Merge branch 'master' into mqb-long

# Conflicts: # opendbc # panda # selfdrive/car/volkswagen/carstate.py # selfdrive/car/volkswagen/interface.py
3 years ago · a876bdd090
parent 54917d2504 5fb9c6aa68
commit a876bdd090
308 changed files with 4539 additions and 3280 deletions
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@ -69,52 +69,62 @@ jobs:
                          rm -rf /tmp/scons_cache/* && \
                          scons -j$(nproc) --cache-populate"

-  #build_mac:
-  #  name: build macos
-  #  runs-on: macos-10.15
-  #  timeout-minutes: 60
-  #  steps:
-  #  - uses: actions/checkout@v2
-  #    with:
-  #      submodules: true
-  #  - name: Determine pre-existing Homebrew packages
-  #    if: steps.dependency-cache.outputs.cache-hit != 'true'
-  #    run: |
-  #      echo 'EXISTING_CELLAR<<EOF' >> $GITHUB_ENV
-  #      ls -1 /usr/local/Cellar >> $GITHUB_ENV
-  #      echo 'EOF' >> $GITHUB_ENV
-  #  - name: Cache dependencies
-  #    id: dependency-cache
-  #    uses: actions/cache@v2
-  #    with:
-  #      path: |
-  #        ~/.pyenv
-  #        ~/Library/Caches/pip
-  #        ~/Library/Caches/pipenv
-  #        /usr/local/Cellar
-  #        ~/github_brew_cache_entries.txt
-  #      key: macos-cache-${{ hashFiles('tools/mac_setup.sh') }}
-  #  - name: Brew link restored dependencies
-  #    if: steps.dependency-cache.outputs.cache-hit == 'true'
-  #    run: |
-  #      while read pkg; do
-  #        brew link --force "$pkg" # `--force` for keg-only packages
-  #      done < ~/github_brew_cache_entries.txt
-  #  - name: Install dependencies
-  #    run: ./tools/mac_setup.sh
-  #  - name: Build openpilot
-  #    run: eval "$(pyenv init -)" && scons -j$(nproc)
-  #  - name: Remove pre-existing Homebrew packages for caching
-  #    if: steps.dependency-cache.outputs.cache-hit != 'true'
-  #    run: |
-  #      cd /usr/local/Cellar
-  #      new_cellar=$(ls -1)
-  #      comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do
-  #        if [[ $pkg != "zstd" ]]; then # caching step needs zstd
-  #          rm -rf "$pkg"
-  #        fi
-  #      done
-  #      comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt
+  build_mac:
+    name: build macos
+    runs-on: macos-latest
+    timeout-minutes: 60
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Determine pre-existing Homebrew packages
+      if: steps.dependency-cache.outputs.cache-hit != 'true'
+      run: |
+        echo 'EXISTING_CELLAR<<EOF' >> $GITHUB_ENV
+        ls -1 /usr/local/Cellar >> $GITHUB_ENV
+        echo 'EOF' >> $GITHUB_ENV
+    - name: Cache dependencies
+      id: dependency-cache
+      uses: actions/cache@v2
+      with:
+        path: |
+          ~/.pyenv
+          ~/.local/share/virtualenvs/
+          /usr/local/Cellar
+          ~/github_brew_cache_entries.txt
+          /tmp/scons_cache
+        key: macos-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'Pipfile*') }}
+        restore-keys: macos-
+    - name: Brew link restored dependencies
+      run: |
+        if [ -f ~/github_brew_cache_entries.txt ]; then
+          while read pkg; do
+            brew link --force "$pkg" # `--force` for keg-only packages
+          done < ~/github_brew_cache_entries.txt
+        else
+          echo "Cache entries not found"
+        fi
+    - name: Install dependencies
+      run: ./tools/mac_setup.sh
+    - name: Build openpilot
+      run: |
+        source tools/openpilot_env.sh
+        pipenv run selfdrive/manager/build.py
+
+        # cleanup scons cache
+        rm -rf /tmp/scons_cache/
+        pipenv run scons -j$(nproc) --cache-populate
+    - name: Remove pre-existing Homebrew packages for caching
+      if: steps.dependency-cache.outputs.cache-hit != 'true'
+      run: |
+        cd /usr/local/Cellar
+        new_cellar=$(ls -1)
+        comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do
+          if [[ $pkg != "zstd" ]]; then # caching step needs zstd
+            rm -rf "$pkg"
+          fi
+        done
+        comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt

  build_webcam:
    name: build webcam
@ -246,6 +256,7 @@ jobs:
                        $UNIT_TEST selfdrive/locationd && \
                        $UNIT_TEST selfdrive/athena && \
                        $UNIT_TEST selfdrive/thermald && \
+                        $UNIT_TEST selfdrive/hardware/tici && \
                        $UNIT_TEST tools/lib/tests && \
                        ./selfdrive/boardd/tests/test_boardd_usbprotocol && \
                        ./selfdrive/common/tests/test_util && \
@ -350,11 +361,12 @@ jobs:
        name: longitudinal
        path: selfdrive/test/longitudinal_maneuvers/out/longitudinal/

-  test_car_models:
-    name: car models
+  test_cars:
+    name: cars
    runs-on: ubuntu-20.04
    timeout-minutes: 50
    strategy:
+      fail-fast: false
      matrix:
        job: [0, 1, 2, 3]
    steps:
@ -384,7 +396,7 @@ jobs:
    - name: Test car models
      run: |
        ${{ env.RUN }} "scons -j$(nproc) --test && \
-                        FILEREADER_CACHE=1 coverage run selfdrive/test/test_models.py && \
+                        FILEREADER_CACHE=1 pytest selfdrive/test/test_models.py && \
                        chmod -R 777 /tmp/comma_download_cache"
      env:
        NUM_JOBS: 4
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@ -45,7 +45,20 @@ jobs:
    - uses: actions/checkout@v2
      with:
        submodules: true
-        lfs: true
+
+    # HACK: cache LFS objects since they count against our quota
+    # https://github.com/actions/checkout/issues/165#issuecomment-657673315
+    - name: Create LFS file list
+      run: git lfs ls-files -l | cut -d' ' -f1 | sort > .lfs-assets-id
+    - name: Restore LFS cache
+      uses: actions/cache@v2
+      id: lfs-cache
+      with:
+        path: .git/lfs
+        key: ${{ runner.os }}-lfs-${{ hashFiles('.lfs-assets-id') }}
+    - name: Git LFS Pull
+      run: git lfs pull
+
    - name: Build Docker image
      run: |
        eval "$BUILD"
--- a/.gitignore
+++ b/.gitignore
@ -1,4 +1,5 @@
 venv/
+.env
 .clang-format
 .DS_Store
 .tags
--- a/.lfsconfig
+++ b/.lfsconfig
@ -0,0 +1,4 @@
+[lfs]
+	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
+	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
+	locksverify = false
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@ -13,14 +13,14 @@ repos:
    rev: v0.910-1
    hooks:
    -   id: mypy
-        exclude: '^(pyextra)|(cereal)|(rednose)|(panda)|(laika)|(opendbc)|(laika_repo)|(rednose_repo)/'
+        exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)/'
        additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites',
                                  'types-pycurl']
 -   repo: https://github.com/PyCQA/flake8
    rev: 4.0.1
    hooks:
    -   id: flake8
-        exclude: '^(pyextra)|(cereal)|(rednose)|(panda)|(laika)|(opendbc)|(laika_repo)|(rednose_repo)|(selfdrive/debug)/'
+        exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/debug/)/'
        args:
        - --select=F,E112,E113,E304,E502,E701,E702,E703,E71,E72,E731,W191,W6
        - --statistics
@ -31,7 +31,7 @@ repos:
        entry: pylint
        language: system
        types: [python]
-        exclude: '^(pyextra)|(cereal)|(rednose)|(panda)|(laika)|(laika_repo)|(rednose_repo)/'
+        exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)/'
 -   repo: local
    hooks:
    -   id: cppcheck
@ -39,7 +39,7 @@ repos:
        entry: cppcheck
        language: system
        types: [c++]
-        exclude: '^(third_party)|(pyextra)|(cereal)|(opendbc)|(panda)|(tools)|(selfdrive/modeld/thneed/debug)|(selfdrive/modeld/test)|(selfdrive/camerad/test)/|(installer)'
+        exclude: '^(third_party/)|(pyextra/)|(cereal/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)/|(installer/)'
        args:
        - --error-exitcode=1
        - --language=c++
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@ -1,70 +1,32 @@
 FROM ubuntu:20.04
+
 ENV PYTHONUNBUFFERED 1

 ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    autoconf \
-    build-essential \
-    bzip2 \
-    ca-certificates \
-    capnproto \
-    clang \
-    cmake \
-    cppcheck \
-    curl \
-    ffmpeg \
-    gcc-arm-none-eabi \
-    git \
-    iputils-ping \
-    libarchive-dev \
-    libbz2-dev \
-    libcapnp-dev \
-    libcurl4-openssl-dev \
-    libeigen3-dev \
-    libffi-dev \
-    libgles2-mesa-dev \
-    libglew-dev \
-    libglib2.0-0 \
-    liblzma-dev \
-    libomp-dev \
-    libopencv-dev \
-    libqt5sql5-sqlite \
-    libqt5svg5-dev \
-    libsqlite3-dev \
-    libssl-dev \
-    libsystemd-dev \
-    libusb-1.0-0-dev \
-    libzmq3-dev \
-    locales \
-    ocl-icd-libopencl1 \
-    ocl-icd-opencl-dev \
-    opencl-headers \
-    python-dev \
-    qml-module-qtquick2 \
-    qt5-default \
-    qtlocation5-dev \
-    qtmultimedia5-dev \
-    qtpositioning5-dev \
-    qtwebengine5-dev \
-    sudo \
-    valgrind \
-    wget \
-  && rm -rf /var/lib/apt/lists/*
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends sudo tzdata locales && \
+    rm -rf /var/lib/apt/lists/*

 RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
 ENV LANG en_US.UTF-8
 ENV LANGUAGE en_US:en
 ENV LC_ALL en_US.UTF-8

-RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
+ENV PIPENV_SYSTEM=1
+ENV PYENV_VERSION=3.8.10
+ENV PYENV_ROOT="/root/.pyenv"
+ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
+
+COPY Pipfile Pipfile.lock .python-version update_requirements.sh /tmp/
+COPY tools/ubuntu_setup.sh /tmp/tools/
+RUN cd /tmp && \
+    tools/ubuntu_setup.sh && \
+    rm -rf /var/lib/apt/lists/* && \
+    rm -rf /tmp/* && \
+    rm -rf /root/.cache && \
+    pip uninstall -y pipenv && \

-COPY Pipfile Pipfile.lock /tmp/
-RUN pyenv install 3.8.10 && \
-    pyenv global 3.8.10 && \
-    pyenv rehash && \
-    pip install --no-cache-dir --upgrade pip==21.3.1 && \
-    pip install --no-cache-dir pipenv==2021.5.29 && \
-    cd /tmp && \
-    pipenv install --system --deploy --dev --clear && \
-    pip uninstall -y pipenv
+    # remove unused architectures from gcc for panda
+    cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
+    rm -rf arm/ && \
+    rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
--- a/8
+++ b/8
@ -25,16 +25,20 @@ pre-commit = "*"
 pycurl = "*"
 pygame = "*"
 pyprof2calltree = "*"
+pytest = "*"
+pytest-xdist = "*"
 reverse_geocoder = "*"
 scipy = "*"
 sphinx = "*"
+sphinx-sitemap = "*"
 sphinx-rtd-theme = "*"
+breathe = "*"
 subprocess32 = "*"
 tenacity = "*"

 [packages]
 atomicwrites = "*"
-casadi = "*"
+casadi = {version = "*", markers="platform_system != 'Darwin'"}
 cffi = "*"
 crcmod = "*"
 cryptography = "*"
@ -50,7 +54,7 @@ libusb1 = "*"
 nose = "*"
 numpy = "*"
 onnx = "*"
-onnxruntime-gpu = "*"
+onnxruntime-gpu = {version = "*", markers="platform_system != 'Darwin'"}
 pillow = "*"
 psutil = "*"
 pycapnp = "==1.1.0"
--- a/Pipfile.lock
+++ b/Pipfile.lock
--- a/RELEASES.md
+++ b/RELEASES.md
@ -1,9 +1,28 @@
-Version 0.8.12 (2021-12-XX)
+Version 0.8.13 (2022-XX-XX)
 ========================
+ * Improved driver monitoring
+ * Improved camera focus on the comma two
+ * Subaru ECU firmware fingerprinting thanks to martinl!
+ * Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+ * Subaru Impreza 2020 support thanks to martinl!
+
+Version 0.8.12 (2021-12-15)
+========================
+ * New driving model
+   * Improved behavior around exits
+   * Better pose accuracy at high speeds, allowing max speed of 90mph
+   * Fully incorporated comma three data into all parts of training stack
+ * Improved follow distance
+ * Better longitudinal policy, especially in low speed traffic
 * New alert sounds
+ * AGNOS 3
+   * Display burn in mitigation
+   * Improved audio amplifier configuration
+   * System reliability improvements
+   * Update Python to 3.8.10
+ * Raw logs upload moved to connect.comma.ai
+ * Fixed HUD alerts on newer Honda Bosch thanks to csouers!
 * Audi Q3 2020-21 support thanks to jyoung8607!
- * Honda Accord 2021 support thanks to csouers!
- * Honda Accord Hybrid 2021 support thanks to csouers!
 * Lexus RC 2020 support thanks to ErichMoraga!

 Version 0.8.11 (2021-11-29)
--- a/10
+++ b/10
@ -66,7 +66,7 @@ lenv = {
  "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
  "PYTHONPATH": Dir("#").abspath + ":" + Dir("#pyextra/").abspath,

-  "ACADOS_SOURCE_DIR": Dir("#third_party/acados/acados").abspath,
+  "ACADOS_SOURCE_DIR": Dir("#third_party/acados/include/acados").abspath,
  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#pyextra/acados_template").abspath,
  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer",
 }
@ -125,14 +125,18 @@ else:
      f"#third_party/libyuv/{yuv_dir}/lib",
      "/usr/local/lib",
      "/opt/homebrew/lib",
+      "/usr/local/Homebrew/Library",
      "/usr/local/opt/openssl/lib",
      "/opt/homebrew/opt/openssl/lib",
+      "/usr/local/Cellar",
+      f"#third_party/acados/{arch}/lib",
      "/System/Library/Frameworks/OpenGL.framework/Libraries",
    ]
    cflags += ["-DGL_SILENCE_DEPRECATION"]
    cxxflags += ["-DGL_SILENCE_DEPRECATION"]
    cpppath += [
      "/opt/homebrew/include",
+      "/usr/local/include",
      "/usr/local/opt/openssl/include",
      "/opt/homebrew/opt/openssl/include"
    ]
@ -234,6 +238,9 @@ env = Environment(
  tools=["default", "cython", "compilation_db"],
 )

+if arch == "Darwin":
+  env['RPATHPREFIX'] = "-rpath "
+
 if GetOption('compile_db'):
  env.CompilationDatabase('compile_commands.json')

@ -298,6 +305,7 @@ if arch == "Darwin":
  qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
  qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
+  qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
 elif arch == "aarch64":
  qt_env['QTDIR'] = "/system/comma/usr"
  qt_dirs = [
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit e5a04ab458afd52cf630cc9e35ccdc10efba6688
+Subproject commit 42542ee96ca00744e6117d57533defe6f01ba14d
--- a/common/ffi_wrapper.py
+++ b/common/ffi_wrapper.py
@ -28,7 +28,7 @@ def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=
    try:
      mod = __import__(cache)
    except Exception:
-      print("cache miss {0}".format(cache))
+      print(f"cache miss {cache}")
      compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
      mod = __import__(cache)
  finally:
--- a/common/file_helpers.py
+++ b/common/file_helpers.py
@ -35,7 +35,7 @@ def get_tmpdir_on_same_filesystem(path):
  if len(parts) > 1 and parts[1] == "scratch":
    return "/scratch/tmp"
  elif len(parts) > 2 and parts[2] == "runner":
-    return "/{}/runner/tmp".format(parts[1])
+    return f"/{parts[1]}/runner/tmp"
  return "/tmp"


@ -81,6 +81,17 @@ def _get_fileobject_func(writer, temp_dir):
    return writer.get_fileobject(dir=temp_dir)
  return _get_fileobject

+def monkeypatch_os_link():
+  # This is neccesary on EON/C2, where os.link is patched out of python
+  if not hasattr(os, 'link'):
+    from cffi import FFI
+    ffi = FFI()
+    ffi.cdef("int link(const char *oldpath, const char *newpath);")
+    libc = ffi.dlopen(None)
+
+    def link(src, dest):
+      return libc.link(src.encode(), dest.encode())
+    os.link = link

 def atomic_write_on_fs_tmp(path, **kwargs):
  """Creates an atomic writer using a temporary file in a temporary directory
@ -88,6 +99,7 @@ def atomic_write_on_fs_tmp(path, **kwargs):
  """
  # TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp
  #                 directory.
+  monkeypatch_os_link()
  writer = AtomicWriter(path, **kwargs)
  return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))

@ -96,5 +108,6 @@ def atomic_write_in_dir(path, **kwargs):
  """Creates an atomic writer using a temporary file in the same directory
     as the destination file.
  """
+  monkeypatch_os_link()
  writer = AtomicWriter(path, **kwargs)
  return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
--- a/common/profiler.py
+++ b/common/profiler.py
@ -42,4 +42,4 @@ class Profiler():
        print("%30s: %9.2f  avg: %7.2f  percent: %3.0f   IGNORED" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
      else:
        print("%30s: %9.2f  avg: %7.2f  percent: %3.0f" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
-    print("Iter clock: %2.6f   TOTAL: %2.2f" % (self.tot/self.iter, self.tot))
+    print(f"Iter clock: {self.tot / self.iter:2.6f}   TOTAL: {self.tot:2.2f}")
--- a/common/realtime.py
+++ b/common/realtime.py
@ -39,7 +39,7 @@ def set_realtime_priority(level: int) -> None:

 def set_core_affinity(core: int) -> None:
  if not PC:
-    os.sched_setaffinity(0, [core,])
+    os.sched_setaffinity(0, [core,])   # type: ignore[attr-defined]


 def config_realtime_process(core: int, priority: int) -> None:
@ -79,7 +79,7 @@ class Ratekeeper:
    remaining = self._next_frame_time - sec_since_boot()
    self._next_frame_time += self._interval
    if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
-      print("%s lagging by %.2f ms" % (self._process_name, -remaining * 1000))
+      print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
      lagged = True
    self._frame += 1
    self._remaining = remaining
--- a/common/spinner.py
+++ b/common/spinner.py
@ -24,7 +24,7 @@ class Spinner():
      except BrokenPipeError:
        pass

-  def update_progress(self, cur: int, total: int):
+  def update_progress(self, cur: float, total: float):
    self.update(str(round(100 * cur / total)))

  def close(self):
--- a/common/tests/test_file_helpers.py
+++ b/common/tests/test_file_helpers.py
@ -8,7 +8,7 @@ from common.file_helpers import atomic_write_in_dir

 class TestFileHelpers(unittest.TestCase):
  def run_atomic_write_func(self, atomic_write_func):
-    path = "/tmp/tmp{}".format(uuid4())
+    path = f"/tmp/tmp{uuid4()}"
    with atomic_write_func(path) as f:
      f.write("test")

