpp
index d21dc585bc..30b0bd858a 100644
--- a/selfdrive/controls/lib/longitudinal_mpc/generator.cpp
+++ b/selfdrive/controls/lib/longitudinal_mpc/generator.cpp
@@ -39,9 +39,9 @@ int main( )
   // Running cost
   Function h;
   h << exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l)) - exp(0.3 * NORM_RW_ERROR(v_ego, v_l, desired));
-  h << (d_l - desired) / (0.1 * v_ego + 0.5);
-  h << a_ego * (1.0 + v_ego / 10.0);
-  h << j_ego * (1.0 + v_ego / 10.0);
+  h << (d_l - desired) / (0.05 * v_ego + 0.5);
+  h << a_ego * (0.1 * v_ego + 1.0);
+  h << j_ego * (0.1 * v_ego + 1.0);
 
   // Weights are defined in mpc.
   BMatrix Q(4,4); Q.setAll(true);
@@ -49,8 +49,8 @@ int main( )
   // Terminal cost
   Function hN;
   hN << exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l)) - exp(0.3 * NORM_RW_ERROR(v_ego, v_l, desired));
-  hN << (d_l - desired) / (0.1 * v_ego + 0.5);
-  hN << a_ego * (1.0 + v_ego / 10.0);
+  hN << (d_l - desired) / (0.05 * v_ego + 0.5);
+  hN << a_ego * (0.1 * v_ego + 1.0);
 
   // Weights are defined in mpc.
   BMatrix QN(3,3); QN.setAll(true);
diff --git a/selfdrive/controls/lib/longitudinal_mpc/mpc_export/acado_common.h b/selfdrive/controls/lib/longitudinal_mpc/mpc_export/acado_common.h
index 2c0ab64ef1..1f1c21e6e0 100644
--- a/selfdrive/controls/lib/longitudinal_mpc/mpc_export/acado_common.h
+++ b/selfdrive/controls/lib/longitudinal_mpc/mpc_export/acado_common.h
@@ -181,8 +181,8 @@ real_t evGx[ 720 ];
 /** Column vector of size: 120 */
 real_t evGu[ 120 ];
 
-/** Column vector of size: 32 */
-real_t objAuxVar[ 32 ];
+/** Column vector of size: 30 */
+real_t objAuxVar[ 30 ];
 
 /** Row vector of size: 8 */
 real_t objValueIn[ 8 ];
diff --git a/selfdrive/controls/lib/longitudinal_mpc/mpc_export/acado_solver.c b/selfdrive/controls/lib/longitudinal_mpc/mpc_export/acado_solver.c
index 94aef8c05c..a06e4a38d6 100644
--- a/selfdrive/controls/lib/longitudinal_mpc/mpc_export/acado_solver.c
+++ b/selfdrive/controls/lib/longitudinal_mpc/mpc_export/acado_solver.c
@@ -107,7 +107,7 @@ void acado_evaluateLSQ(const real_t* in, real_t* out)
 {
 const real_t* xd = in;
 const real_t* u = in + 6;
-/* Vector of auxiliary variables; number of elements: 32. */
+/* Vector of auxiliary variables; number of elements: 30. */
 real_t* a = acadoWorkspace.objAuxVar;
 
 /* Compute intermediate quantities: */
@@ -137,18 +137,16 @@ a[22] = (((real_t)(2.9999999999999999e-01)*((((real_t)(0.0000000000000000e+00)-(
 a[23] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
 a[24] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
 a[25] = (((real_t)(2.9999999999999999e-01)*(((((real_t)(0.0000000000000000e+00)-(real_t)(1.8000000000000000e+00))-((xd[4]+xd[4])*a[23]))-(((real_t)(0.0000000000000000e+00)-(real_t)(1.8000000000000000e+00))-((xd[4]+xd[4])*a[24])))*a[14]))*a[18]);
-a[26] = ((real_t)(1.0000000000000000e+00)/(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(5.0000000000000000e-01)));
+a[26] = ((real_t)(1.0000000000000000e+00)/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01)));
 a[27] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
 a[28] = (a[26]*a[26]);
 a[29] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
-a[30] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.0000000000000000e+01));
-a[31] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.0000000000000000e+01));
 