--- a/common/timeout.py
+++ b/common/timeout.py
@ -12,7 +12,7 @@ class Timeout:
  """
  def __init__(self, seconds, error_msg=None):
    if error_msg is None:
-      error_msg = 'Timed out after {} seconds'.format(seconds)
+      error_msg = f'Timed out after {seconds} seconds'
    self.seconds = seconds
    self.error_msg = error_msg

--- a/common/transformations/camera.py
+++ b/common/transformations/camera.py
@ -125,7 +125,7 @@ def normalize(img_pts, intrinsics=fcam_intrinsics):
  return img_pts_normalized[:, :2].reshape(input_shape)


-def denormalize(img_pts, intrinsics=fcam_intrinsics, width=W, height=H):
+def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf):
  # denormalizes image coordinates
  # accepts single pt or array of pts
  img_pts = np.array(img_pts)
@ -133,10 +133,12 @@ def denormalize(img_pts, intrinsics=fcam_intrinsics, width=W, height=H):
  img_pts = np.atleast_2d(img_pts)
  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1), dtype=img_pts.dtype)))
  img_pts_denormalized = img_pts.dot(intrinsics.T)
-  img_pts_denormalized[img_pts_denormalized[:, 0] > width] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:, 1] > height] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan
+  if np.isfinite(width):
+    img_pts_denormalized[img_pts_denormalized[:, 0] > width] = np.nan
+    img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan
+  if np.isfinite(height):
+    img_pts_denormalized[img_pts_denormalized[:, 1] > height] = np.nan
+    img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan
  return img_pts_denormalized[:, :2].reshape(input_shape)


--- a/common/transformations/model.py
+++ b/common/transformations/model.py
@ -84,6 +84,12 @@ bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
 bigmodel_frame_from_calib_frame = np.dot(bigmodel_intrinsics,
  get_view_frame_from_calib_frame(0, 0, 0, 0))

+sbigmodel_frame_from_road_frame = np.dot(sbigmodel_intrinsics,
+  get_view_frame_from_road_frame(0, 0, 0, model_height))
+
+sbigmodel_frame_from_calib_frame = np.dot(sbigmodel_intrinsics,
+  get_view_frame_from_calib_frame(0, 0, 0, 0))
+
 medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
  get_view_frame_from_road_frame(0, 0, 0, model_height))

--- a/docs/CARS.md
+++ b/docs/CARS.md
@ -62,7 +62,7 @@
 | Toyota    | Highlander Hybrid 2020-22     | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Mirai 2021                    | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Prius 2016-20                 | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Prius 2021                    | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Prius 2021-22                 | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Prius Prime 2017-20           | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Toyota    | Prius Prime 2021-22           | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Rav4 2016-18                  | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
@ -115,6 +115,7 @@
 | Hyundai   | Santa Fe 2019-20              | All               | Stock            | 0mph               | 0mph         |
 | Hyundai   | Santa Fe 2021-22              | All               | Stock            | 0mph               | 0mph         |
 | Hyundai   | Santa Fe Hybrid 2022          | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Santa Fe Plug-in Hybrid 2022  | All               | Stock            | 0mph               | 0mph         |
 | Hyundai   | Sonata 2018-2019              | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Sonata Hybrid 2021-22         | All               | Stock            | 0mph               | 0mph         |
 | Hyundai   | Veloster 2019-20              | SCC + LKAS        | Stock            | 5mph               | 0mph         |
@ -123,7 +124,7 @@
 | Kia       | Ceed 2019                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Forte 2018-21                 | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | K5 2021-22                    | SCC + LFA         | Stock            | 0mph               | 0mph         |
-| Kia       | Niro EV 2019-21               | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Niro EV 2019-22               | All               | Stock            | 0mph               | 0mph         |
 | Kia       | Niro Hybrid 2021              | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Niro PHEV 2019                | SCC + LKAS        | Stock            | 10mph              | 32mph        |
 | Kia       | Optima 2017                   | SCC + LKAS        | Stock            | 0mph               | 32mph        |
@ -147,10 +148,10 @@
 | Škoda     | Scala 2020                    | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Škoda     | Superb 2015-18                | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Subaru    | Ascent 2019                   | EyeSight          | Stock            | 0mph               | 0mph         |
-| Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
+| Subaru    | Crosstrek 2018-20             | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Forester 2019-21              | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Impreza 2017-19               | EyeSight          | Stock            | 0mph               | 0mph         |
-| Volkswagen| Arteon 2021<sup>4</sup>       | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Arteon 2018, 2021<sup>4</sup> | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Atlas 2018-19                 | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| California 2021<sup>4</sup>   | Driver Assistance | Stock            | 0mph               | 32mph        |
 | Volkswagen| e-Golf 2014, 2019-20          | Driver Assistance | Stock            | 0mph               | 0mph         |
--- a/docs/CONTRIBUTING.md
+++ b/docs/CONTRIBUTING.md
@ -1,46 +1,48 @@
 # How to contribute

-Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
+Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).

-Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available on our [blog](https://blog.comma.ai/).
+Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available at https://docs.comma.ai and on our [blog](https://blog.comma.ai/).

-## Getting Started
+### Getting Started

 * Setup your [development environment](../tools/)
 * Join our [Discord](https://discord.comma.ai)
 * Make sure you have a [GitHub account](https://github.com/signup/free)
 * Fork [our repositories](https://github.com/commaai) on GitHub

-## Testing
+### First contribution
+Try out some of these first pull requests ideas to dive into the codebase:

-### Automated Testing
+* Increase our [mypy](http://mypy-lang.org/) coverage
+* Write some documentation
+* Tackle an open [good first issue](https://github.com/commaai/openpilot/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22)

-All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions.
+## Pull Requests

-### Code Style and Linting
+Pull requests should be against the master branch. Welcomed contributions include bug reports, car ports, and any [open issue](https://github.com/commaai/openpilot/issues). If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve.

-Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
+A good pull request has all of the following:
+* a clearly stated purpose
+* every line changed directly contributes to the stated purpose
+* verification, i.e. how did you test your PR?
+* justification
+  * if you've optimized something, post benchmarks to prove it's better
+  * if you've improved your car's tuning, post before and after plots
+* passes the CI tests

-## Car Ports
+### Car Ports

 We've released a [Model Port guide](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) for porting to Toyota/Lexus models.

 If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/).

-## Pull Requests
+## Testing

-Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to clone the submodules too. That can be done by recursively cloning the repository:
-```
-git clone https://github.com/commaai/openpilot.git --recursive
-```
-Or alternatively, when on the master branch:
-```
-git submodule update --init
-```
-The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
-Modules that are in seperate repositories include:
-* cereal
-* laika
-* opendbc
-* panda
-* rednose
+### Automated Testing
+
+All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions.
+
+### Code Style and Linting
+
+Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
--- a/docs/_static/favicon.ico
+++ b/docs/_static/favicon.ico
--- a/docs/_static/logo.png
+++ b/docs/_static/logo.png
--- a/docs/_static/robots.txt
+++ b/docs/_static/robots.txt
@ -0,0 +1,2 @@
+User-agent: *
+Sitemap: https://docs.comma.ai/sitemap.xml
--- a/docs/c_docs.rst
+++ b/docs/c_docs.rst
@ -0,0 +1,105 @@
+openpilot
+==========
+
+
+opendbc
+------
+.. autodoxygenindex::
+   :project: opendbc_can
+
+
+cereal
+------
+
+messaging
+^^^^^^^^^
+.. autodoxygenindex::
+   :project: cereal_messaging
+
+visionipc
+^^^^^^^^^
+.. autodoxygenindex::
+   :project: cereal_visionipc
+
+
+selfdrive
+---------
+
+camerad
+^^^^^^^
+.. autodoxygenindex::
+   :project: selfdrive_camerad_cameras
+.. autodoxygenindex::
+   :project: selfdrive_camerad_transforms
+.. autodoxygenindex::
+   :project: selfdrive_camerad_imgproc
+
+locationd
+^^^^^^^^^
+.. autodoxygenindex::
+   :project: selfdrive_locationd
+
+ui
+^^
+
+.. autodoxygenindex::
+   :project: selfdrive_ui
+
+soundd
+""""""
+.. autodoxygenindex::
+   :project: selfdrive_ui_soundd
+
+navd
+""""
+.. autodoxygenindex::
+   :project: selfdrive_ui_navd
+
+replay
+""""""
+.. autodoxygenindex::
+   :project: selfdrive_ui_replay
+
+qt
+""
+.. autodoxygenindex::
+   :project: selfdrive_ui_qt_offroad
+.. autodoxygenindex::
+   :project: selfdrive_ui_qt_maps
+
+proclogd
+^^^^^^^^
+.. autodoxygenindex::
+   :project: selfdrive_proclogd
+
+modeld
+^^^^^^
+.. autodoxygenindex::
+   :project: selfdrive_modeld_transforms
+.. autodoxygenindex::
+   :project: selfdrive_modeld_models
+.. autodoxygenindex::
+   :project: selfdrive_modeld_thneed
+.. autodoxygenindex::
+   :project: selfdrive_modeld_runners
+
+common
+^^^^^^
+.. autodoxygenindex::
+   :project: selfdrive_common
+
+sensorsd
+^^^^^^^^
+.. autodoxygenindex::
+   :project: selfdrive_sensord_sensors
+
+boardd
+^^^^^^
+.. autodoxygenindex::
+   :project: selfdrive_boardd
+
+
+rednose
+-------
+.. autodoxygenindex::
+   :project: rednose_repo_rednose_helpers
--- a/docs/conf.py
+++ b/docs/conf.py
@ -14,17 +14,24 @@
 # documentation root, use os.path.abspath to make it absolute, like shown here.
 #
 import os
+from os.path import exists
 import sys
+from selfdrive.version import get_version
+from common.basedir import BASEDIR
 sys.path.insert(0, os.path.abspath('.'))
 sys.path.insert(0, os.path.abspath('..'))

+VERSION = get_version()


 # -- Project information -----------------------------------------------------

-project = 'openpilot'
+project = 'openpilot docs'
 copyright = '2021, comma.ai'
 author = 'comma.ai'
+version = VERSION
+release = VERSION
+language = 'en'


 # -- General configuration ---------------------------------------------------
@ -33,12 +40,39 @@ author = 'comma.ai'
 # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
 # ones.
 extensions = [
-        'sphinx.ext.autodoc',   # Auto-generate docs
-        'sphinx.ext.viewcode',  # Add view code link to modules
-        'sphinx_rtd_theme',     # Read The Docs theme
-        'myst_parser',          # Markdown parsing
+  'sphinx.ext.autodoc',   # Auto-generate docs
+  'sphinx.ext.viewcode',  # Add view code link to modules
+  'sphinx_rtd_theme',     # Read The Docs theme
+  'myst_parser',          # Markdown parsing
+  'breathe',              # Doxygen C/C++ integration
+  'sphinx_sitemap',       # sitemap generation for SEO
 ]

+myst_html_meta = {
+  "description": "openpilot docs",
+  "keywords": "op, openpilot, docs, documentation",
+  "robots": "all,follow",
+  "googlebot": "index,follow,snippet,archive",
+  "property=og:locale": "en_US",
+  "property=og:site_name": "docs.comma.ai",
+  "property=og:url": "https://docs.comma.ai",
+  "property=og:title": "openpilot Docuemntation",
+  "property=og:type": "website",
+  "property=og:image:type": "image/jpeg",
+  "property=og:image:width": "400",
+  "property=og:image": "https://docs.comma.ai/_static/logo.png",
+  "property=og:image:url": "https://docs.comma.ai/_static/logo.png",
+  "property=og:image:secure_url": "https://docs.comma.ai/_static/logo.png",
+  "property=og:description": "openpilot Documentation",
+  "property=twitter:card": "summary_large_image",
+  "property=twitter:logo": "https://docs.comma.ai/_static/logo.png",
+  "property=twitter:title": "openpilot Documentation",
+  "property=twitter:description": "openpilot Documentation"
+}
+
+html_baseurl = 'https://docs.comma.ai/'
+sitemap_filename = "sitemap.xml"
+
 # Add any paths that contain templates here, relative to this directory.
 templates_path = ['_templates']

@ -48,14 +82,65 @@ templates_path = ['_templates']
 exclude_patterns = []


+# -- c docs configuration ---------------------------------------------------
+
+# Breathe Configuration
+# breathe_default_project = "c_docs"
+breathe_build_directory = f"{BASEDIR}/build/docs/html/xml"
+breathe_separate_member_pages = True
+breathe_default_members = ('members', 'private-members', 'undoc-members')
+breathe_domain_by_extension = {
+  "h": "cc",
+}
+breathe_implementation_filename_extensions = ['.c', '.cc']
+breathe_doxygen_config_options = {}
+breathe_projects_source = {}
+
+# only document files that have accompanying .cc files next to them
+print("searching for c_docs...")
+for root, dirs, files in os.walk(BASEDIR):
+  found = False
+  breath_src = {}
+  breathe_srcs_list = []
+
+  for file in files:
+    ccFile = os.path.join(root, file)[:-2] + ".cc"
+
+    if file.endswith(".h") and exists(ccFile):
+      f = os.path.join(root, file)
+
+      parent_dir_abs = os.path.dirname(f)
+      parent_dir = parent_dir_abs[len(BASEDIR) + 1:]
+      parent_project = parent_dir.replace('/', '_')
+      print(f"\tFOUND: {f} in {parent_project}")
+
+      breathe_srcs_list.append(file)
+      found = True
+
+    if found:
+      breath_src[parent_project] = (parent_dir_abs, breathe_srcs_list)
+      breathe_projects_source.update(breath_src)
+
+print(f"breathe_projects_source: {breathe_projects_source.keys()}")
+
 # -- Options for HTML output -------------------------------------------------

 # The theme to use for HTML and HTML Help pages.  See the documentation for
 # a list of builtin themes.
 #
 html_theme = 'sphinx_rtd_theme'
+html_show_copyright = True

 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".
 html_static_path = ['_static']
+html_logo = '_static/logo.png'
+html_favicon = '_static/favicon.ico'
+html_theme_options = {
+  'logo_only': False,
+  'display_version': True,
+  'vcs_pageview_mode': 'blob',
+  'style_nav_header_background': '#000000',
+}
+html_extra_path = ['_static']
--- a/docs/docker/Dockerfile
+++ b/docs/docker/Dockerfile
@ -34,6 +34,7 @@ COPY ./*.md ${OPENPILOT_PATH}/

 RUN scons -j$(nproc)

+RUN apt update && apt install doxygen -y
 COPY ./docs ${OPENPILOT_PATH}/docs
 RUN git init .
 WORKDIR ${OPENPILOT_PATH}/docs
--- a/docs/index.md
+++ b/docs/index.md
@ -28,8 +28,15 @@ overview.rst
 - {ref}`search`

 ```{toctree}
-:caption: 'Modules'
+:caption: 'Python API'
 :maxdepth: 2

 modules.rst
 ```
+
+```{toctree}
+:caption: 'C/C++ API'
+:maxdepth: 4
+
+c_docs.rst
+```
--- a/launch_env.sh
+++ b/launch_env.sh
@ -11,7 +11,7 @@ if [ -z "$REQUIRED_NEOS_VERSION" ]; then
 fi

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="2"
+  export AGNOS_VERSION="3"
 fi

 if [ -z "$PASSIVE" ]; then
--- a/models/supercombo.dlc
+++ b/models/supercombo.dlc
@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ebb75bbd4c19994752f038f181359dce358a2c95c4ad1760d2d1ee346a45503d
+oid sha256:209e9544e456dbc2a7d60490da65154e129bc84830909d8d931f97b3df93949b
 size 56684955
--- a/models/supercombo.onnx
+++ b/models/supercombo.onnx
@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6e004a9ff90304fd3dfd661f3f52886affa677d486ff78c131d8a4887757b5f1
-size 57552499
+oid sha256:2365bae967cce21ce68707c30bf2981bb7081ee5c3e6a3dff793e660f23ff622
+size 57554657
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 6efaf246a90b513995a374a9939e4e051cf1b41c
+Subproject commit e286083a49d9e386e778dcbcd41de4829a958735
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit d1efddfaa9ebf0ef82db3ba2842f35ce22e06f7e
+Subproject commit f5857bc8fd3e1d2c27df342df85e202c7e844911
--- a/release/files_common
+++ b/release/files_common
@ -77,6 +77,7 @@ selfdrive/tombstoned.py
 selfdrive/pandad.py
 selfdrive/updated.py
 selfdrive/rtshield.py
+selfdrive/statsd.py

 selfdrive/athena/__init__.py
 selfdrive/athena/athenad.py
@ -596,7 +597,6 @@ opendbc/lexus_rx_350_2016_pt_generated.dbc
 opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
 opendbc/toyota_nodsu_pt_generated.dbc
 opendbc/toyota_nodsu_hybrid_pt_generated.dbc
-opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
 opendbc/toyota_highlander_2017_pt_generated.dbc
 opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
 opendbc/toyota_avalon_2017_pt_generated.dbc
--- a/selfdrive/assets/sounds/disengage.wav
+++ b/selfdrive/assets/sounds/disengage.wav
--- a/selfdrive/assets/sounds/engage.wav
+++ b/selfdrive/assets/sounds/engage.wav
--- a/selfdrive/assets/sounds/prompt.wav
+++ b/selfdrive/assets/sounds/prompt.wav
--- a/selfdrive/assets/sounds/prompt_distracted.wav
+++ b/selfdrive/assets/sounds/prompt_distracted.wav
--- a/selfdrive/assets/sounds/refuse.wav
+++ b/selfdrive/assets/sounds/refuse.wav
--- a/selfdrive/assets/sounds/warning_immediate.wav
+++ b/selfdrive/assets/sounds/warning_immediate.wav
--- a/selfdrive/assets/sounds/warning_soft.wav
+++ b/selfdrive/assets/sounds/warning_soft.wav
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@ -11,6 +11,7 @@ import select
 import socket
 import threading
 import time
+import tempfile
 from collections import namedtuple
 from functools import partial
 from typing import Any
@ -31,10 +32,11 @@ from selfdrive.loggerd.config import ROOT
 from selfdrive.loggerd.xattr_cache import getxattr, setxattr
 from selfdrive.swaglog import cloudlog, SWAGLOG_DIR
 from selfdrive.version import get_version, get_origin, get_short_branch, get_commit
+from selfdrive.statsd import STATS_DIR

 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
-LOCAL_PORT_WHITELIST = set([8022])
+LOCAL_PORT_WHITELIST = {8022}

 LOG_ATTR_NAME = 'user.upload'
 LOG_ATTR_VALUE_MAX_UNIX_TIME = int.to_bytes(2147483647, 4, sys.byteorder)
@ -48,7 +50,7 @@ dispatcher["echo"] = lambda s: s
 recv_queue: Any = queue.Queue()
 send_queue: Any = queue.Queue()
 upload_queue: Any = queue.Queue()
-log_send_queue: Any = queue.Queue()
+low_priority_send_queue: Any = queue.Queue()
 log_recv_queue: Any = queue.Queue()
 cancelled_uploads: Any = set()
 UploadItem = namedtuple('UploadItem', ['path', 'url', 'headers', 'created_at', 'id', 'retry_count', 'current', 'progress'], defaults=(0, False, 0))
@ -56,6 +58,28 @@ UploadItem = namedtuple('UploadItem', ['path', 'url', 'headers', 'created_at', '
 cur_upload_items = {}