 /* Compute outputs: */
 out[0] = (a[1]-a[3]);
-out[1] = (((xd[3]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))/(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(5.0000000000000000e-01)));
-out[2] = (xd[2]*((real_t)(1.0000000000000000e+00)+(xd[1]/(real_t)(1.0000000000000000e+01))));
-out[3] = (u[0]*((real_t)(1.0000000000000000e+00)+(xd[1]/(real_t)(1.0000000000000000e+01))));
+out[1] = (((xd[3]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01)));
+out[2] = (xd[2]*(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00)));
+out[3] = (u[0]*(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00)));
 out[4] = a[6];
 out[5] = (a[11]-a[19]);
 out[6] = (real_t)(0.0000000000000000e+00);
@@ -156,19 +154,19 @@ out[7] = a[20];
 out[8] = (a[22]-a[25]);
 out[9] = (real_t)(0.0000000000000000e+00);
 out[10] = (((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[26]);
-out[11] = ((((real_t)(0.0000000000000000e+00)-(((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[27])))*a[26])-((((xd[3]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))*(real_t)(1.0000000000000001e-01))*a[28]));
+out[11] = ((((real_t)(0.0000000000000000e+00)-(((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[27])))*a[26])-((((xd[3]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))*(real_t)(5.0000000000000003e-02))*a[28]));
 out[12] = (real_t)(0.0000000000000000e+00);
 out[13] = a[26];
 out[14] = (((real_t)(0.0000000000000000e+00)-(((real_t)(0.0000000000000000e+00)-(real_t)(1.8000000000000000e+00))-((xd[4]+xd[4])*a[29])))*a[26]);
 out[15] = (real_t)(0.0000000000000000e+00);
 out[16] = (real_t)(0.0000000000000000e+00);
-out[17] = (xd[2]*a[30]);
-out[18] = ((real_t)(1.0000000000000000e+00)+(xd[1]/(real_t)(1.0000000000000000e+01)));
+out[17] = (xd[2]*(real_t)(1.0000000000000001e-01));
+out[18] = (((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00));
 out[19] = (real_t)(0.0000000000000000e+00);
 out[20] = (real_t)(0.0000000000000000e+00);
 out[21] = (real_t)(0.0000000000000000e+00);
 out[22] = (real_t)(0.0000000000000000e+00);
-out[23] = (u[0]*a[31]);
+out[23] = (u[0]*(real_t)(1.0000000000000001e-01));
 out[24] = (real_t)(0.0000000000000000e+00);
 out[25] = (real_t)(0.0000000000000000e+00);
 out[26] = (real_t)(0.0000000000000000e+00);
@@ -176,13 +174,13 @@ out[27] = (real_t)(0.0000000000000000e+00);
 out[28] = (real_t)(0.0000000000000000e+00);
 out[29] = (real_t)(0.0000000000000000e+00);
 out[30] = (real_t)(0.0000000000000000e+00);
-out[31] = ((real_t)(1.0000000000000000e+00)+(xd[1]/(real_t)(1.0000000000000000e+01)));
+out[31] = (((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00));
 }
 
 void acado_evaluateLSQEndTerm(const real_t* in, real_t* out)
 {
 const real_t* xd = in;
-/* Vector of auxiliary variables; number of elements: 31. */
+/* Vector of auxiliary variables; number of elements: 30. */
 real_t* a = acadoWorkspace.objAuxVar;
 
 /* Compute intermediate quantities: */
@@ -212,16 +210,15 @@ a[22] = (((real_t)(2.9999999999999999e-01)*((((real_t)(0.0000000000000000e+00)-(
 a[23] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
 a[24] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
 a[25] = (((real_t)(2.9999999999999999e-01)*(((((real_t)(0.0000000000000000e+00)-(real_t)(1.8000000000000000e+00))-((xd[4]+xd[4])*a[23]))-(((real_t)(0.0000000000000000e+00)-(real_t)(1.8000000000000000e+00))-((xd[4]+xd[4])*a[24])))*a[14]))*a[18]);
-a[26] = ((real_t)(1.0000000000000000e+00)/(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(5.0000000000000000e-01)));
+a[26] = ((real_t)(1.0000000000000000e+00)/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01)));
 a[27] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
 a[28] = (a[26]*a[26]);
 a[29] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
-a[30] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.0000000000000000e+01));
 