+class UploadQueueCache():
+  params = Params()
+
+  @staticmethod
+  def initialize(upload_queue):
+    try:
+      upload_queue_json = UploadQueueCache.params.get("AthenadUploadQueue")
+      if upload_queue_json is not None:
+        for item in json.loads(upload_queue_json):
+          upload_queue.put(UploadItem(**item))
+    except Exception:
+      cloudlog.exception("athena.UploadQueueCache.initialize.exception")
+
+  @staticmethod
+  def cache(upload_queue):
+    try:
+      items = [i._asdict() for i in upload_queue.queue if i.id not in cancelled_uploads]
+      UploadQueueCache.params.put("AthenadUploadQueue", json.dumps(items))
+    except Exception:
+      cloudlog.exception("athena.UploadQueueCache.cache.exception")
+
+
 def handle_long_poll(ws):
  end_event = threading.Event()

@ -64,6 +88,7 @@ def handle_long_poll(ws):
    threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'),
    threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
    threading.Thread(target=log_handler, args=(end_event,), name='log_handler'),
+    threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'),
  ] + [
    threading.Thread(target=jsonrpc_handler, args=(end_event,), name=f'worker_{x}')
    for x in range(HANDLER_THREADS)
@ -111,6 +136,7 @@ def upload_handler(end_event):

    try:
      cur_upload_items[tid] = upload_queue.get(timeout=1)._replace(current=True)
+
      if cur_upload_items[tid].id in cancelled_uploads:
        cancelled_uploads.remove(cur_upload_items[tid].id)
        continue
@ -120,6 +146,7 @@ def upload_handler(end_event):
          cur_upload_items[tid] = cur_upload_items[tid]._replace(progress=cur / sz if sz else 1)

        _do_upload(cur_upload_items[tid], cb)
+        UploadQueueCache.cache(upload_queue)
      except (requests.exceptions.Timeout, requests.exceptions.ConnectionError, requests.exceptions.SSLError) as e:
        cloudlog.warning(f"athena.upload_handler.retry {e} {cur_upload_items[tid]}")

@ -131,6 +158,8 @@ def upload_handler(end_event):
            current=False
          )
          upload_queue.put_nowait(item)
+          UploadQueueCache.cache(upload_queue)
+
          cur_upload_items[tid] = None

          for _ in range(RETRY_DELAY):
@ -237,19 +266,35 @@ def reboot():

@dispatcher.add_method
 def uploadFileToUrl(fn, url, headers):
-  if len(fn) == 0 or fn[0] == '/' or '..' in fn:
-    return 500
-  path = os.path.join(ROOT, fn)
-  if not os.path.exists(path):
-    return 404
+  return uploadFilesToUrls([[fn, url, headers]])
+
+
+@dispatcher.add_method
+def uploadFilesToUrls(files_data):
+  items = []
+  failed = []
+  for fn, url, headers in files_data:
+    if len(fn) == 0 or fn[0] == '/' or '..' in fn:
+      failed.append(fn)
+      continue
+    path = os.path.join(ROOT, fn)
+    if not os.path.exists(path):
+      failed.append(fn)
+      continue

-  item = UploadItem(path=path, url=url, headers=headers, created_at=int(time.time() * 1000), id=None)
-  upload_id = hashlib.sha1(str(item).encode()).hexdigest()
-  item = item._replace(id=upload_id)
+    item = UploadItem(path=path, url=url, headers=headers, created_at=int(time.time() * 1000), id=None)
+    upload_id = hashlib.sha1(str(item).encode()).hexdigest()
+    item = item._replace(id=upload_id)
+    upload_queue.put_nowait(item)
+    items.append(item._asdict())

-  upload_queue.put_nowait(item)
+  UploadQueueCache.cache(upload_queue)

-  return {"enqueued": 1, "item": item._asdict()}
+  resp = {"enqueued": len(items), "items": items}
+  if failed:
+    resp["failed"] = failed
+
+  return resp


@dispatcher.add_method
@ -260,11 +305,15 @@ def listUploadQueue():

@dispatcher.add_method
 def cancelUpload(upload_id):
-  upload_ids = set(item.id for item in list(upload_queue.queue))
-  if upload_id not in upload_ids:
+  if not isinstance(upload_id, list):
+    upload_id = [upload_id]
+
+  uploading_ids = {item.id for item in list(upload_queue.queue)}
+  cancelled_ids = uploading_ids.intersection(upload_id)
+  if len(cancelled_ids) == 0:
    return 404

-  cancelled_uploads.add(upload_id)
+  cancelled_uploads.update(cancelled_ids)
  return {"success": 1}


@ -280,8 +329,7 @@ def startLocalProxy(global_end_event, remote_ws_uri, local_port):

    cloudlog.debug("athena.startLocalProxy.starting")

-    params = Params()
-    dongle_id = params.get("DongleId").decode('utf8')
+    dongle_id = Params().get("DongleId").decode('utf8')
    identity_token = Api(dongle_id).get_token()
    ws = create_connection(remote_ws_uri,
                           cookie="jwt=" + identity_token,
@ -312,7 +360,7 @@ def getPublicKey():
  if not os.path.isfile(PERSIST + '/comma/id_rsa.pub'):
    return None

-  with open(PERSIST + '/comma/id_rsa.pub', 'r') as f:
+  with open(PERSIST + '/comma/id_rsa.pub') as f:
    return f.read()


@ -393,7 +441,7 @@ def log_handler(end_event):
          curr_time = int(time.time())
          log_path = os.path.join(SWAGLOG_DIR, log_entry)
          setxattr(log_path, LOG_ATTR_NAME, int.to_bytes(curr_time, 4, sys.byteorder))
-          with open(log_path, "r") as f:
+          with open(log_path) as f:
            jsonrpc = {
              "method": "forwardLogs",
              "params": {
@ -402,7 +450,7 @@ def log_handler(end_event):
              "jsonrpc": "2.0",
              "id": log_entry
            }
-            log_send_queue.put_nowait(json.dumps(jsonrpc))
+            low_priority_send_queue.put_nowait(json.dumps(jsonrpc))
            curr_log = log_entry
        except OSError:
          pass  # file could be deleted by log rotation
@ -433,6 +481,32 @@ def log_handler(end_event):
      cloudlog.exception("athena.log_handler.exception")


+def stat_handler(end_event):
+  while not end_event.is_set():
+    last_scan = 0
+    curr_scan = sec_since_boot()
+    try:
+      if curr_scan - last_scan > 10:
+        stat_filenames = list(filter(lambda name: not name.startswith(tempfile.gettempprefix()), os.listdir(STATS_DIR)))
+        if len(stat_filenames) > 0:
+          stat_path = os.path.join(STATS_DIR, stat_filenames[0])
+          with open(stat_path) as f:
+            jsonrpc = {
+              "method": "storeStats",
+              "params": {
+                "stats": f.read()
+              },
+              "jsonrpc": "2.0",
+              "id": stat_filenames[0]
+            }
+            low_priority_send_queue.put_nowait(json.dumps(jsonrpc))
+          os.remove(stat_path)
+        last_scan = curr_scan
+    except Exception:
+      cloudlog.exception("athena.stat_handler.exception")
+    time.sleep(0.1)
+
+
 def ws_proxy_recv(ws, local_sock, ssock, end_event, global_end_event):
  while not (end_event.is_set() or global_end_event.is_set()):
    try:
@ -505,7 +579,7 @@ def ws_send(ws, end_event):
      try:
        data = send_queue.get_nowait()
      except queue.Empty:
-        data = log_send_queue.get(timeout=1)
+        data = low_priority_send_queue.get(timeout=1)
      for i in range(0, len(data), WS_FRAME_SIZE):
        frame = data[i:i+WS_FRAME_SIZE]
        last = i + WS_FRAME_SIZE >= len(data)
@ -525,6 +599,7 @@ def backoff(retries):
 def main():
  params = Params()
  dongle_id = params.get("DongleId", encoding='utf-8')
+  UploadQueueCache.initialize(upload_queue)

  ws_uri = ATHENA_HOST + "/ws/v2/" + dongle_id
  api = Api(dongle_id)
--- a/selfdrive/athena/manage_athenad.py
+++ b/selfdrive/athena/manage_athenad.py
@ -6,7 +6,7 @@ from multiprocessing import Process
 from common.params import Params
 from selfdrive.manager.process import launcher
 from selfdrive.swaglog import cloudlog
-from selfdrive.version import get_version, get_dirty
+from selfdrive.version import get_version, is_dirty

 ATHENA_MGR_PID_PARAM = "AthenadPid"

@ -14,12 +14,12 @@ ATHENA_MGR_PID_PARAM = "AthenadPid"
 def main():
  params = Params()
  dongle_id = params.get("DongleId").decode('utf-8')
-  cloudlog.bind_global(dongle_id=dongle_id, version=get_version(), dirty=get_dirty())
+  cloudlog.bind_global(dongle_id=dongle_id, version=get_version(), dirty=is_dirty())

  try:
    while 1:
      cloudlog.info("starting athena daemon")
-      proc = Process(name='athenad', target=launcher, args=('selfdrive.athena.athenad',))
+      proc = Process(name='athenad', target=launcher, args=('selfdrive.athena.athenad', 'athenad'))
      proc.start()
      proc.join()
      cloudlog.event("athenad exited", exitcode=proc.exitcode)
--- a/selfdrive/athena/registration.py
+++ b/selfdrive/athena/registration.py
@ -1,4 +1,4 @@
-#/!/usr/bin/env python3
+#!/usr/bin/env python3
 import time
 import json
 import jwt
--- a/selfdrive/athena/tests/helpers.py
+++ b/selfdrive/athena/tests/helpers.py
@ -50,18 +50,28 @@ class MockApi():


 class MockParams():
-  def __init__(self):
-    self.params = {
-      "DongleId": b"0000000000000000",
-      "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private"  # noqa: E501
-    }
+  default_params = {
+    "DongleId": b"0000000000000000",
+    "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private",  # noqa: E501
+    "AthenadUploadQueue": '[]'
+  }
+  params = default_params.copy()
+
+  @staticmethod
+  def restore_defaults():
+    MockParams.params = MockParams.default_params.copy()

  def get(self, k, encoding=None):
-    ret = self.params.get(k)
+    ret = MockParams.params.get(k)
    if ret is not None and encoding is not None:
      ret = ret.decode(encoding)
    return ret

+  def put(self, k, v):
+    if k not in MockParams.params:
+      raise KeyError(f"key: {k} not in MockParams")
+    MockParams.params[k] = v
+

 class MockWebsocket():
  def __init__(self, recv_queue, send_queue):
--- a/selfdrive/athena/tests/test_athenad.py
+++ b/selfdrive/athena/tests/test_athenad.py
@ -21,19 +21,22 @@ from selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher
 from selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server
 from cereal import messaging

+
 class TestAthenadMethods(unittest.TestCase):
  @classmethod
  def setUpClass(cls):
    cls.SOCKET_PORT = 45454
+    athenad.Params = MockParams
    athenad.ROOT = tempfile.mkdtemp()
    athenad.SWAGLOG_DIR = swaglog.SWAGLOG_DIR = tempfile.mkdtemp()
-    athenad.Params = MockParams
    athenad.Api = MockApi
-    athenad.LOCAL_PORT_WHITELIST = set([cls.SOCKET_PORT])
+    athenad.LOCAL_PORT_WHITELIST = {cls.SOCKET_PORT}

  def setUp(self):
+    MockParams.restore_defaults()
    athenad.upload_queue = queue.Queue()
    athenad.cur_upload_items.clear()
+    athenad.cancelled_uploads.clear()

    for i in os.listdir(athenad.ROOT):
      p = os.path.join(athenad.ROOT, i)
@ -131,15 +134,16 @@ class TestAthenadMethods(unittest.TestCase):
  @with_http_server
  def test_uploadFileToUrl(self, host):
    not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.bz2", "http://localhost:1238", {})
-    self.assertEqual(not_exists_resp, 404)
+    self.assertEqual(not_exists_resp, {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.bz2']})

    fn = os.path.join(athenad.ROOT, 'qlog.bz2')
    Path(fn).touch()

    resp = dispatcher["uploadFileToUrl"]("qlog.bz2", f"{host}/qlog.bz2", {})
    self.assertEqual(resp['enqueued'], 1)
-    self.assertDictContainsSubset({"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}, resp['item'])
-    self.assertIsNotNone(resp['item'].get('id'))
+    self.assertNotIn('failed', resp)
+    self.assertDictContainsSubset({"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}, resp['items'][0])
+    self.assertIsNotNone(resp['items'][0].get('id'))
    self.assertEqual(athenad.upload_queue.qsize(), 1)

  @with_http_server
@ -249,6 +253,26 @@ class TestAthenadMethods(unittest.TestCase):
    items = dispatcher["listUploadQueue"]()
    self.assertEqual(len(items), 0)

+  def test_upload_queue_persistence(self):
+    item1 = athenad.UploadItem(path="_", url="_", headers={}, created_at=int(time.time()), id='id1')
+    item2 = athenad.UploadItem(path="_", url="_", headers={}, created_at=int(time.time()), id='id2')
+
+    athenad.upload_queue.put_nowait(item1)
+    athenad.upload_queue.put_nowait(item2)
+
+    # Ensure cancelled items are not persisted
+    athenad.cancelled_uploads.add(item2.id)
+
+    # serialize item
+    athenad.UploadQueueCache.cache(athenad.upload_queue)
+
+    # deserialize item
+    athenad.upload_queue.queue.clear()
+    athenad.UploadQueueCache.initialize(athenad.upload_queue)
+
+    self.assertEqual(athenad.upload_queue.qsize(), 1)
+    self.assertDictEqual(athenad.upload_queue.queue[-1]._asdict(), item1._asdict())
+
  @mock.patch('selfdrive.athena.athenad.create_connection')
  def test_startLocalProxy(self, mock_create_connection):
    end_event = threading.Event()
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@ -205,17 +205,17 @@ Panda *usb_connect(std::string serial="", uint32_t index=0) {
 }

 void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
-  set_thread_name("boardd_can_send");
+  util::set_thread_name("boardd_can_send");

  AlignedBuffer aligned_buf;
-  Context * context = Context::create();
-  SubSocket * subscriber = SubSocket::create(context, "sendcan");
+  std::unique_ptr<Context> context(Context::create());
+  std::unique_ptr<SubSocket> subscriber(SubSocket::create(context.get(), "sendcan"));
  assert(subscriber != NULL);
  subscriber->setTimeout(100);

  // run as fast as messages come in
  while (!do_exit && check_all_connected(pandas)) {
-    Message * msg = subscriber->receive();
+    std::unique_ptr<Message> msg(subscriber->receive());
    if (!msg) {
      if (errno == EINTR) {
        do_exit = true;
@ -223,27 +223,20 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
      continue;
    }

-    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg));
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get()));
    cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();

    //Dont send if older than 1 second
-    if (nanos_since_boot() - event.getLogMonoTime() < 1e9) {
-      if (!fake_send) {
-        for (const auto& panda : pandas) {
-          panda->can_send(event.getSendcan());
-        }
+    if ((nanos_since_boot() - event.getLogMonoTime() < 1e9) && !fake_send) {
+      for (const auto& panda : pandas) {
+        panda->can_send(event.getSendcan());
      }
    }
-
-    delete msg;
  }
-
-  delete subscriber;
-  delete context;
 }

 void can_recv_thread(std::vector<Panda *> pandas) {
-  set_thread_name("boardd_can_recv");
+  util::set_thread_name("boardd_can_recv");

  // can = 8006
  PubMaster pm({"can"});
@ -415,9 +408,11 @@ void send_peripheral_state(PubMaster *pm, Panda *panda) {
 }

 void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofing_started) {
-  set_thread_name("boardd_panda_state");
+  util::set_thread_name("boardd_panda_state");

  Params params;
+  SubMaster sm({"controlsState"});
+
  Panda *peripheral_panda = pandas[0];
  bool ignition_last = false;
  std::future<bool> safety_future;
@ -452,8 +447,11 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin

    ignition_last = ignition;

+    sm.update(0);
+    const bool engaged = sm.allAliveAndValid({"controlsState"}) && sm["controlsState"].getControlsState().getEnabled();
+
    for (const auto &panda : pandas) {
-      panda->send_heartbeat();
+      panda->send_heartbeat(engaged);
    }
    util::sleep_for(500);
  }
@ -461,7 +459,7 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin


 void peripheral_control_thread(Panda *panda) {
-  set_thread_name("boardd_peripheral_control");
+  util::set_thread_name("boardd_peripheral_control");

  SubMaster sm({"deviceState", "driverCameraState"});

@ -547,12 +545,12 @@ static void pigeon_publish_raw(PubMaster &pm, const std::string &dat) {
 }

 void pigeon_thread(Panda *panda) {
-  set_thread_name("boardd_pigeon");
+  util::set_thread_name("boardd_pigeon");

  PubMaster pm({"ubloxRaw"});
  bool ignition_last = false;

-  Pigeon *pigeon = Hardware::TICI() ? Pigeon::connect("/dev/ttyHS0") : Pigeon::connect(panda);
+  std::unique_ptr<Pigeon> pigeon(Hardware::TICI() ? Pigeon::connect("/dev/ttyHS0") : Pigeon::connect(panda));

  std::unordered_map<char, uint64_t> last_recv_time;
  std::unordered_map<char, int64_t> cls_max_dt = {
@ -620,8 +618,6 @@ void pigeon_thread(Panda *panda) {
    // 10ms - 100 Hz
    util::sleep_for(10);
  }
-
-  delete pigeon;
 }

 int main(int argc, char *argv[]) {
@ -629,9 +625,9 @@ int main(int argc, char *argv[]) {

  if (!Hardware::PC()) {
    int err;
-    err = set_realtime_priority(54);
+    err = util::set_realtime_priority(54);
    assert(err == 0);
-    err = set_core_affinity({Hardware::TICI() ? 4 : 3});
+    err = util::set_core_affinity({Hardware::TICI() ? 4 : 3});
    assert(err == 0);
  }

@ -662,6 +658,8 @@ int main(int argc, char *argv[]) {
    Panda *peripheral_panda = pandas[0];
    std::vector<std::thread> threads;

+    Params().put("LastPeripheralPandaType", std::to_string((int) peripheral_panda->get_hw_type()));
+
    threads.emplace_back(panda_state_thread, &pm, pandas, getenv("STARTED") != nullptr);
    threads.emplace_back(peripheral_control_thread, peripheral_panda);
    threads.emplace_back(pigeon_thread, peripheral_panda);
--- a/selfdrive/boardd/panda.cc
+++ b/selfdrive/boardd/panda.cc
@ -340,8 +340,8 @@ void Panda::set_usb_power_mode(cereal::PeripheralState::UsbPowerMode power_mode)
  usb_write(0xe6, (uint16_t)power_mode, 0);
 }