 /* Compute outputs: */
 out[0] = (a[1]-a[3]);
-out[1] = (((xd[3]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))/(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(5.0000000000000000e-01)));
-out[2] = (xd[2]*((real_t)(1.0000000000000000e+00)+(xd[1]/(real_t)(1.0000000000000000e+01))));
+out[1] = (((xd[3]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01)));
+out[2] = (xd[2]*(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00)));
 out[3] = a[6];
 out[4] = (a[11]-a[19]);
 out[5] = (real_t)(0.0000000000000000e+00);
@@ -229,14 +226,14 @@ out[6] = a[20];
 out[7] = (a[22]-a[25]);
 out[8] = (real_t)(0.0000000000000000e+00);
 out[9] = (((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[26]);
-out[10] = ((((real_t)(0.0000000000000000e+00)-(((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[27])))*a[26])-((((xd[3]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))*(real_t)(1.0000000000000001e-01))*a[28]));
+out[10] = ((((real_t)(0.0000000000000000e+00)-(((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[27])))*a[26])-((((xd[3]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((xd[4]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((xd[4]*xd[4])/(real_t)(1.9620000000000001e+01)))))*(real_t)(5.0000000000000003e-02))*a[28]));
 out[11] = (real_t)(0.0000000000000000e+00);
 out[12] = a[26];
 out[13] = (((real_t)(0.0000000000000000e+00)-(((real_t)(0.0000000000000000e+00)-(real_t)(1.8000000000000000e+00))-((xd[4]+xd[4])*a[29])))*a[26]);
 out[14] = (real_t)(0.0000000000000000e+00);
 out[15] = (real_t)(0.0000000000000000e+00);
-out[16] = (xd[2]*a[30]);
-out[17] = ((real_t)(1.0000000000000000e+00)+(xd[1]/(real_t)(1.0000000000000000e+01)));
+out[16] = (xd[2]*(real_t)(1.0000000000000001e-01));
+out[17] = (((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00));
 out[18] = (real_t)(0.0000000000000000e+00);
 out[19] = (real_t)(0.0000000000000000e+00);
 out[20] = (real_t)(0.0000000000000000e+00);
diff --git a/selfdrive/loggerd/loggerd b/selfdrive/loggerd/loggerd
index ea5e4a6e1e..95ad92524e 100755
Binary files a/selfdrive/loggerd/loggerd and b/selfdrive/loggerd/loggerd differ
diff --git a/selfdrive/loggerd/uploader.py b/selfdrive/loggerd/uploader.py
index 04e4dddbff..1d9c69cc2d 100644
--- a/selfdrive/loggerd/uploader.py
+++ b/selfdrive/loggerd/uploader.py
@@ -155,7 +155,7 @@ class Uploader(object):
         self.last_resp = FakeResponse()
       else:
         with open(fn, "rb") as f:
-          self.last_resp = requests.put(url, data=f, headers=headers)
+          self.last_resp = requests.put(url, data=f, headers=headers, timeout=10)
     except Exception as e:
       self.last_exc = (e, traceback.format_exc())
       raise
@@ -251,12 +251,16 @@ def uploader_fn(exit_event):
   backoff = 0.1
   while True:
 
-    upload_video = (params.get("IsUploadVideoOverCellularEnabled") != "0") or is_on_wifi()
+    should_upload = (params.get("IsUploadVideoOverCellularEnabled") != "0") or is_on_wifi()
 
     if exit_event.is_set():
       return
 
-    d = uploader.next_file_to_upload(upload_video)
+    if not should_upload:
+      time.sleep(5)
+      continue
+
+    d = uploader.next_file_to_upload(with_video=True)
     if d is None:
       time.sleep(5)
       continue
diff --git a/selfdrive/manager.py b/selfdrive/manager.py
index 5481a48e99..f010c632a4 100755
--- a/selfdrive/manager.py
+++ b/selfdrive/manager.py
@@ -609,6 +609,9 @@ def uninstall():
   os.system("service call power 16 i32 0 s16 recovery i32 1")
 
 def main():
+  # the flippening!
+  os.system('LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1')
+
   if os.getenv("NOLOG") is not None:
     del managed_processes['loggerd']
     del managed_processes['tombstoned']
@@ -640,6 +643,8 @@ def main():
   # set unset params
   if params.get("IsMetric") is None:
     params.put("IsMetric", "0")
+  if params.get("RecordFront") is None:
+    params.put("RecordFront", "0")
   if params.get("IsRearViewMirror") is None:
     params.put("IsRearViewMirror", "0")
   if params.get("IsFcwEnabled") is None:
diff --git a/selfdrive/sensord/gpsd b/selfdrive/sensord/gpsd
index 2db4fa042a..3ae7a6f8ba 100755
Binary files a/selfdrive/sensord/gpsd and b/selfdrive/sensord/gpsd differ
diff --git a/selfdrive/sensord/sensord b/selfdrive/sensord/sensord
index f4f685225a..c972dab8d2 100755
Binary files a/selfdrive/sensord/sensord and b/selfdrive/sensord/sensord differ
diff --git a/selfdrive/service_list.yaml b/selfdrive/service_list.yaml
index 897df4425b..55c77e4cc9 100644
--- a/selfdrive/service_list.yaml
+++ b/selfdrive/service_list.yaml
@@ -67,6 +67,7 @@ orbOdometry: [8057, true]
 orbFeatures: [8058, true]
 orbKeyFrame: [8059, true]
 uiLayoutState: [8060, true]
+frontEncodeIdx: [8061, true]
 