-void Panda::send_heartbeat() {
-  usb_write(0xf3, 1, 0);
+void Panda::send_heartbeat(bool engaged) {
+  usb_write(0xf3, engaged, 0);
 }

 void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) {
--- a/selfdrive/boardd/panda.h
+++ b/selfdrive/boardd/panda.h
@ -108,7 +108,7 @@ class Panda {
  std::optional<std::string> get_serial();
  void set_power_saving(bool power_saving);
  void set_usb_power_mode(cereal::PeripheralState::UsbPowerMode power_mode);
-  void send_heartbeat();
+  void send_heartbeat(bool engaged);
  void set_can_speed_kbps(uint16_t bus, uint16_t speed);
  void set_data_speed_kbps(uint16_t bus, uint16_t speed);
  void can_send(capnp::List<cereal::CanData>::Reader can_data_list);
--- a/selfdrive/boardd/tests/test_boardd_loopback.py
+++ b/selfdrive/boardd/tests/test_boardd_loopback.py
@ -69,7 +69,7 @@ class TestBoardd(unittest.TestCase):
        for __ in range(random.randrange(100)):
          bus = random.choice([b for b in range(3*num_pandas) if b % 4 != 3])
          addr = random.randrange(1, 1<<29)
-          dat = bytes([random.getrandbits(8) for _ in range(random.randrange(1, 9))])
+          dat = bytes(random.getrandbits(8) for _ in range(random.randrange(1, 9)))
          sent_msgs[bus].add((addr, dat))
          to_send.append(make_can_msg(addr, dat, bus))
        sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan'))
--- a/selfdrive/camerad/cameras/camera_common.cc
+++ b/selfdrive/camerad/cameras/camera_common.cc
@ -200,7 +200,6 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr
  framed.setMeasuredGreyFraction(frame_data.measured_grey_fraction);
  framed.setTargetGreyFraction(frame_data.target_grey_fraction);
  framed.setLensPos(frame_data.lens_pos);
-  framed.setLensSag(frame_data.lens_sag);
  framed.setLensErr(frame_data.lens_err);
  framed.setLensTruePos(frame_data.lens_true_pos);
 }
@ -351,7 +350,7 @@ void *processing_thread(MultiCameraState *cameras, CameraState *cs, process_thre
  } else {
    thread_name = "WideRoadCamera";
  }
-  set_thread_name(thread_name);
+  util::set_thread_name(thread_name);

  uint32_t cnt = 0;
  while (!do_exit) {
@ -408,11 +407,11 @@ static void driver_cam_auto_exposure(CameraState *c, SubMaster &sm) {
  camera_autoexposure(c, set_exposure_target(b, rect.x1, rect.x2, rect.x_skip, rect.y1, rect.y2, rect.y_skip));
 }

-void common_process_driver_camera(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt) {
+void common_process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
  int j = Hardware::TICI() ? 1 : 3;
  if (cnt % j == 0) {
-    sm->update(0);
-    driver_cam_auto_exposure(c, *sm);
+    s->sm->update(0);
+    driver_cam_auto_exposure(c, *(s->sm));
  }
  MessageBuilder msg;
  auto framed = msg.initEvent().initDriverCameraState();
@ -421,5 +420,5 @@ void common_process_driver_camera(SubMaster *sm, PubMaster *pm, CameraState *c,
  if (env_send_driver) {
    framed.setImage(get_frame_image(&c->buf));
  }
-  pm->send("driverCameraState", msg);
+  s->pm->send("driverCameraState", msg);
 }
--- a/selfdrive/camerad/cameras/camera_common.h
+++ b/selfdrive/camerad/cameras/camera_common.h
@ -68,7 +68,6 @@ typedef struct FrameMetadata {

  // Focus
  unsigned int lens_pos;
-  float lens_sag;
  float lens_err;
  float lens_true_pos;
 } FrameMetadata;
@ -123,7 +122,7 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr
 kj::Array<uint8_t> get_frame_image(const CameraBuf *b);
 float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
 std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback);
-void common_process_driver_camera(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt);
+void common_process_driver_camera(MultiCameraState *s, CameraState *c, int cnt);

 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx);
 void cameras_open(MultiCameraState *s);
--- a/selfdrive/camerad/cameras/camera_qcom.cc
+++ b/selfdrive/camerad/cameras/camera_qcom.cc
@ -227,7 +227,7 @@ void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_i
    s->stats_bufs[i].allocate(0xb80);
  }
  std::fill_n(s->lapres, std::size(s->lapres), 16160);
-  s->lap_conv = new LapConv(device_id, ctx, s->road_cam.buf.rgb_width, s->road_cam.buf.rgb_height, 3);
+  s->lap_conv = new LapConv(device_id, ctx, s->road_cam.buf.rgb_width, s->road_cam.buf.rgb_height, s->road_cam.buf.rgb_stride, 3);
 }

 static void set_exposure(CameraState *s, float exposure_frac, float gain_frac) {
@ -852,21 +852,7 @@ static void parse_autofocus(CameraState *s, uint8_t *d) {
  s->focus_err = max_focus*1.0;
 }

-static std::optional<float> get_accel_z(SubMaster *sm) {
-  sm->update(0);
-  if(sm->updated("sensorEvents")) {
-    for (auto event : (*sm)["sensorEvents"].getSensorEvents()) {
-      if (event.which() == cereal::SensorEventData::ACCELERATION) {
-        if (auto v = event.getAcceleration().getV(); v.size() >= 3)
-          return -v[2];
-        break;
-      }
-    }
-  }
-  return std::nullopt;
-}
-
-static void do_autofocus(CameraState *s, SubMaster *sm) {
+static void do_autofocus(CameraState *s) {
  float lens_true_pos = s->lens_true_pos.load();
  if (!isnan(s->focus_err)) {
    // learn lens_true_pos
@ -874,23 +860,10 @@ static void do_autofocus(CameraState *s, SubMaster *sm) {
    lens_true_pos -= s->focus_err*focus_kp;
  }

-  if (auto accel_z = get_accel_z(sm)) {
-    s->last_sag_acc_z = *accel_z;
-  }
-  const float sag = (s->last_sag_acc_z / 9.8) * 128;
  // stay off the walls
  lens_true_pos = std::clamp(lens_true_pos, float(LP3_AF_DAC_DOWN), float(LP3_AF_DAC_UP));
-  int target = std::clamp(lens_true_pos - sag, float(LP3_AF_DAC_DOWN), float(LP3_AF_DAC_UP));
  s->lens_true_pos.store(lens_true_pos);
-
-  /*char debug[4096];
-  char *pdebug = debug;
-  pdebug += sprintf(pdebug, "focus ");
-  for (int i = 0; i < NUM_FOCUS; i++) pdebug += sprintf(pdebug, "%2x(%4d) ", s->confidence[i], s->focus[i]);
-  pdebug += sprintf(pdebug, "  err: %7.2f  offset: %6.2f sag: %6.2f lens_true_pos: %6.2f  cur_lens_pos: %4d->%4d", err * focus_kp, offset, sag, s->lens_true_pos, s->cur_lens_pos, target);
-  LOGD(debug);*/
-
-  actuator_move(s, target);
+  actuator_move(s, lens_true_pos);
 }

 void camera_autoexposure(CameraState *s, float grey_frac) {
@ -1045,13 +1018,12 @@ static void ops_thread(MultiCameraState *s) {
  CameraExpInfo road_cam_op;
  CameraExpInfo driver_cam_op;

-  set_thread_name("camera_settings");
-  SubMaster sm({"sensorEvents"});
+  util::set_thread_name("camera_settings");
  while(!do_exit) {
    road_cam_op = road_cam_exp.load();
    if (road_cam_op.op_id != last_road_cam_op_id) {
      do_autoexposure(&s->road_cam, road_cam_op.grey_frac);
-      do_autofocus(&s->road_cam, &sm);
+      do_autofocus(&s->road_cam);
      last_road_cam_op_id = road_cam_op.op_id;
    }

@ -1086,10 +1058,6 @@ static void setup_self_recover(CameraState *c, const uint16_t *lapres, size_t la
  c->self_recover.store(self_recover);
 }

-void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
-  common_process_driver_camera(s->sm, s->pm, c, cnt);
-}
-
 // called by processing_thread
 void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
  const CameraBuf *b = &c->buf;
@ -1121,7 +1089,7 @@ void cameras_run(MultiCameraState *s) {
  std::vector<std::thread> threads;
  threads.push_back(std::thread(ops_thread, s));
  threads.push_back(start_process_thread(s, &s->road_cam, process_road_camera));
-  threads.push_back(start_process_thread(s, &s->driver_cam, process_driver_camera));
+  threads.push_back(start_process_thread(s, &s->driver_cam, common_process_driver_camera));

  CameraState* cameras[2] = {&s->road_cam, &s->driver_cam};

@ -1169,7 +1137,6 @@ void cameras_run(MultiCameraState *s) {
            .frame_length = (uint32_t)c->frame_length,
            .integ_lines = (uint32_t)c->cur_integ_lines,
            .lens_pos = c->cur_lens_pos,
-            .lens_sag = c->last_sag_acc_z,
            .lens_err = c->focus_err,
            .lens_true_pos = c->lens_true_pos,
            .gain = c->cur_gain_frac,
--- a/selfdrive/camerad/cameras/camera_qcom.h
+++ b/selfdrive/camerad/cameras/camera_qcom.h
@ -76,7 +76,6 @@ typedef struct CameraState {
  // rear camera only,used for focusing
  unique_fd actuator_fd;
  std::atomic<float> focus_err;
-  std::atomic<float> last_sag_acc_z;
  std::atomic<float> lens_true_pos;
  std::atomic<int> self_recover; // af recovery counter, neg is patience, pos is active
  uint16_t cur_step_pos;
--- a/selfdrive/camerad/cameras/camera_qcom2.cc
+++ b/selfdrive/camerad/cameras/camera_qcom2.cc
@ -987,11 +987,6 @@ void camera_autoexposure(CameraState *s, float grey_frac) {
  set_camera_exposure(s, grey_frac);
 }

-
-void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
-  common_process_driver_camera(s->sm, s->pm, c, cnt);
-}
-
 // called by processing_thread
 void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
  const CameraBuf *b = &c->buf;
@ -1016,7 +1011,7 @@ void cameras_run(MultiCameraState *s) {
  LOG("-- Starting threads");
  std::vector<std::thread> threads;
  threads.push_back(start_process_thread(s, &s->road_cam, process_road_camera));
-  threads.push_back(start_process_thread(s, &s->driver_cam, process_driver_camera));
+  threads.push_back(start_process_thread(s, &s->driver_cam, common_process_driver_camera));
  threads.push_back(start_process_thread(s, &s->wide_road_cam, process_road_camera));

  // start devices
--- a/selfdrive/camerad/cameras/camera_replay.cc
+++ b/selfdrive/camerad/cameras/camera_replay.cc
@ -67,12 +67,12 @@ void run_camera(CameraState *s) {
 }

 void road_camera_thread(CameraState *s) {
-  set_thread_name("replay_road_camera_thread");
+  util::set_thread_name("replay_road_camera_thread");
  run_camera(s);
 }

 // void driver_camera_thread(CameraState *s) {
-//   set_thread_name("replay_driver_camera_thread");
+//   util::set_thread_name("replay_driver_camera_thread");
 //   run_camera(s);
 // }

--- a/selfdrive/camerad/cameras/camera_webcam.cc
+++ b/selfdrive/camerad/cameras/camera_webcam.cc
@ -97,7 +97,7 @@ void run_camera(CameraState *s, cv::VideoCapture &video_cap, float *ts) {
 }

 static void road_camera_thread(CameraState *s) {
-  set_thread_name("webcam_road_camera_thread");
+  util::set_thread_name("webcam_road_camera_thread");

  cv::VideoCapture cap_road(ROAD_CAMERA_ID, cv::CAP_V4L2); // road
  cap_road.set(cv::CAP_PROP_FRAME_WIDTH, 853);
@ -186,7 +186,7 @@ void cameras_run(MultiCameraState *s) {
  threads.push_back(start_process_thread(s, &s->driver_cam, process_driver_camera));

  std::thread t_rear = std::thread(road_camera_thread, &s->road_cam);
-  set_thread_name("webcam_thread");
+  util::set_thread_name("webcam_thread");
  driver_camera_thread(&s->driver_cam);

  t_rear.join();
--- a/selfdrive/camerad/imgproc/utils.cc
+++ b/selfdrive/camerad/imgproc/utils.cc
@ -55,8 +55,8 @@ static cl_program build_conv_program(cl_device_id device_id, cl_context context,
  return cl_program_from_file(context, device_id, "imgproc/conv.cl", args);
 }

-LapConv::LapConv(cl_device_id device_id, cl_context ctx, int rgb_width, int rgb_height, int filter_size)
-    : width(rgb_width / NUM_SEGMENTS_X), height(rgb_height / NUM_SEGMENTS_Y), 
+LapConv::LapConv(cl_device_id device_id, cl_context ctx, int rgb_width, int rgb_height, int rgb_stride, int filter_size)
+    : width(rgb_width / NUM_SEGMENTS_X), height(rgb_height / NUM_SEGMENTS_Y), rgb_stride(rgb_stride),
      roi_buf(width * height * 3), result_buf(width * height) {

  prg = build_conv_program(device_id, ctx, width, height, filter_size);
@ -81,9 +81,9 @@ uint16_t LapConv::Update(cl_command_queue q, const uint8_t *rgb_buf, const int r
  const int x_offset = ROI_X_MIN + roi_id % (ROI_X_MAX - ROI_X_MIN + 1);
  const int y_offset = ROI_Y_MIN + roi_id / (ROI_X_MAX - ROI_X_MIN + 1);

-  const uint8_t *rgb_offset = rgb_buf + y_offset * height * FULL_STRIDE_X * 3 + x_offset * width * 3;
+  const uint8_t *rgb_offset = rgb_buf + y_offset * height * rgb_stride + x_offset * width * 3;
  for (int i = 0; i < height; ++i) {
-    memcpy(&roi_buf[i * width * 3], &rgb_offset[i * FULL_STRIDE_X * 3], width * 3);
+    memcpy(&roi_buf[i * width * 3], &rgb_offset[i * rgb_stride], width * 3);
  }

  constexpr int local_mem_size = (CONV_LOCAL_WORKSIZE + 2 * (3 / 2)) * (CONV_LOCAL_WORKSIZE + 2 * (3 / 2)) * (3 * sizeof(uint8_t));
--- a/selfdrive/camerad/imgproc/utils.h
+++ b/selfdrive/camerad/imgproc/utils.h
@ -16,16 +16,11 @@

 #define LM_THRESH 120
 #define LM_PREC_THRESH 0.9 // 90 perc is blur
-
-// only apply to QCOM
-#define FULL_STRIDE_X 1280
-#define FULL_STRIDE_Y 896
-
 #define CONV_LOCAL_WORKSIZE 16

 class LapConv {
 public:
-  LapConv(cl_device_id device_id, cl_context ctx, int rgb_width, int rgb_height, int filter_size);
+  LapConv(cl_device_id device_id, cl_context ctx, int rgb_width, int rgb_height, int rgb_stride, int filter_size);
  ~LapConv();
  uint16_t Update(cl_command_queue q, const uint8_t *rgb_buf, const int roi_id);

@ -34,6 +29,7 @@ private:
  cl_program prg;
  cl_kernel krnl;
  const int width, height;
+  const int rgb_stride;
  std::vector<uint8_t> roi_buf;
  std::vector<int16_t> result_buf;
 };
--- a/selfdrive/camerad/main.cc
+++ b/selfdrive/camerad/main.cc
@ -46,9 +46,9 @@ void party(cl_device_id device_id, cl_context context) {
 int main(int argc, char *argv[]) {
  if (!Hardware::PC()) {
    int ret;
-    ret = set_realtime_priority(53);
+    ret = util::set_realtime_priority(53);
    assert(ret == 0);
-    ret = set_core_affinity({Hardware::EON() ? 2 : 6});
+    ret = util::set_core_affinity({Hardware::EON() ? 2 : 6});
    assert(ret == 0 || Params().getBool("IsOffroad")); // failure ok while offroad due to offlining cores
  }

--- a/selfdrive/camerad/test/test_camerad.py
+++ b/selfdrive/camerad/test/test_camerad.py
@ -54,7 +54,7 @@ class TestCamerad(unittest.TestCase):
          self.assertTrue(abs(dfid - 1) <= SKIP_FRAME_TOLERANCE, "%s frame id diff is %d" % (camera, dfid))

          dts = ct - last_ts[camera]
-          self.assertTrue(abs(dts - (1000/CAMERAS[camera])) < LAG_FRAME_TOLERANCE, "%s frame t(ms) diff is %f" % (camera, dts))
+          self.assertTrue(abs(dts - (1000/CAMERAS[camera])) < LAG_FRAME_TOLERANCE, f"{camera} frame t(ms) diff is {dts:f}")

          last_frame_id[camera] = sm[camera].frameId
          last_ts[camera] = ct
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@ -1,7 +1,7 @@
 import os
 from common.params import Params
 from common.basedir import BASEDIR
-from selfdrive.version import get_comma_remote, get_tested_branch
+from selfdrive.version import is_comma_remote, is_tested_branch
 from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from selfdrive.car.vin import get_vin, VIN_UNKNOWN
 from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car
@ -14,7 +14,7 @@ EventName = car.CarEvent.EventName


 def get_startup_event(car_recognized, controller_available, fw_seen):
-  if get_comma_remote() and get_tested_branch():
+  if is_comma_remote() and is_tested_branch():
    event = EventName.startup
  else:
    event = EventName.startupMaster
@ -39,7 +39,7 @@ def get_one_can(logcan):
 def load_interfaces(brand_names):
  ret = {}
  for brand_name in brand_names:
-    path = ('selfdrive.car.%s' % brand_name)
+    path = f'selfdrive.car.{brand_name}'
    CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface

    if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carstate.py'):
@ -65,10 +65,10 @@ def _get_interface_names():
  for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:
    try:
      brand_name = car_folder.split('/')[-1]
-      model_names = __import__('selfdrive.car.%s.values' % brand_name, fromlist=['CAR']).CAR
+      model_names = __import__(f'selfdrive.car.{brand_name}.values', fromlist=['CAR']).CAR
      model_names = [getattr(model_names, c) for c in model_names.__dict__.keys() if not c.startswith("__")]
      brand_names[brand_name] = model_names
-    except (ImportError, IOError):
+    except (ImportError, OSError):
      pass

  return brand_names
@ -131,7 +131,7 @@ def fingerprint(logcan, sendcan):

      for b in candidate_cars:
        # Ignore extended messages and VIN query response.
-        if can.src == b and can.address < 0x800 and can.address not in [0x7df, 0x7e0, 0x7e8]:
+        if can.src == b and can.address < 0x800 and can.address not in (0x7df, 0x7e0, 0x7e8):
          candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])

    # if we only have one car choice and the time since we got our first
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@ -1,3 +1,4 @@
+from cereal import car
 from selfdrive.car import apply_toyota_steer_torque_limits
 from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, \
                                               create_wheel_buttons
@ -20,9 +21,8 @@ class CarController():
    # this seems needed to avoid steering faults and to force the sync with the EPS counter
    frame = CS.lkas_counter
    if self.prev_frame == frame:
-      return []
+      return car.CarControl.Actuators.new_message(), []

-    # *** compute control surfaces ***
    # steer torque
    new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
    apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last,
@ -67,4 +67,7 @@ class CarController():
    self.ccframe += 1
    self.prev_frame = frame

-    return can_sends
+    new_actuators = actuators.copy()
+    new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
+
+    return new_actuators, can_sends
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@ -52,7 +52,7 @@ class CarState(CarStateBase):
    ret.cruiseState.available = ret.cruiseState.enabled  # FIXME: for now same as enabled
    ret.cruiseState.speed = cp.vl["DASHBOARD"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS
    # CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too
-    ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in [1, 2]
+    ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in (1, 2)

    ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
    ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
--- a/selfdrive/car/chrysler/chryslercan.py
+++ b/selfdrive/car/chrysler/chryslercan.py
@ -8,7 +8,7 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
 def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_model):
  # LKAS_HUD 0x2a6 (678) Controls what lane-keeping icon is displayed.

-  if hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]:
+  if hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw):
    msg = b'\x00\x00\x00\x03\x00\x00\x00\x00'
    return make_can_msg(0x2a6, msg, 0)

--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@ -78,8 +78,6 @@ class CarInterface(CarInterfaceBase):
  def apply(self, c):

    if (self.CS.frame == -1):
-      return []  # if we haven't seen a frame 220, then do not update.
+      return car.CarControl.Actuators.new_message(), []  # if we haven't seen a frame 220, then do not update.

-    can_sends = self.CC.update(c.enabled, self.CS, c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert)
-
-    return can_sends
+    return self.CC.update(c.enabled, self.CS, c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert)
--- a/selfdrive/car/fingerprints.py
+++ b/selfdrive/car/fingerprints.py
@ -11,7 +11,7 @@ def get_attr_from_cars(attr, result=dict, combine_brands=True):
  for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:
    try:
      car_name = car_folder.split('/')[-1]
-      values = __import__('selfdrive.car.%s.values' % car_name, fromlist=[attr])
+      values = __import__(f'selfdrive.car.{car_name}.values', fromlist=[attr])
      if hasattr(values, attr):
        attr_values = getattr(values, attr)
      else:
@ -28,7 +28,7 @@ def get_attr_from_cars(attr, result=dict, combine_brands=True):
      elif isinstance(attr_values, list):
        result += attr_values

-    except (ImportError, IOError):
+    except (ImportError, OSError):
      pass

  return result
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@ -22,7 +22,7 @@ class CarController():
  def update(self, enabled, CS, frame, actuators, visual_alert, pcm_cancel):

    can_sends = []
-    steer_alert = visual_alert in [VisualAlert.steerRequired, VisualAlert.ldw]
+    steer_alert = visual_alert in (VisualAlert.steerRequired, VisualAlert.ldw)

    apply_steer = actuators.steer

@ -32,7 +32,7 @@ class CarController():

    if (frame % 3) == 0:

-      curvature = self.vehicle_model.calc_curvature(actuators.steeringAngleDeg*math.pi/180., CS.out.vEgo)
+      curvature = self.vehicle_model.calc_curvature(math.radians(actuators.steeringAngleDeg), CS.out.vEgo, 0.0)

      # The use of the toggle below is handy for trying out the various LKAS modes
      if TOGGLE_DEBUG:
@ -83,4 +83,4 @@ class CarController():
    self.main_on_last = CS.out.cruiseState.available
    self.steer_alert_last = steer_alert

-    return can_sends
+    return actuators, can_sends
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@ -25,7 +25,7 @@ class CarState(CarStateBase):
    ret.steeringPressed = not cp.vl["Lane_Keep_Assist_Status"]["LaHandsOff_B_Actl"]
    ret.steerError = cp.vl["Lane_Keep_Assist_Status"]["LaActDeny_B_Actl"] == 1
    ret.cruiseState.speed = cp.vl["Cruise_Status"]["Set_Speed"] * CV.MPH_TO_MS
-    ret.cruiseState.enabled = not (cp.vl["Cruise_Status"]["Cruise_State"] in [0, 3])
+    ret.cruiseState.enabled = not (cp.vl["Cruise_Status"]["Cruise_State"] in (0, 3))
    ret.cruiseState.available = cp.vl["Cruise_Status"]["Cruise_State"] != 0
    ret.gas = cp.vl["EngineData_14"]["ApedPosScal_Pc_Actl"] / 100.
    ret.gasPressed = ret.gas > 1e-6
--- a/selfdrive/car/ford/fordcan.py
+++ b/selfdrive/car/ford/fordcan.py
@ -6,7 +6,7 @@ def create_steer_command(packer, angle_cmd, enabled, lkas_state, angle_steers, c
  """Creates a CAN message for the Ford Steer Command."""

  #if enabled and lkas available:
-  if enabled and lkas_state in [2, 3]:  # and (frame % 500) >= 3:
+  if enabled and lkas_state in (2, 3):  # and (frame % 500) >= 3:
    action = lkas_action
  else:
    action = 0xf
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@ -51,7 +51,7 @@ class CarInterface(CarInterfaceBase):
    # events
    events = self.create_common_events(ret)

-    if self.CS.lkas_state not in [2, 3] and ret.vEgo > 13. * CV.MPH_TO_MS and ret.cruiseState.enabled:
+    if self.CS.lkas_state not in (2, 3) and ret.vEgo > 13. * CV.MPH_TO_MS and ret.cruiseState.enabled:
      events.add(car.CarEvent.EventName.steerTempUnavailable)

    ret.events = events.to_msg()
@ -63,8 +63,8 @@ class CarInterface(CarInterfaceBase):
  # to be called @ 100hz
  def apply(self, c):

-    can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
+    ret = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
                               c.hudControl.visualAlert, c.cruiseControl.cancel)

    self.frame += 1
-    return can_sends
+    return ret
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@ -84,8 +84,21 @@ NISSAN_VERSION_RESPONSE_STANDARD =  bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIF

 NISSAN_RX_OFFSET = 0x20

+SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
+SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
+
+
 # brand, request, response, response offset
 REQUESTS = [
+  # Subaru
+  (
+    "subaru",
+    [TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
+    [TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
+    DEFAULT_RX_OFFSET,
+  ),
  # Hyundai
  (
    "hyundai",
@ -221,7 +234,7 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
  if match_count >= 2:
    if log:
      cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {match_count} matching ECUs")
-    return set([candidate])
+    return {candidate}
  else:
    return set()

@ -240,11 +253,11 @@ def match_fw_to_car_exact(fw_versions_dict):
      addr = ecu[1:]
      found_version = fw_versions_dict.get(addr, None)
      ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.esp, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
-      if ecu_type == Ecu.esp and candidate in [TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS] and found_version is None:
+      if ecu_type == Ecu.esp and candidate in (TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS) and found_version is None:
        continue

      # On some Toyota models, the engine can show on two different addresses
-      if ecu_type == Ecu.engine and candidate in [TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS] and found_version is None:
+      if ecu_type == Ecu.engine and candidate in (TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS) and found_version is None:
        continue

      # Ignore non essential ecus
@ -362,7 +375,7 @@ if __name__ == "__main__":
  print("Getting vin...")
  addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug)
  print(f"VIN: {vin}")
-  print("Getting VIN took %.3f s" % (time.time() - t))
+  print(f"Getting VIN took {time.time() - t:.3f} s")
  print()

  t = time.time()
@ -379,4 +392,4 @@ if __name__ == "__main__":

  print()
  print("Possible matches:", candidates)
-  print("Getting fw took %.3f s" % (time.time() - t))
+  print(f"Getting fw took {time.time() - t:.3f} s")
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@ -14,6 +14,9 @@ class CarController():
  def __init__(self, dbc_name, CP, VM):
    self.start_time = 0.
    self.apply_steer_last = 0
+    self.apply_gas = 0
+    self.apply_brake = 0
+
    self.lka_steering_cmd_counter_last = -1
    self.lka_icon_status_last = (False, False)
    self.steer_rate_limited = False
@ -53,22 +56,22 @@ class CarController():

      can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))

-    if not enabled:
-      # Stock ECU sends max regen when not enabled.
-      apply_gas = P.MAX_ACC_REGEN
-      apply_brake = 0
-    else:
-      apply_gas = int(round(interp(actuators.accel, P.GAS_LOOKUP_BP, P.GAS_LOOKUP_V)))
-      apply_brake = int(round(interp(actuators.accel, P.BRAKE_LOOKUP_BP, P.BRAKE_LOOKUP_V)))
-
    # Gas/regen and brakes - all at 25Hz
    if (frame % 4) == 0:
+      if not enabled:
+        # Stock ECU sends max regen when not enabled.
+        self.apply_gas = P.MAX_ACC_REGEN
+        self.apply_brake = 0
+      else:
+        self.apply_gas = int(round(interp(actuators.accel, P.GAS_LOOKUP_BP, P.GAS_LOOKUP_V)))
+        self.apply_brake = int(round(interp(actuators.accel, P.BRAKE_LOOKUP_BP, P.BRAKE_LOOKUP_V)))
+
      idx = (frame // 4) % 4

      at_full_stop = enabled and CS.out.standstill
      near_stop = enabled and (CS.out.vEgo < P.NEAR_STOP_BRAKE_PHASE)
-      can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, apply_brake, idx, near_stop, at_full_stop))
-      can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, apply_gas, idx, enabled, at_full_stop))
+      can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop))
+      can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, enabled, at_full_stop))

    # Send dashboard UI commands (ACC status), 25hz
    if (frame % 4) == 0:
@ -102,8 +105,13 @@ class CarController():
    lka_critical = lka_active and abs(actuators.steer) > 0.9
    lka_icon_status = (lka_active, lka_critical)
    if frame % P.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last:
-      steer_alert = hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]
+      steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
      can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
      self.lka_icon_status_last = lka_icon_status

-    return can_sends
+    new_actuators = actuators.copy()
+    new_actuators.steer = self.apply_steer_last / P.STEER_MAX
+    new_actuators.gas = self.apply_gas
+    new_actuators.brake = self.apply_brake
+
+    return new_actuators, can_sends
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@ -36,7 +36,7 @@ class CarState(CarStateBase):
    if ret.brake < 10/0xd0:
      ret.brake = 0.

-    ret.gas = pt_cp.vl["AcceleratorPedal"]["AcceleratorPedal"] / 254.
+    ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
    ret.gasPressed = ret.gas > 1e-5

    ret.steeringAngleDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelAngle"]
@ -90,7 +90,7 @@ class CarState(CarStateBase):
      ("LeftSeatBelt", "BCMDoorBeltStatus", 0),
      ("RightSeatBelt", "BCMDoorBeltStatus", 0),
      ("TurnSignals", "BCMTurnSignals", 0),
-      ("AcceleratorPedal", "AcceleratorPedal", 0),
+      ("AcceleratorPedal2", "AcceleratorPedal2", 0),
      ("CruiseState", "AcceleratorPedal2", 0),
      ("ACCButtons", "ASCMSteeringButton", CruiseButtons.UNPRESS),
      ("SteeringWheelAngle", "PSCMSteeringAngle", 0),
@ -117,7 +117,6 @@ class CarState(CarStateBase):
      ("EPBStatus", 20),
      ("EBCMWheelSpdFront", 20),
      ("EBCMWheelSpdRear", 20),
-      ("AcceleratorPedal", 33),
      ("AcceleratorPedal2", 33),
      ("ASCMSteeringButton", 33),
      ("ECMEngineStatus", 100),
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@ -44,6 +44,11 @@ class CarInterface(CarInterfaceBase):
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
    ret.pcmCruise = False  # stock cruise control is kept off

+    # 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/test/test_routes, we can remove it from this list.
+    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU}
+
    # Presence of a camera on the object bus is ok.
    # Have to go to read_only if ASCM is online (ACC-enabled cars),
    # or camera is on powertrain bus (LKA cars without ACC).
@ -198,7 +203,7 @@ class CarInterface(CarInterfaceBase):
    # handle button presses
    for b in ret.buttonEvents:
      # do enable on both accel and decel buttons
-      if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
+      if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed:
        events.add(EventName.buttonEnable)
      # do disable on button down
      if b.type == ButtonType.cancel and b.pressed:
@ -212,7 +217,8 @@ class CarInterface(CarInterfaceBase):
    return self.CS.out

  def apply(self, c):
-    hud_v_cruise = c.hudControl.setSpeed
+    hud_control = c.hudControl
+    hud_v_cruise = hud_control.setSpeed
    if hud_v_cruise > 70:
      hud_v_cruise = 0

@ -220,10 +226,10 @@ class CarInterface(CarInterfaceBase):
    # In GM, PCM faults out if ACC command overlaps user gas.
    enabled = c.enabled and not self.CS.out.gasPressed

-    can_sends = self.CC.update(enabled, self.CS, self.frame,
-                               c.actuators,
-                               hud_v_cruise, c.hudControl.lanesVisible,
-                               c.hudControl.leadVisible, c.hudControl.visualAlert)
+    ret = self.CC.update(enabled, self.CS, self.frame,
+                         c.actuators,
+                         hud_v_cruise, hud_control.lanesVisible,
+                         hud_control.leadVisible, hud_control.visualAlert)

    self.frame += 1
-    return can_sends
+    return ret
--- a/selfdrive/car/gm/radar_interface.py
+++ b/selfdrive/car/gm/radar_interface.py
@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-from __future__ import print_function
 import math
 from cereal import car
 from opendbc.can.parser import CANParser
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@ -83,7 +83,7 @@ def process_hud_alert(hud_alert):
  # priority is: FCW, steer required, all others
  if hud_alert == VisualAlert.fcw:
    fcw_display = VISUAL_HUD[hud_alert.raw]
-  elif hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]:
+  elif hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw):
    steer_required = VISUAL_HUD[hud_alert.raw]
  else:
    acc_alert = VISUAL_HUD[hud_alert.raw]
@ -105,6 +105,11 @@ class CarController():
    self.last_pump_ts = 0.
    self.packer = CANPacker(dbc_name)

+    self.accel = 0
+    self.speed = 0
+    self.gas = 0
+    self.brake = 0
+
    self.params = CarControllerParams(CP)

  def update(self, enabled, active, CS, frame, actuators, pcm_cancel_cmd,
@ -163,7 +168,6 @@ class CarController():
      lkas_active, CS.CP.carFingerprint, idx, CS.CP.openpilotLongitudinalControl))

    stopping = actuators.longControlState == LongCtrlState.stopping
-    starting = actuators.longControlState == LongCtrlState.starting

    # wind brake from air resistance decel at high speed
    wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])
@ -211,10 +215,9 @@ class CarController():
        ts = frame * DT_CTRL

        if CS.CP.carFingerprint in HONDA_BOSCH:
-          accel = clip(accel, P.BOSCH_ACCEL_MIN, P.BOSCH_ACCEL_MAX)
-          bosch_gas = interp(accel, P.BOSCH_GAS_LOOKUP_BP, P.BOSCH_GAS_LOOKUP_V)
-          can_sends.extend(hondacan.create_acc_commands(self.packer, enabled, active, accel, bosch_gas, idx, stopping, starting, CS.CP.carFingerprint))
-
+          self.accel = clip(accel, P.BOSCH_ACCEL_MIN, P.BOSCH_ACCEL_MAX)
+          self.gas = interp(accel, P.BOSCH_GAS_LOOKUP_BP, P.BOSCH_GAS_LOOKUP_V)
+          can_sends.extend(hondacan.create_acc_commands(self.packer, enabled, active, accel, self.gas, idx, stopping, CS.CP.carFingerprint))
        else:
          apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
          apply_brake = int(clip(apply_brake * P.NIDEC_BRAKE_MAX, 0, P.NIDEC_BRAKE_MAX - 1))
@ -224,6 +227,7 @@ class CarController():
          can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
            pcm_override, pcm_cancel_cmd, fcw_display, idx, CS.CP.carFingerprint, CS.stock_brake))
          self.apply_brake_last = apply_brake
+          self.brake = apply_brake / P.NIDEC_BRAKE_MAX

          if CS.CP.enableGasInterceptor:
            # way too aggressive at low speed without this
@ -233,17 +237,28 @@ class CarController():
            # Sending non-zero gas when OP is not enabled will cause the PCM not to respond to throttle as expected
            # when you do enable.
            if active:
-              apply_gas = clip(gas_mult * (gas - brake + wind_brake*3/4), 0., 1.)
+              self.gas = clip(gas_mult * (gas - brake + wind_brake*3/4), 0., 1.)
            else:
-              apply_gas = 0.0
-            can_sends.append(create_gas_interceptor_command(self.packer, apply_gas, idx))
-
-    hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_car,
-                  hud_lanes, fcw_display, acc_alert, steer_required)
+              self.gas = 0.0
+            can_sends.append(create_gas_interceptor_command(self.packer, self.gas, idx))

    # Send dashboard UI commands.
    if (frame % 10) == 0:
      idx = (frame//10) % 4
+      hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_car,
+                    hud_lanes, fcw_display, acc_alert, steer_required)
      can_sends.extend(hondacan.create_ui_commands(self.packer, CS.CP, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud))

-    return can_sends
+      if (CS.CP.openpilotLongitudinalControl) and (CS.CP.carFingerprint not in HONDA_BOSCH):
+        self.speed = pcm_speed
+
+        if not CS.CP.enableGasInterceptor:
+          self.gas = pcm_accel / 0xc6
+
+    new_actuators = actuators.copy()
+    new_actuators.speed = self.speed
+    new_actuators.accel = self.accel
+    new_actuators.gas = self.gas
+    new_actuators.brake = self.brake
+
+    return new_actuators, can_sends
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@ -107,7 +107,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
    else:
      checks += [("CRUISE_PARAMS", 50)]

-  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):
+  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):
    signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
  elif CP.carFingerprint == CAR.ODYSSEY_CHN:
    signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)]
@ -185,7 +185,7 @@ class CarState(CarStateBase):

    # ******************* parse out can *******************
    # TODO: find wheels moving bit in dbc
-    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):
+    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):
      ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 0.1
      ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
    elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
@ -201,11 +201,11 @@ class CarState(CarStateBase):
    ret.seatbeltUnlatched = bool(cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LAMP"] or not cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LATCHED"])

    steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]["STEER_STATUS"]]
-    ret.steerError = steer_status not in ["NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TMP_FAULT"]
+    ret.steerError = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TMP_FAULT")
    # NO_TORQUE_ALERT_2 can be caused by bump OR steering nudge from driver
-    self.steer_not_allowed = steer_status not in ["NORMAL", "NO_TORQUE_ALERT_2"]
+    self.steer_not_allowed = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_2")
    # LOW_SPEED_LOCKOUT is not worth a warning
-    ret.steerWarning = steer_status not in ["NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2"]
+    ret.steerWarning = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2")

    if not self.CP.openpilotLongitudinalControl:
      self.brake_error = 0
@ -236,7 +236,7 @@ class CarState(CarStateBase):
      250, cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"], cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"])
    ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1

-    if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021, CAR.CIVIC_BOSCH,
+    if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH,
                                  CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):
      self.park_brake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
    else:
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@ -43,7 +43,7 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
  return packer.make_can_msg("BRAKE_COMMAND", bus, values, idx)


-def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, starting, car_fingerprint):
+def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, car_fingerprint):
  commands = []
  bus = get_pt_bus(car_fingerprint)
  min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
@ -53,7 +53,7 @@ def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, star
  accel_command = accel if active else 0
  braking = 1 if active and accel < min_gas_accel else 0
  standstill = 1 if active and stopping else 0
-  standstill_release = 1 if active and starting else 0
+  standstill_release = 1 if active and not stopping else 0

  acc_control_values = {
    # setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@ -114,7 +114,7 @@ class CarInterface(CarInterfaceBase):
      tire_stiffness_factor = 1.
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]

-    elif candidate in (CAR.ACCORD, CAR.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021):
+    elif candidate in (CAR.ACCORD, CAR.ACCORDH):
      stop_and_go = True
      ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG
      ret.wheelbase = 2.83
@ -227,7 +227,7 @@ class CarInterface(CarInterfaceBase):
      ret.centerToFront = ret.wheelbase * 0.41
      ret.steerRatio = 11.95  # as spec
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
      tire_stiffness_factor = 0.677

    elif candidate == CAR.ODYSSEY:
@ -301,7 +301,7 @@ class CarInterface(CarInterfaceBase):
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning

    else:
-      raise ValueError("unsupported car %s" % candidate)
+      raise ValueError(f"unsupported car {candidate}")

    # These cars use alternate user brake msg (0x1BE)
    if candidate in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
@ -350,7 +350,6 @@ class CarInterface(CarInterfaceBase):
    ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)

    ret.canValid = self.cp.can_valid and self.cp_cam.can_valid and (self.cp_body is None or self.cp_body.can_valid)
-    ret.yawRate = self.VM.yaw_rate(ret.steeringAngleDeg * CV.DEG_TO_RAD, ret.vEgo)

    buttonEvents = []