 testModel: [8040, false]
 testLiveLocation: [8045, false]
diff --git a/selfdrive/test/tests/plant/test_longitudinal.py b/selfdrive/test/tests/plant/test_longitudinal.py
index 73380022b8..e6f4a22507 100755
--- a/selfdrive/test/tests/plant/test_longitudinal.py
+++ b/selfdrive/test/tests/plant/test_longitudinal.py
@@ -94,6 +94,16 @@ maneuvers = [
     speed_lead_breakpoints = [0., 15., 25.0],
     cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)]
   ),
+  Maneuver(
+    'steady state following a car at 20m/s, then lead decel to 0mph at 3m/s^2',
+    duration=50.,
+    initial_speed = 20.,
+    lead_relevancy=True,
+    initial_distance_lead=35.,
+    speed_lead_values = [20., 20., 0.],
+    speed_lead_breakpoints = [0., 15., 21.66],
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)]
+  ),
   Maneuver(
     'starting at 0mph, approaching a stopped car 100m away',
     duration=30.,
diff --git a/selfdrive/ui/spinner/spinner b/selfdrive/ui/spinner/spinner
index 5e9a473389..7fc8c69170 100755
Binary files a/selfdrive/ui/spinner/spinner and b/selfdrive/ui/spinner/spinner differ
diff --git a/selfdrive/ui/ui.c b/selfdrive/ui/ui.c
index 75ca53ab3d..78441856db 100644
--- a/selfdrive/ui/ui.c
+++ b/selfdrive/ui/ui.c
@@ -762,7 +762,7 @@ static void ui_draw_track(UIState *s, bool is_mpc) {
     if (!started) {
       nvgMoveTo(s->vg, x, y);
       track_start_x = x;
-      track_start_y = y;
+      track_start_y = vwp_h;
       started = true;
     } else {
       nvgLineTo(s->vg, x, y);
@@ -770,7 +770,7 @@ static void ui_draw_track(UIState *s, bool is_mpc) {
   }
 
   // right side down
-  for (int i=path_height; i>0; i--) {
+  for (int i=path_height-1; i>0; i--) {
     float px, py;
     if (is_mpc) {
       px = mpc_x_coords[i];
@@ -790,7 +790,7 @@ static void ui_draw_track(UIState *s, bool is_mpc) {
 
     if (!started) {
       nvgMoveTo(s->vg, x, y);
-      track_end_y = y;
+      track_end_y = vwp_h;
       track_end_x = x;
       started = true;
     } else {
@@ -833,10 +833,10 @@ static void draw_frame(UIState *s) {
   if (s->scene.frontview) {
     out_mat = device_transform; // full 16/9
     // flip horizontally so it looks like a mirror
-    x2 = (float)scene->front_box_x / s->rgb_front_width;
-    x1 = (float)(scene->front_box_x + scene->front_box_width) / s->rgb_front_width;
-    y1 = (float)scene->front_box_y / s->rgb_front_height;
-    y2 = (float)(scene->front_box_y + scene->front_box_height) / s->rgb_front_height;
+    x1 = (float)scene->front_box_x / s->rgb_front_width;
+    x2 = (float)(scene->front_box_x + scene->front_box_width) / s->rgb_front_width;
+    y2 = (float)scene->front_box_y / s->rgb_front_height;
+    y1 = (float)(scene->front_box_y + scene->front_box_height) / s->rgb_front_height;
   } else {
     out_mat = matmul(device_transform, frame_transform);
     x1 = 1.0;
diff --git a/selfdrive/version.py b/selfdrive/version.py
index e1f9e27fa8..cbef487ac7 100644
--- a/selfdrive/version.py
+++ b/selfdrive/version.py
@@ -5,14 +5,14 @@ with open(os.path.join(os.path.dirname(os.path.abspath(__file__)), "common", "ve
 
 try:
   origin = subprocess.check_output(["git", "config", "--get", "remote.origin.url"])
-  if "-private" in origin:
-    upstream = "origin/master"
-  else:
-    if 'chffrplus' in origin:
-      upstream = "origin/release"
+  if origin.startswith('git@github.com:commaai'):
+    if origin.endswith('/one.git'):
+      dirty = True
     else:
-      upstream = "origin/release2"
-
-  dirty = subprocess.call(["git", "diff-index", "--quiet", upstream, "--"]) != 0
+      branch = subprocess.check_output(["git", "rev-parse", "--abbrev-ref", "HEAD"]).rstrip()
+      branch = 'origin/' + branch
+      dirty = subprocess.call(["git", "diff-index", "--quiet", branch, "--"]) != 0
+  else:
+    dirty = True
 except subprocess.CalledProcessError:
   dirty = True
diff --git a/selfdrive/visiond/visiond b/selfdrive/visiond/visiond
index 3e4151d0b4..e454dd6ac7 100755
Binary files a/selfdrive/visiond/visiond and b/selfdrive/visiond/visiond differ