@ -417,7 +416,7 @@ class CarInterface(CarInterfaceBase):
    for b in ret.buttonEvents:

      # do enable on both accel and decel buttons
-      if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
+      if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed:
        if not self.CP.pcmCruise:
          events.add(EventName.buttonEnable)

@ -433,18 +432,19 @@ class CarInterface(CarInterfaceBase):
  # pass in a car.CarControl
  # to be called @ 100hz
  def apply(self, c):
-    if c.hudControl.speedVisible:
-      hud_v_cruise = c.hudControl.setSpeed * CV.MS_TO_KPH
+    hud_control = c.hudControl
+    if hud_control.speedVisible:
+      hud_v_cruise = hud_control.setSpeed * CV.MS_TO_KPH
    else:
      hud_v_cruise = 255

-    can_sends = self.CC.update(c.enabled, c.active, self.CS, self.frame,
-                               c.actuators,
-                               c.cruiseControl.cancel,
-                               hud_v_cruise,
-                               c.hudControl.lanesVisible,
-                               hud_show_car=c.hudControl.leadVisible,
-                               hud_alert=c.hudControl.visualAlert)
+    ret = self.CC.update(c.enabled, c.active, self.CS, self.frame,
+                         c.actuators,
+                         c.cruiseControl.cancel,
+                         hud_v_cruise,
+                         hud_control.lanesVisible,
+                         hud_show_car=hud_control.leadVisible,
+                         hud_alert=hud_control.visualAlert)

    self.frame += 1
-    return can_sends
+    return ret
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@ -66,8 +66,6 @@ VISUAL_HUD = {
 class CAR:
  ACCORD = "HONDA ACCORD 2018"
  ACCORDH = "HONDA ACCORD HYBRID 2018"
-  ACCORD_2021 = "HONDA ACCORD 2021"
-  ACCORDH_2021 = "HONDA ACCORD HYBRID 2021"
  CIVIC = "HONDA CIVIC 2016"
  CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019"
  CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019"
@ -105,7 +103,9 @@ FW_VERSIONS = {
      b'37805-6A0-A750\x00\x00',
      b'37805-6A0-A840\x00\x00',
      b'37805-6A0-A850\x00\x00',
+      b'37805-6A0-AF30\x00\x00',
      b'37805-6A0-AG30\x00\x00',
+      b'37805-6B2-C520\x00\x00',
      b'37805-6A0-C540\x00\x00',
      b'37805-6A1-H650\x00\x00',
      b'37805-6B2-A550\x00\x00',
@ -131,6 +131,7 @@ FW_VERSIONS = {
      b'28101-6A7-A410\x00\x00',
      b'28101-6A7-A510\x00\x00',
      b'28101-6A7-A610\x00\x00',
+      b'28101-6A7-A710\x00\x00',
      b'28101-6A9-H140\x00\x00',
      b'28101-6A9-H420\x00\x00',
      b'28102-6B8-A560\x00\x00',
@ -155,10 +156,12 @@ FW_VERSIONS = {
      b'57114-TVA-B040\x00\x00',
      b'57114-TVA-B050\x00\x00',
      b'57114-TVA-B060\x00\x00',
+      b'57114-TVA-B530\x00\x00',
      b'57114-TVA-C040\x00\x00',
      b'57114-TVA-C050\x00\x00',
      b'57114-TVA-C060\x00\x00',
      b'57114-TVA-C530\x00\x00',
+      b'57114-TVA-E520\x00\x00',
      b'57114-TVE-H250\x00\x00',
    ],
    (Ecu.eps, 0x18da30f1, None): [
@ -166,6 +169,7 @@ FW_VERSIONS = {
      b'39990-TVA-A140\x00\x00',
      b'39990-TVA-A150\x00\x00',
      b'39990-TVA-A160\x00\x00',
+      b'39990-TVA-A340\x00\x00',
      b'39990-TVA-X030\x00\x00',
      b'39990-TVA-X040\x00\x00',
      b'39990-TVA,A150\x00\x00',
@ -173,6 +177,7 @@ FW_VERSIONS = {
    ],
    (Ecu.unknown, 0x18da3af1, None): [
      b'39390-TVA-A020\x00\x00',
+      b'39390-TVA-A120\x00\x00',
    ],
    (Ecu.srs, 0x18da53f1, None): [
      b'77959-TBX-H230\x00\x00',
@ -191,6 +196,7 @@ FW_VERSIONS = {
      b'78109-TVA-A120\x00\x00',
      b'78109-TVA-A210\x00\x00',
      b'78109-TVA-A220\x00\x00',
+      b'78109-TVA-A230\x00\x00',
      b'78109-TVA-A310\x00\x00',
      b'78109-TVA-C010\x00\x00',
      b'78109-TVA-L010\x00\x00',
@ -203,6 +209,7 @@ FW_VERSIONS = {
      b'78109-TVC-A130\x00\x00',
      b'78109-TVC-A210\x00\x00',
      b'78109-TVC-A220\x00\x00',
+      b'78109-TVC-A230\x00\x00',
      b'78109-TVC-C010\x00\x00',
      b'78109-TVC-C110\x00\x00',
      b'78109-TVC-L010\x00\x00',
@ -214,12 +221,15 @@ FW_VERSIONS = {
    ],
    (Ecu.hud, 0x18da61f1, None): [
      b'78209-TVA-A010\x00\x00',
+      b'78209-TVA-A110\x00\x00',
    ],
    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'36802-TBX-H140\x00\x00',
      b'36802-TVA-A150\x00\x00',
      b'36802-TVA-A160\x00\x00',
      b'36802-TVA-A170\x00\x00',
+      b'36802-TVA-A330\x00\x00',
+      b'36802-TVC-A330\x00\x00',
      b'36802-TVE-H070\x00\x00',
      b'36802-TWA-A070\x00\x00',
      b'36802-TWA-A080\x00\x00',
@ -227,6 +237,7 @@ FW_VERSIONS = {
    (Ecu.fwdCamera, 0x18dab5f1, None): [
      b'36161-TBX-H130\x00\x00',
      b'36161-TVA-A060\x00\x00',
+      b'36161-TVA-A330\x00\x00',
      b'36161-TVC-A330\x00\x00',
      b'36161-TVE-H050\x00\x00',
      b'36161-TWA-A070\x00\x00',
@ -246,6 +257,7 @@ FW_VERSIONS = {
    (Ecu.vsa, 0x18da28f1, None): [
      b'57114-TWA-A040\x00\x00',
      b'57114-TWA-A050\x00\x00',
+      b'57114-TWA-A530\x00\x00',
      b'57114-TWA-B520\x00\x00',
    ],
    (Ecu.srs, 0x18da53f1, None): [
@ -258,6 +270,7 @@ FW_VERSIONS = {
      b'78109-TWA-A030\x00\x00',
      b'78109-TWA-A110\x00\x00',
      b'78109-TWA-A120\x00\x00',
+      b'78109-TWA-A130\x00\x00',
      b'78109-TWA-A210\x00\x00',
      b'78109-TWA-A220\x00\x00',
      b'78109-TWA-A230\x00\x00',
@ -273,95 +286,18 @@ FW_VERSIONS = {
    ],
    (Ecu.fwdCamera, 0x18dab5f1, None): [
      b'36161-TWA-A070\x00\x00',
+      b'36161-TWA-A330\x00\x00',
    ],
    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'36802-TWA-A070\x00\x00',
      b'36802-TWA-A080\x00\x00',
+      b'36802-TWA-A330\x00\x00',
    ],
    (Ecu.eps, 0x18da30f1, None): [
      b'39990-TVA-A160\x00\x00',
      b'39990-TVA-A150\x00\x00',
-    ],
-  },
-  CAR.ACCORD_2021: {
-    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
-      b'37805-6A0-AF30\x00\x00',
-      b'37805-6B2-C520\x00\x00',
-    ],
-    (Ecu.transmission, 0x18da1ef1, None): [
-      b'28101-6A7-A710\x00\x00',
-      b'28102-6B8-A700\x00\x00',
-    ],
-    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
-      b'46114-TVA-A320\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TVA-A020\x00\x00',
-      b'38897-TVA-A240\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TVA-B530\x00\x00',
-      b'57114-TVA-E520\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TVA-L420\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TVA-A230\x00\x00',
-      b'78109-TVC-A230\x00\x00',
-    ],
-    (Ecu.hud, 0x18da61f1, None): [
-      b'78209-TVA-A110\x00\x00',
-    ],
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-TVC-A910\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x18dab5f1, None): [
-      b'36161-TVA-A330\x00\x00',
-      b'36161-TVC-A330\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36802-TVA-A330\x00\x00',
-      b'36802-TVC-A330\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
      b'39990-TVA-A340\x00\x00',
    ],
-    (Ecu.unknown, 0x18da3af1, None): [
-      b'39390-TVA-A120\x00\x00',
-    ],
-  },
-  CAR.ACCORDH_2021: {
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TWD-J020\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TWA-A530\x00\x00',
-      b'57114-TWA-B520\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TWA-L420\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TWA-A030\x00\x00',
-      b'78109-TWA-A130\x00\x00',
-      b'78109-TWA-A230\x00\x00',
-    ],
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-TWA-A910\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x18dab5f1, None): [
-      b'36161-TWA-A330\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36802-TWA-A330\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TVA-A340\x00\x00',
-    ],
-    (Ecu.unknown, 0x18da3af1, None): [
-      b'39390-TVA-A120\x00\x00',
-    ],
  },
  CAR.CIVIC: {
    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
@ -1419,9 +1355,7 @@ FW_VERSIONS = {

 DBC = {
  CAR.ACCORD: dbc_dict('honda_accord_2018_can_generated', None),
-  CAR.ACCORD_2021: dbc_dict('honda_accord_2018_can_generated', None),
  CAR.ACCORDH: dbc_dict('honda_accord_2018_can_generated', None),
-  CAR.ACCORDH_2021: dbc_dict('honda_accord_2018_can_generated', None),
  CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
  CAR.ACURA_RDX: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
  CAR.ACURA_RDX_3G: dbc_dict('acura_rdx_2020_can_generated', None),
@ -1451,9 +1385,9 @@ STEER_THRESHOLD = {
  CAR.CRV_EU: 400,
 }

-HONDA_NIDEC_ALT_PCM_ACCEL = set([CAR.ODYSSEY])
-HONDA_NIDEC_ALT_SCM_MESSAGES = set([CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
-                                    CAR.PILOT, CAR.PILOT_2019, CAR.PASSPORT, CAR.RIDGELINE])
-HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORD_2021, CAR.ACCORDH, CAR.ACCORDH_2021, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
-                   CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E])
-HONDA_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.ACCORD_2021, CAR.CRV_5G, CAR.ACURA_RDX_3G])
+HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY}
+HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
+                                    CAR.PILOT, CAR.PILOT_2019, CAR.PASSPORT, CAR.RIDGELINE}
+HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
+                   CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E}
+HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G}
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@ -13,7 +13,7 @@ LongCtrlState = car.CarControl.Actuators.LongControlState

 def process_hud_alert(enabled, fingerprint, visual_alert, left_lane,
                      right_lane, left_lane_depart, right_lane_depart):
-  sys_warning = (visual_alert in [VisualAlert.steerRequired, VisualAlert.ldw])
+  sys_warning = (visual_alert in (VisualAlert.steerRequired, VisualAlert.ldw))

  # initialize to no line visible
  sys_state = 1
@ -28,9 +28,9 @@ def process_hud_alert(enabled, fingerprint, visual_alert, left_lane,
  left_lane_warning = 0
  right_lane_warning = 0
  if left_lane_depart:
-    left_lane_warning = 1 if fingerprint in [CAR.GENESIS_G90, CAR.GENESIS_G80] else 2
+    left_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2
  if right_lane_depart:
-    right_lane_warning = 1 if fingerprint in [CAR.GENESIS_G90, CAR.GENESIS_G80] else 2
+    right_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2

  return sys_warning, sys_state, left_lane_warning, right_lane_warning

@ -44,6 +44,7 @@ class CarController():
    self.car_fingerprint = CP.carFingerprint
    self.steer_rate_limited = False
    self.last_resume_frame = 0
+    self.accel = 0

  def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, hud_speed,
             left_lane, right_lane, left_lane_depart, right_lane_depart):
@ -100,12 +101,13 @@ class CarController():
      stopping = (actuators.longControlState == LongCtrlState.stopping)
      set_speed_in_units = hud_speed * (CV.MS_TO_MPH if CS.clu11["CF_Clu_SPEED_UNIT"] == 1 else CV.MS_TO_KPH)
      can_sends.extend(create_acc_commands(self.packer, enabled, accel, jerk, int(frame / 2), lead_visible, set_speed_in_units, stopping))
+      self.accel = accel

    # 20 Hz LFA MFA message
-    if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
+    if 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.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.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022):
      can_sends.append(create_lfahda_mfc(self.packer, enabled))

    # 5 Hz ACC options
@ -116,4 +118,8 @@ class CarController():
    if frame % 50 == 0 and CS.CP.openpilotLongitudinalControl:
      can_sends.append(create_frt_radar_opt(self.packer))

-    return can_sends
+    new_actuators = actuators.copy()
+    new_actuators.steer = apply_steer / self.p.STEER_MAX
+    new_actuators.accel = self.accel
+
+    return new_actuators, can_sends
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@ -16,10 +16,10 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
  values["CF_Lkas_ActToi"] = steer_req
  values["CF_Lkas_MsgCount"] = frame % 0x10

-  if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
+  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.SANTA_FE_2022,
-                         CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022]:
+                         CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_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
@ -41,11 +41,10 @@ class CarInterface(CarInterfaceBase):
    ret.longitudinalTuning.kpV = [0.1]
    ret.longitudinalTuning.kiV = [0.0]
    ret.stopAccel = 0.0
-    ret.startAccel = 0.0

    ret.longitudinalActuatorDelayUpperBound = 1.0 # s

-    if candidate in [CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022]:
+    if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
      ret.lateralTuning.pid.kf = 0.00005
      ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
      ret.wheelbase = 2.766
@ -54,7 +53,7 @@ class CarInterface(CarInterfaceBase):
      tire_stiffness_factor = 0.82
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
-    elif candidate in [CAR.SONATA, CAR.SONATA_HYBRID]:
+    elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID):
      ret.lateralTuning.pid.kf = 0.00005
      ret.mass = 1513. + STD_CARGO_KG
      ret.wheelbase = 2.84
@ -77,7 +76,7 @@ class CarInterface(CarInterfaceBase):
      tire_stiffness_factor = 0.63
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
-    elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
+    elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
      ret.lateralTuning.pid.kf = 0.00006
      ret.mass = 1275. + STD_CARGO_KG
      ret.wheelbase = 2.7
@ -117,7 +116,7 @@ class CarInterface(CarInterfaceBase):
      ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
      ret.lateralTuning.indi.actuatorEffectivenessV = [2.3]
      ret.minSteerSpeed = 60 * CV.KPH_TO_MS
-    elif candidate in [CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV]:
+    elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV):
      ret.lateralTuning.pid.kf = 0.00005
      ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425.}.get(candidate, 1275.) + STD_CARGO_KG
      ret.wheelbase = 2.7
@ -125,7 +124,7 @@ class CarInterface(CarInterfaceBase):
      tire_stiffness_factor = 0.385
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
-    elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022]:
+    elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
      ret.lateralTuning.pid.kf = 0.00006
      ret.mass = 1490. + STD_CARGO_KG  # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
      ret.wheelbase = 2.7
@ -133,7 +132,7 @@ class CarInterface(CarInterfaceBase):
      tire_stiffness_factor = 0.385
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
-      if candidate not in [CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022]:
+      if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
        ret.minSteerSpeed = 32 * CV.MPH_TO_MS
    elif candidate == CAR.VELOSTER:
      ret.lateralTuning.pid.kf = 0.00005
@ -152,7 +151,7 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 14.4 * 1.1   # 10% higher at the center seems reasonable
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
-    elif candidate in [CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021]:
+    elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021):
      ret.lateralTuning.pid.kf = 0.00006
      ret.mass = 1737. + STD_CARGO_KG
      ret.wheelbase = 2.7
@ -176,7 +175,7 @@ class CarInterface(CarInterfaceBase):
      ret.lateralTuning.indi.timeConstantV = [1.4]
      ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
      ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
-    elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]:
+    elif candidate in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H):
      ret.lateralTuning.pid.kf = 0.00005
      ret.mass = 3558. * CV.LB_TO_KG
      ret.wheelbase = 2.80
@ -327,7 +326,7 @@ class CarInterface(CarInterfaceBase):

        for b in ret.buttonEvents:
          # do enable on both accel and decel buttons
-          if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
+          if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed:
            events.add(EventName.buttonEnable)
          # do disable on button down
          if b.type == ButtonType.cancel and b.pressed:
@ -347,8 +346,9 @@ class CarInterface(CarInterfaceBase):
    return self.CS.out

  def apply(self, c):
-    can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
-                               c.cruiseControl.cancel, c.hudControl.visualAlert, c.hudControl.setSpeed, c.hudControl.leftLaneVisible,
-                               c.hudControl.rightLaneVisible, c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
+    hud_control = c.hudControl
+    ret = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
+                         c.cruiseControl.cancel, hud_control.visualAlert, hud_control.setSpeed, hud_control.leftLaneVisible,
+                         hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)
    self.frame += 1
-    return can_sends
+    return ret
--- a/selfdrive/car/hyundai/radar_interface.py
+++ b/selfdrive/car/hyundai/radar_interface.py
@ -74,7 +74,7 @@ class RadarInterface(RadarInterfaceBase):
        self.pts[addr].trackId = self.track_id
        self.track_id += 1

-      valid = msg['STATE'] in [3, 4]
+      valid = msg['STATE'] in (3, 4)
      if valid:
        azimuth = math.radians(msg['AZIMUTH'])
        self.pts[addr].measured = True
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@ -10,13 +10,14 @@ class CarControllerParams:
  ACCEL_MAX = 2.0 # m/s

  def __init__(self, CP):
-    if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G70_2020,
-                             CAR.IONIQ_EV_2020, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.ELANTRA_2021,
-                             CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022,
-                             CAR.KIA_K5_2021, CAR.KONA_EV, CAR.KONA, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022]:
-      self.STEER_MAX = 384
-    else:
+    # To determine the limit for your car, find the maximum value that the stock LKAS will request.
+    # If the max stock LKAS request is <384, add your car to this list.
+    if CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ,
+                             CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV,
+                             CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA, CAR.KIA_SORENTO, CAR.KIA_STINGER):
      self.STEER_MAX = 255
+    else:
+      self.STEER_MAX = 384
    self.STEER_DELTA_UP = 3
    self.STEER_DELTA_DOWN = 7
    self.STEER_DRIVER_ALLOWANCE = 50
@ -41,6 +42,7 @@ class CAR:
  SANTA_FE = "HYUNDAI SANTA FE 2019"
  SANTA_FE_2022 = "HYUNDAI SANTA FE 2022"
  SANTA_FE_HEV_2022 = "HYUNDAI SANTA FE HYBRID 2022"
+  SANTA_FE_PHEV_2022 = "HYUNDAI SANTA FE PlUG-IN HYBRID 2022"
  SONATA = "HYUNDAI SONATA 2020"
  SONATA_LF = "HYUNDAI SONATA 2019"
  PALISADE = "HYUNDAI PALISADE 2020"
@ -498,6 +500,23 @@ FW_VERSIONS = {
      b'\xf1\x87391312MTC1',
    ],
  },
+  CAR.SANTA_FE_PHEV_2022: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x8799110CL500\xf1\x00TMhe SCC FHCUP      1.00 1.00 99110-CL500         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00TMP MFC  AT USA LHD 1.00 1.03 99211-S1500 210224',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA0o\x88^\xbe',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x87391312MTF0',
+    ],
+  },
  CAR.KIA_STINGER: {
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00CK__ SCC F_CUP      1.00 1.01 96400-J5100         ',
@ -777,25 +796,22 @@ FW_VERSIONS = {
      b'\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4000         ',
      b'\xf1\x00DEev SCC F-CUP      1.00 1.02 96400-Q4100         ',
      b'\xf1\x00DEev SCC F-CUP      1.00 1.03 96400-Q4100         ',
-      b'\xf1\x00OSev SCC F-CUP      1.00 1.01 99110-K4000         ',
      b'\xf1\x8799110Q4000\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4000         ',
      b'\xf1\x8799110Q4100\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4100         ',
      b'\xf1\x8799110Q4500\xf1\000DEev SCC F-CUP      1.00 1.00 99110-Q4500         ',
-    ],
-    (Ecu.esp, 0x7D1, None): [
-      b'\xf1\x00OS IEB \r 212 \x11\x13 58520-K4000',
+      b'\xf1\x8799110Q4600\xf1\x00DEev SCC FNCUP      1.00 1.00 99110-Q4600         ',
+      b'\xf1\x8799110Q4600\xf1\x00DEev SCC FHCUP      1.00 1.00 99110-Q4600         ',
    ],
    (Ecu.eps, 0x7D4, None): [
      b'\xf1\x00DE  MDPS C 1.00 1.05 56310Q4000\x00 4DEEC105',
      b'\xf1\x00DE  MDPS C 1.00 1.05 56310Q4100\x00 4DEEC105',
-      b'\xf1\x00OS  MDPS C 1.00 1.04 56310K4050\x00 4OEDC104',
    ],
    (Ecu.fwdCamera, 0x7C4, None): [
      b'\xf1\000DEE MFC  AT EUR LHD 1.00 1.00 99211-Q4100 200706',
      b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.00 99211-Q4000 191211',
      b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.00 99211-Q4000 191211',
      b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.03 95740-Q4000 180821',
-      b'\xf1\x00OSE LKAS AT EUR LHD 1.00 1.00 95740-K4100 W40',
+      b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.01 99211-Q4500 210428',
    ],
  },
  CAR.KIA_NIRO_HEV: {
@ -981,25 +997,25 @@ FW_VERSIONS = {
 }

 CHECKSUM = {
-  "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022],
+  "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022],
  "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
 }

 FEATURES = {
  # which message has the gear
-  "use_cluster_gears": set([CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA]),
-  "use_tcu_gears": set([CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER]),
-  "use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, 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]),
+  "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
+  "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER},
+  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, 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},

  # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
-  "use_fca": set([CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, 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]),
+  "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, 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},
 }

-HYBRID_CAR = set([CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022])  # these cars use a different gas signal
-EV_CAR = set([CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV])
+HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, 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}  # these cars use a different gas signal
+EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV}

 # these cars require a special panda safety mode due to missing counters and checksums in the messages
-LEGACY_SAFETY_MODE_CAR = set([CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022])
+LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022}

 # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
 # If no points are outputted by default it might be possible to turn it on using  selfdrive/debug/hyundai_enable_radar_points.py
@ -1020,7 +1036,7 @@ DBC = {
  CAR.IONIQ_HEV_2022: dbc_dict('hyundai_kia_generic', None),
  CAR.KIA_FORTE: dbc_dict('hyundai_kia_generic', None),
  CAR.KIA_K5_2021: dbc_dict('hyundai_kia_generic', None),
-  CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', None),
+  CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
  CAR.KIA_NIRO_HEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
  CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None),
  CAR.KIA_OPTIMA: dbc_dict('hyundai_kia_generic', None),
@ -1034,6 +1050,7 @@ DBC = {
  CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
  CAR.SANTA_FE_2022: dbc_dict('hyundai_kia_generic', None),
  CAR.SANTA_FE_HEV_2022: dbc_dict('hyundai_kia_generic', None),
+  CAR.SANTA_FE_PHEV_2022: dbc_dict('hyundai_kia_generic', None),
  CAR.SONATA: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
  CAR.SONATA_LF: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
  CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@ -1,6 +1,7 @@
 import os
 import time
-from typing import Dict
+from abc import abstractmethod, ABC
+from typing import Dict, Tuple, List

 from cereal import car
 from common.kalman.simple_kalman import KF1D
@ -14,9 +15,7 @@ from selfdrive.controls.lib.vehicle_model import VehicleModel
 GearShifter = car.CarState.GearShifter
 EventName = car.CarEvent.EventName

-# WARNING: this value was determined based on the model's training distribution,
-#          model predictions above this speed can be unpredictable
-MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS  # 135 + 4 = 86 mph
+MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
 ACCEL_MAX = 2.0
 ACCEL_MIN = -3.5

@ -24,7 +23,7 @@ ACCEL_MIN = -3.5
 # generic car and radar interfaces


-class CarInterfaceBase():
+class CarInterfaceBase(ABC):
  def __init__(self, CP, CarController, CarState):
    self.CP = CP
    self.VM = VehicleModel(CP)
@ -50,8 +49,9 @@ class CarInterfaceBase():
    return ACCEL_MIN, ACCEL_MAX

  @staticmethod
+  @abstractmethod
  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
-    raise NotImplementedError
+    pass

  @staticmethod
  def init(CP, logcan, sendcan):
@ -84,13 +84,10 @@ class CarInterfaceBase():
    ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
    ret.steerRatioRear = 0.  # no rear steering, at least on the listed cars aboveA
    ret.openpilotLongitudinalControl = False
-    ret.minSpeedCan = 0.3
-    ret.startAccel = -0.8
    ret.stopAccel = -2.0
-    ret.startingAccelRate = 3.2 # brake_travel/s while releasing on restart
    ret.stoppingDecelRate = 0.8 # brake_travel/s while trying to stop
    ret.vEgoStopping = 0.5
-    ret.vEgoStarting = 0.5
+    ret.vEgoStarting = 0.5  # needs to be >= vEgoStopping to avoid state transition oscillation
    ret.stoppingControl = True
    ret.longitudinalTuning.deadzoneBP = [0.]
    ret.longitudinalTuning.deadzoneV = [0.]
@ -102,13 +99,13 @@ class CarInterfaceBase():
    ret.longitudinalActuatorDelayUpperBound = 0.15
    return ret

-  # returns a car.CarState, pass in car.CarControl
-  def update(self, c, can_strings):
-    raise NotImplementedError
+  @abstractmethod
+  def update(self, c: car.CarControl, can_strings: List[bytes]) -> car.CarState:
+    pass

-  # return sendcan, pass in a car.CarControl
-  def apply(self, c):
-    raise NotImplementedError
+  @abstractmethod
+  def apply(self, c: car.CarControl) -> Tuple[car.CarControl.Actuators, List[bytes]]:
+    pass

  def create_common_events(self, cs_out, extra_gears=None, gas_resume_speed=-1, pcm_enable=True):
    events = Events()
@ -171,7 +168,7 @@ class CarInterfaceBase():
    return events


-class RadarInterfaceBase():
+class RadarInterfaceBase(ABC):
  def __init__(self, CP):
    self.pts = {}
    self.delay = 0
@ -185,7 +182,7 @@ class RadarInterfaceBase():
    return ret


-class CarStateBase:
+class CarStateBase(ABC):
  def __init__(self, CP):
    self.CP = CP
    self.car_fingerprint = CP.carFingerprint
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@ -58,4 +58,8 @@ class CarController():
    # send steering command
    can_sends.append(mazdacan.create_steering_control(self.packer, CS.CP.carFingerprint,
                                                      frame, apply_steer, CS.cam_lkas))
-    return can_sends
+
+    new_actuators = c.actuators.copy()
+    new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
+
+    return new_actuators, can_sends
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@ -22,7 +22,7 @@ class CarInterface(CarInterfaceBase):
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
    ret.radarOffCan = True

-    ret.dashcamOnly = candidate not in [CAR.CX9_2021]
+    ret.dashcamOnly = candidate not in (CAR.CX9_2021,)

    ret.steerActuatorDelay = 0.1
    ret.steerRateCost = 1.0
@ -36,7 +36,7 @@ class CarInterface(CarInterfaceBase):
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
      ret.lateralTuning.pid.kf = 0.00006
-    elif candidate in [CAR.CX9, CAR.CX9_2021]:
+    elif candidate in (CAR.CX9, CAR.CX9_2021):
      ret.mass = 4217 * CV.LB_TO_KG + STD_CARGO_KG
      ret.wheelbase = 3.1
      ret.steerRatio = 17.6
@ -95,6 +95,6 @@ class CarInterface(CarInterfaceBase):
    return self.CS.out

  def apply(self, c):
-    can_sends = self.CC.update(c, self.CS, self.frame)
+    ret = self.CC.update(c, self.CS, self.frame)
    self.frame += 1
-    return can_sends
+    return ret
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@ -50,9 +50,11 @@ FW_VERSIONS = {
      b'PYFC-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PYFD-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PYNF-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX2F-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PX2G-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PX2H-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PX2H-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX2H-188K2-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PX2K-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PX38-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PX42-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -65,6 +67,7 @@ FW_VERSIONS = {
      b'K131-67XK2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.esp, 0x760, None): [
      b'K123-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -78,7 +81,9 @@ FW_VERSIONS = {
      b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'GSH7-67XK2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-R\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'PA66-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -87,10 +92,12 @@ FW_VERSIONS = {
      b'PX68-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PYB1-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PYB1-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYB1-21PS1-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PYB2-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PYB2-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PYB2-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PYB2-21PS1-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'SH9T-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
@ -145,10 +152,12 @@ FW_VERSIONS = {
      b'BHN1-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'KR11-3210X-K-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+
    ],
    (Ecu.engine, 0x7e0, None): [
      b'P5JD-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PY2P-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYJW-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PYKC-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PYKE-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
@ -163,11 +172,13 @@ FW_VERSIONS = {
    (Ecu.fwdCamera, 0x706, None): [
      b'B61L-67XK2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'B61L-67XK2-Q\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'PY2S-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'P52G-21PS1-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYKA-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PYKE-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PYKE-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
@ -236,7 +247,7 @@ DBC = {
 }

 # Gen 1 hardware: same CAN messages and same camera
-GEN1 = set([CAR.CX5, CAR.CX9, CAR.CX9_2021, CAR.MAZDA3, CAR.MAZDA6])
+GEN1 = {CAR.CX5, CAR.CX9, CAR.CX9_2021, CAR.MAZDA3, CAR.MAZDA6}

 # Cars with a steering lockout
-STEER_LOCKOUT_CAR = set([CAR.CX5, CAR.CX9, CAR.MAZDA3, CAR.MAZDA6])
+STEER_LOCKOUT_CAR = {CAR.CX5, CAR.CX9, CAR.MAZDA3, CAR.MAZDA6}
--- a/selfdrive/car/mock/interface.py
+++ b/selfdrive/car/mock/interface.py
@ -88,4 +88,5 @@ class CarInterface(CarInterfaceBase):

  def apply(self, c):
    # in mock no carcontrols
-    return []
+    actuators = car.CarControl.Actuators.new_message()
+    return actuators, []
--- a/selfdrive/car/nissan/carcontroller.py
+++ b/selfdrive/car/nissan/carcontroller.py
@ -31,7 +31,7 @@ class CarController():
    lkas_hud_info_msg = CS.lkas_hud_info_msg
    apply_angle = actuators.steeringAngleDeg

-    steer_hud_alert = 1 if hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw] else 0
+    steer_hud_alert = 1 if hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0

    if enabled:
      # # windup slower
@ -64,14 +64,14 @@ class CarController():
      # send acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
      cruise_cancel = 1

-    if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA] and cruise_cancel:
+    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and cruise_cancel:
        can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg, frame))

    # TODO: Find better way to cancel!
    # For some reason spamming the cancel button is unreliable on the Leaf
    # We now cancel by making propilot think the seatbelt is unlatched,
    # this generates a beep and a warning message every time you disengage
-    if self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC] and frame % 2 == 0:
+    if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC) and frame % 2 == 0:
        can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, cruise_cancel))

    can_sends.append(nissancan.create_steering_control(
@ -87,4 +87,7 @@ class CarController():
          self.packer, lkas_hud_info_msg, steer_hud_alert
        ))

-    return can_sends
+    new_actuators = actuators.copy()
+    new_actuators.steeringAngleDeg = apply_angle
+
+    return new_actuators, can_sends
--- a/selfdrive/car/nissan/carstate.py
+++ b/selfdrive/car/nissan/carstate.py
@ -23,16 +23,16 @@ class CarState(CarStateBase):
  def update(self, cp, cp_adas, cp_cam):
    ret = car.CarState.new_message()

-    if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
+    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA):
      ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL"]
-    elif self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
+    elif self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
      ret.gas = cp.vl["CRUISE_THROTTLE"]["GAS_PEDAL"]

    ret.gasPressed = bool(ret.gas > 3)

-    if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
+    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA):
      ret.brakePressed = bool(cp.vl["DOORS_LIGHTS"]["USER_BRAKE_PRESSED"])
-    elif self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
+    elif self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
      ret.brakePressed = bool(cp.vl["CRUISE_THROTTLE"]["USER_BRAKE_PRESSED"])

    ret.wheelSpeeds = self.get_wheel_speeds(
@ -51,10 +51,10 @@ class CarState(CarStateBase):
    else:
      ret.cruiseState.enabled = bool(cp_adas.vl["CRUISE_STATE"]["CRUISE_ENABLED"])

-    if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
+    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL):
      ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0
      ret.cruiseState.available = bool(cp_cam.vl["PRO_PILOT"]["CRUISE_ON"])
-    elif self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
+    elif self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
      if self.CP.carFingerprint == CAR.LEAF:
        ret.seatbeltUnlatched = cp.vl["SEATBELT"]["SEATBELT_DRIVER_LATCHED"] == 0
      elif self.CP.carFingerprint == CAR.LEAF_IC:
@ -70,7 +70,7 @@ class CarState(CarStateBase):
      speed = cp_adas.vl["PROPILOT_HUD"]["SET_SPEED"]

    if speed != 255:
-      if self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
+      if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
        conversion = CV.MPH_TO_MS if cp.vl["HUD_SETTINGS"]["SPEED_MPH"] else CV.KPH_TO_MS
      else:
        conversion = CV.MPH_TO_MS if cp.vl["HUD"]["SPEED_MPH"] else CV.KPH_TO_MS
@ -108,7 +108,7 @@ class CarState(CarStateBase):

    self.cruise_throttle_msg = copy.copy(cp.vl["CRUISE_THROTTLE"])

-    if self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
+    if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
      self.cancel_msg = copy.copy(cp.vl["CANCEL_MSG"])

    if self.CP.carFingerprint != CAR.ALTIMA:
@ -153,7 +153,7 @@ class CarState(CarStateBase):
      ("LIGHTS", 10),
    ]

-    if CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
+    if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA):
      signals += [
        ("USER_BRAKE_PRESSED", "DOORS_LIGHTS", 1),

@ -183,7 +183,7 @@ class CarState(CarStateBase):
        ("HUD", 25),
      ]

-    elif CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
+    elif CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
      signals += [
        ("USER_BRAKE_PRESSED", "CRUISE_THROTTLE", 1),
        ("GAS_PEDAL", "CRUISE_THROTTLE", 0),
@ -344,7 +344,7 @@ class CarState(CarStateBase):
    signals = []
    checks = []

-    if CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
+    if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL):
      signals += [
        ("CRUISE_ON", "PRO_PILOT", 0),
      ]
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@ -21,12 +21,12 @@ class CarInterface(CarInterfaceBase):

    ret.steerActuatorDelay = 0.1

-    if candidate in [CAR.ROGUE, CAR.XTRAIL]:
+    if candidate in (CAR.ROGUE, CAR.XTRAIL):
      ret.mass = 1610 + STD_CARGO_KG
      ret.wheelbase = 2.705
      ret.centerToFront = ret.wheelbase * 0.44
      ret.steerRatio = 17
-    elif candidate in [CAR.LEAF, CAR.LEAF_IC]:
+    elif candidate in (CAR.LEAF, CAR.LEAF_IC):
      ret.mass = 1610 + STD_CARGO_KG
      ret.wheelbase = 2.705
      ret.centerToFront = ret.wheelbase * 0.44
@ -78,9 +78,10 @@ class CarInterface(CarInterfaceBase):
    return self.CS.out

  def apply(self, c):
-    can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
-                               c.cruiseControl.cancel, c.hudControl.visualAlert,
-                               c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible,
-                               c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
+    hud_control = c.hudControl
+    ret = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
+                         c.cruiseControl.cancel, hud_control.visualAlert,
+                         hud_control.leftLaneVisible, hud_control.rightLaneVisible,
+                         hud_control.leftLaneDepart, hud_control.rightLaneDepart)
    self.frame += 1
-    return can_sends
+    return ret
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@ -8,11 +8,11 @@ class CarController():
  def __init__(self, dbc_name, CP, VM):
    self.apply_steer_last = 0
    self.es_distance_cnt = -1
-    self.es_accel_cnt = -1
    self.es_lkas_cnt = -1
    self.cruise_button_prev = 0
    self.steer_rate_limited = False

+    self.p = CarControllerParams(CP)
    self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])

  def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
@ -20,23 +20,23 @@ class CarController():
    can_sends = []

    # *** steering ***
-    if (frame % CarControllerParams.STEER_STEP) == 0:
+    if (frame % self.p.STEER_STEP) == 0:

-      apply_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
+      apply_steer = int(round(actuators.steer * self.p.STEER_MAX))

      # limits due to driver torque

      new_steer = int(round(apply_steer))
-      apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, CarControllerParams)
+      apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
      self.steer_rate_limited = new_steer != apply_steer

      if not enabled:
        apply_steer = 0

      if CS.CP.carFingerprint in PREGLOBAL_CARS:
-        can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, frame, CarControllerParams.STEER_STEP))
+        can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, frame, self.p.STEER_STEP))
      else:
-        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, CarControllerParams.STEER_STEP))
+        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, self.p.STEER_STEP))

      self.apply_steer_last = apply_steer

@ -44,7 +44,7 @@ class CarController():
    # *** alerts and pcm cancel ***

    if CS.CP.carFingerprint in PREGLOBAL_CARS:
-      if self.es_accel_cnt != CS.es_accel_msg["Counter"]:
+      if self.es_distance_cnt != CS.es_distance_msg["Counter"]:
        # 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep
        # disengage ACC when OP is disengaged
        if pcm_cancel_cmd:
@ -60,8 +60,8 @@ class CarController():
          cruise_button = 0
        self.cruise_button_prev = cruise_button

-        can_sends.append(subarucan.create_es_throttle_control(self.packer, cruise_button, CS.es_accel_msg))
-        self.es_accel_cnt = CS.es_accel_msg["Counter"]
+        can_sends.append(subarucan.create_preglobal_es_distance(self.packer, cruise_button, CS.es_distance_msg))
+        self.es_distance_cnt = CS.es_distance_msg["Counter"]

    else:
      if self.es_distance_cnt != CS.es_distance_msg["Counter"]:
@ -72,4 +72,7 @@ class CarController():
        can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart))
        self.es_lkas_cnt = CS.es_lkas_msg["Counter"]

-    return can_sends
+    new_actuators = actuators.copy()
+    new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
+
+    return new_actuators, can_sends
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@ -65,14 +65,13 @@ class CarState(CarStateBase):
    ret.steerError = cp.vl["Steering_Torque"]["Steer_Error_1"] == 1

    if self.car_fingerprint in PREGLOBAL_CARS:
-      self.cruise_button = cp_cam.vl["ES_CruiseThrottle"]["Cruise_Button"]
+      self.cruise_button = cp_cam.vl["ES_Distance"]["Cruise_Button"]
      self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"]
-      self.es_accel_msg = copy.copy(cp_cam.vl["ES_CruiseThrottle"])
    else:
      ret.steerWarning = cp.vl["Steering_Torque"]["Steer_Warning"] == 1
      ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1
-      self.es_distance_msg = copy.copy(cp_cam.vl["ES_Distance"])
      self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
+    self.es_distance_msg = copy.copy(cp_cam.vl["ES_Distance"])

    return ret

@ -153,7 +152,7 @@ class CarState(CarStateBase):
        ("CruiseControl", 50),
      ]

-    if CP.carFingerprint in [CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018]:
+    if CP.carFingerprint in (CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
      checks += [
        ("Dashlights", 10),
        ("CruiseControl", 50),
@ -168,28 +167,28 @@ class CarState(CarStateBase):
        ("Cruise_Set_Speed", "ES_DashStatus", 0),
        ("Not_Ready_Startup", "ES_DashStatus", 0),

-        ("Throttle_Cruise", "ES_CruiseThrottle", 0),
-        ("Signal1", "ES_CruiseThrottle", 0),
-        ("Cruise_Activated", "ES_CruiseThrottle", 0),
-        ("Signal2", "ES_CruiseThrottle", 0),
-        ("Brake_On", "ES_CruiseThrottle", 0),
-        ("Distance_Swap", "ES_CruiseThrottle", 0),
-        ("Standstill", "ES_CruiseThrottle", 0),
-        ("Signal3", "ES_CruiseThrottle", 0),
-        ("Close_Distance", "ES_CruiseThrottle", 0),
-        ("Signal4", "ES_CruiseThrottle", 0),
-        ("Standstill_2", "ES_CruiseThrottle", 0),
-        ("Cruise_Fault", "ES_CruiseThrottle", 0),
-        ("Signal5", "ES_CruiseThrottle", 0),
-        ("Counter", "ES_CruiseThrottle", 0),
-        ("Signal6", "ES_CruiseThrottle", 0),
-        ("Cruise_Button", "ES_CruiseThrottle", 0),
-        ("Signal7", "ES_CruiseThrottle", 0),
+        ("Cruise_Throttle", "ES_Distance", 0),
+        ("Signal1", "ES_Distance", 0),
+        ("Car_Follow", "ES_Distance", 0),
+        ("Signal2", "ES_Distance", 0),
+        ("Brake_On", "ES_Distance", 0),
+        ("Distance_Swap", "ES_Distance", 0),
+        ("Standstill", "ES_Distance", 0),
+        ("Signal3", "ES_Distance", 0),
+        ("Close_Distance", "ES_Distance", 0),
+        ("Signal4", "ES_Distance", 0),
+        ("Standstill_2", "ES_Distance", 0),
+        ("Cruise_Fault", "ES_Distance", 0),
+        ("Signal5", "ES_Distance", 0),
+        ("Counter", "ES_Distance", 0),
+        ("Signal6", "ES_Distance", 0),
+        ("Cruise_Button", "ES_Distance", 0),
+        ("Signal7", "ES_Distance", 0),
      ]

      checks = [
        ("ES_DashStatus", 20),
-        ("ES_CruiseThrottle", 20),
+        ("ES_Distance", 20),
      ]
    else:
      signals = [
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@ -45,6 +45,16 @@ class CarInterface(CarInterfaceBase):
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]

+    if candidate == CAR.IMPREZA_2020:
+      ret.mass = 1480. + STD_CARGO_KG
+      ret.wheelbase = 2.67
+      ret.centerToFront = ret.wheelbase * 0.5
+      ret.steerRatio = 17           # learned, 14 stock
+      ret.steerActuatorDelay = 0.1
+      ret.lateralTuning.pid.kf = 0.00005
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
+
    if candidate == CAR.FORESTER:
      ret.mass = 1568. + STD_CARGO_KG
      ret.wheelbase = 2.67
@ -55,7 +65,7 @@ class CarInterface(CarInterfaceBase):
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]

-    if candidate in [CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018]:
+    if candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
      ret.safetyConfigs[0].safetyParam = 1  # Outback 2018-2019 and Forester have reversed driver torque signal
      ret.mass = 1568 + STD_CARGO_KG
      ret.wheelbase = 2.67
@ -112,8 +122,9 @@ class CarInterface(CarInterfaceBase):
    return self.CS.out

  def apply(self, c):
-    can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
-                               c.cruiseControl.cancel, c.hudControl.visualAlert,
-                               c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible, c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
+    hud_control = c.hudControl
+    ret = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
+                         c.cruiseControl.cancel, hud_control.visualAlert,
+                         hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)
    self.frame += 1
-    return can_sends
+    return ret
--- a/selfdrive/car/subaru/subarucan.py
+++ b/selfdrive/car/subaru/subarucan.py
@ -80,11 +80,11 @@ def create_preglobal_steering_control(packer, apply_steer, frame, steer_step):

  return packer.make_can_msg("ES_LKAS", 0, values)

-def create_es_throttle_control(packer, cruise_button, es_accel_msg):
+def create_preglobal_es_distance(packer, cruise_button, es_distance_msg):

-  values = copy.copy(es_accel_msg)
+  values = copy.copy(es_distance_msg)
  values["Cruise_Button"] = cruise_button

-  values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_CruiseThrottle")
+  values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_Distance")

-  return packer.make_can_msg("ES_CruiseThrottle", 0, values)
+  return packer.make_can_msg("ES_Distance", 0, values)
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@ -5,17 +5,22 @@ from cereal import car
 Ecu = car.CarParams.Ecu

 class CarControllerParams:
-  STEER_MAX = 2047              # max_steer 4095
-  STEER_STEP = 2                # how often we update the steer cmd
-  STEER_DELTA_UP = 50           # torque increase per refresh, 0.8s to max
-  STEER_DELTA_DOWN = 70         # torque decrease per refresh
-  STEER_DRIVER_ALLOWANCE = 60   # allowed driver torque before start limiting
-  STEER_DRIVER_MULTIPLIER = 10  # weight driver torque heavily
-  STEER_DRIVER_FACTOR = 1       # from dbc
+  def __init__(self, CP):
+    if CP.carFingerprint == CAR.IMPREZA_2020:
+      self.STEER_MAX = 1439
+    else:
+      self.STEER_MAX = 2047
+    self.STEER_STEP = 2                # how often we update the steer cmd
+    self.STEER_DELTA_UP = 50           # torque increase per refresh, 0.8s to max
+    self.STEER_DELTA_DOWN = 70         # torque decrease per refresh
+    self.STEER_DRIVER_ALLOWANCE = 60   # allowed driver torque before start limiting
+    self.STEER_DRIVER_MULTIPLIER = 10  # weight driver torque heavily
+    self.STEER_DRIVER_FACTOR = 1       # from dbc

 class CAR:
  ASCENT = "SUBARU ASCENT LIMITED 2019"
  IMPREZA = "SUBARU IMPREZA LIMITED 2019"
+  IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020"
  FORESTER = "SUBARU FORESTER 2019"
  FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018"
  LEGACY_PREGLOBAL = "SUBARU LEGACY 2015 - 2018"
@ -23,54 +28,340 @@ class CAR:
  OUTBACK_PREGLOBAL_2018 = "SUBARU OUTBACK 2018 - 2019"

 FINGERPRINTS = {
-  CAR.ASCENT: [{
-  # SUBARU ASCENT LIMITED 2019
-    2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 811: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1722: 8, 1743: 8, 1759: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8
-  }],
  CAR.IMPREZA: [{
    2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 811: 8, 816: 8, 826: 8, 827: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8
  }],
+  CAR.IMPREZA_2020: [{
+    2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 803: 8, 805: 8, 808: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1617: 8, 1632: 8, 1650: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8, 1968: 8, 1976: 8, 2015: 8, 2016: 8, 2024: 8
+  },
+  {
+    2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 544: 8, 545: 8, 546: 8, 554: 8, 557: 8, 576: 8, 577: 8, 801: 8, 802: 8, 803: 8, 805: 8, 808: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8
+  }],
  CAR.FORESTER: [{
-  # Forester 2019-2020
    2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 803: 8, 805: 8, 808: 8, 811: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 961: 8, 984: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1651: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1698: 8, 1722: 8, 1743: 8, 1759: 8, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8
  }],
-  CAR.OUTBACK_PREGLOBAL: [{
-  # OUTBACK PREMIUM 2.5i 2015
-    2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 346: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 392: 8, 640: 8, 642: 8, 644: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 977: 8, 1632: 8, 1745: 8, 1786: 5, 1882: 8, 2015: 8, 2016: 8, 2024: 8, 604: 8, 885: 8, 1788: 8, 316: 8, 1614: 8, 1640: 8, 1657: 8, 1658: 8, 1672: 8, 1743: 8, 1785: 5, 1787: 5
+}
+
+FW_VERSIONS = {
+  CAR.ASCENT: {
+    (Ecu.esp, 0x7b0, None): [
+      b'\xa5 \x19\x02\x00',
+      b'\xa5 !\002\000',
+      b'\xf1\x82\xa5 \x19\x02\x00',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'\x85\xc0\xd0\x00',
+      b'\005\xc0\xd0\000',
+      b'\x95\xc0\xd0\x00',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00d\xb9\x1f@ \x10',
+      b'\000\000e~\037@ \'',
+      b'\x00\x00e@\x1f@ $',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xbb,\xa0t\a',
+      b'\xf1\x82\xbb,\xa0t\x87',
+      b'\xf1\x82\xbb,\xa0t\a',
+      b'\xf1\x82\xd9,\xa0@\a',
+      b'\xf1\x82\xd1,\xa0q\x07',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\x00\xfe\xf7\x00\x00',
+      b'\001\xfe\xf9\000\000',
+      b'\x01\xfe\xf7\x00\x00',
+    ],
  },
-  # OUTBACK PREMIUM 3.6i 2015
-  {
-    2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 392: 8, 604: 8, 640: 8, 642: 8, 644: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 977: 8, 1632: 8, 1745: 8, 1779: 8, 1786: 5
+  CAR.IMPREZA: {
+    (Ecu.esp, 0x7b0, None): [
+      b'\x7a\x94\x3f\x90\x00',
+      b'\xa2 \x185\x00',
+      b'\xa2 \x193\x00',
+      b'z\x94.\x90\x00',
+      b'z\x94\b\x90\x01',
+      b'\xa2 \x19`\x00',
+      b'z\x94\f\x90\001',
+      b'z\x9c\x19\x80\x01',
+      b'z\x94\x08\x90\x00',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'\x7a\xc0\x0c\x00',
+      b'z\xc0\b\x00',
+      b'\x8a\xc0\x00\x00',
+      b'z\xc0\x04\x00',
+      b'z\xc0\x00\x00',
+      b'\x8a\xc0\x10\x00',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00\x64\xb5\x1f\x40\x20\x0e',
+      b'\x00\x00d\xdc\x1f@ \x0e',
+      b'\x00\x00e\x1c\x1f@ \x14',
+      b'\x00\x00d)\x1f@ \a',
+      b'\x00\x00e+\x1f@ \x14',
+      b'\000\000e+\000\000\000\000',
+      b'\000\000dd\037@ \016',
+      b'\000\000e\002\037@ \024',
+      b'\x00\x00d)\x00\x00\x00\x00',
+      b'\x00\x00c\xf4\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xaa\x61\x66\x73\x07',
+      b'\xbeacr\a',
+      b'\xc5!`r\a',
+      b'\xaa!ds\a',
+      b'\xaa!`u\a',
+      b'\xaa!dq\a',
+      b'\xaa!dt\a',
+      b'\xf1\x00\xa2\x10\t'
+      b'\xc5!dr\a',
+      b'\xc5!ar\a',
+      b'\xbe!as\a',
+      b'\xc5!ds\a',
+      b'\xc5!`s\a',
+      b'\xaa!au\a',
+      b'\xbe!at\a',
+      b'\xaa\x00Bu\x07',
+      b'\xc5!dr\x07',
+      b'\xaa!aw\x07',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xe3\xe5\x46\x31\x00',
+      b'\xe4\xe5\x061\x00',
+      b'\xe5\xf5\x04\x00\x00',
+      b'\xe3\xf5G\x00\x00',
+      b'\xe3\xf5\a\x00\x00',
+      b'\xe3\xf5C\x00\x00',
+      b'\xf1\x00\xa4\x10@'
+      b'\xe5\xf5B\x00\x00',
+      b'\xe5\xf5$\000\000',
+      b'\xe4\xf5\a\000\000',
+      b'\xe3\xf5F\000\000',
+      b'\xe4\xf5\002\000\000',
+      b'\xe3\xd0\x081\x00',
+      b'\xe3\xf5\x06\x00\x00',
+    ],
  },
-  # OUTBACK LIMITED 2.5i 2018
-  {
-    2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 316: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 392: 8, 554: 8, 604: 8, 640: 8, 642: 8, 644: 8, 805: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 977: 8, 1614: 8, 1632: 8, 1657: 8, 1658: 8, 1672: 8, 1722: 8, 1736: 8, 1743: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8
-  }],
-  CAR.OUTBACK_PREGLOBAL_2018: [{
-  # OUTBACK LIMITED 3.6R 2019
-    2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 316: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 392: 8, 554: 8, 604: 8, 640: 8, 642: 8, 644: 8, 805: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 886: 2, 977: 8, 1614: 8, 1632: 8, 1657: 8, 1658: 8, 1672: 8, 1736: 8, 1743: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 1862: 8, 1870: 8, 1920: 8, 1927: 8, 1928: 8, 1935: 8, 1968: 8, 1976: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
-  }],
-  CAR.FORESTER_PREGLOBAL: [{
-  # FORESTER PREMIUM 2.5i 2017
-    2: 8, 112: 8, 117: 8, 128: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 340: 7, 342: 8, 352: 8, 353: 8, 354: 8, 355: 8, 356: 8, 554: 8, 604: 8, 640: 8, 641: 8, 642: 8, 805: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 886: 1, 888: 8, 977: 8, 1398: 8, 1632: 8, 1743: 8, 1744: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 1882: 8, 1895: 8, 1903: 8, 1986: 8, 1994: 8, 2015: 8, 2016: 8, 2024: 8, 644:8, 890:8, 1736:8
-  }],
-  CAR.LEGACY_PREGLOBAL: [{
-  # LEGACY 2.5i 2017
-    2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 392: 8, 604: 8, 640: 8, 642: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 977: 8, 1632: 8, 1640: 8, 1736: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 644: 8
+  CAR.IMPREZA_2020: {
+    (Ecu.esp, 0x7b0, None): [
+      b'\xa2 \0314\000',
+      b'\xa2 \0313\000',
+      b'\xa2 !i\000',
+      b'\xa2 !`\000',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'\x9a\xc0\000\000',
+      b'\n\xc0\004\000',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\000\000eb\037@ \"',
+      b'\000\000e\x8f\037@ )',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xca!ap\a',
+      b'\xca!`p\a',
+      b'\xca!`0\a',
+      b'\xcc\"f0\a',
+      b'\xcc!fp\a',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xe6\xf5\004\000\000',
+      b'\xe6\xf5$\000\000',
+      b'\xe7\xf6B0\000',
+      b'\xe7\xf5D0\000',
+    ],
  },
-  # LEGACY 2018
-  {
-    2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 316: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 392: 8, 604: 8, 640: 8, 642: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 977: 8, 1614: 8, 1632: 8, 1640: 8, 1657: 8, 1658: 8, 1672: 8, 1722: 8, 1743: 8, 1745: 8, 1778: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 2015: 8, 2016: 8, 2024: 8
+  CAR.FORESTER: {
+    (Ecu.esp, 0x7b0, None): [
+      b'\xa3 \030\024\000',
+      b'\xa3  \024\000',
+      b'\xa3 \031\024\000',
+      b'\xa3  \024\001',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'\x8d\xc0\004\000',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\000\000e!\037@ \021',
+      b'\000\000e\x97\037@ 0',
+      b'\000\000e`\037@  ',
+      b'\xf1\x00\xac\x02\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xb6\"`A\a',
+      b'\xcf"`0\a',
+      b'\xcb\"`@\a',
+      b'\xcb\"`p\a',
+      b'\xf1\x00\xa2\x10\n',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\032\xf6B0\000',
+      b'\032\xf6F`\000',
+      b'\032\xf6b`\000',
+      b'\032\xf6B`\000'
+      b'\xf1\x00\xa4\x10@',
+    ],
+  },
+  CAR.FORESTER_PREGLOBAL: {
+    (Ecu.esp, 0x7b0, None): [
+      b'\x7d\x97\x14\x40',
+      b'\xf1\x00\xbb\x0c\x04',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'}\xc0\x10\x00',
+      b'm\xc0\x10\x00',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00\x64\x35\x1f\x40\x20\x09',
+      b'\x00\x00c\xe9\x1f@ \x03',
+      b'\x00\x00d\xd3\x1f@ \t'
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xba"@p\a',
+      b'\xa7)\xa0q\a',
+      b'\xf1\x82\xa7)\xa0q\a',
+      b'\xba"@@\a',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xdc\xf2\x60\x60\x00',
+      b'\xdc\xf2@`\x00',
+      b'\xda\xfd\xe0\x80\x00',
+      b'\xdc\xf2`\x81\000',
+      b'\xdc\xf2`\x80\x00',
+    ],
+  },
+  CAR.LEGACY_PREGLOBAL: {
+    (Ecu.esp, 0x7b0, None): [
+      b'k\x97D\x00',
+      b'[\xba\xc4\x03',
+      b'{\x97D\x00',
+      b'[\x97D\000',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'[\xb0\x00\x01',
+      b'K\xb0\x00\x01',
+      b'k\xb0\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00c\xb7\x1f@\x10\x16',
+      b'\x00\x00c\x94\x1f@\x10\x08',
+      b'\x00\x00c\xec\x1f@ \x04',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xab*@r\a',
+      b'\xa0+@p\x07',
+      b'\xb4"@0\x07',
+      b'\xa0"@q\a',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xbe\xf2\x00p\x00',
+      b'\xbf\xfb\xc0\x80\x00',
+      b'\xbd\xf2\x00`\x00',
+      b'\xbf\xf2\000\x80\000',
+    ],
+  },
+  CAR.OUTBACK_PREGLOBAL: {
+    (Ecu.esp, 0x7b0, None): [
+      b'{\x9a\xac\x00',
+      b'k\x97\xac\x00',
+      b'\x5b\xf7\xbc\x03',
+      b'[\xf7\xac\x03',
+      b'{\x97\xac\x00',
+      b'k\x9a\xac\000',
+      b'[\xba\xac\x03',
+      b'[\xf7\xac\000',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'k\xb0\x00\x00',
+      b'[\xb0\x00\x00',
+      b'\x4b\xb0\x00\x02',
+      b'K\xb0\x00\x00',
+      b'{\xb0\x00\x01',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00c\xec\x1f@ \x04',
+      b'\x00\x00c\xd1\x1f@\x10\x17',
+      b'\xf1\x00\xf0\xe0\x0e',
+      b'\x00\x00c\x94\x00\x00\x00\x00',
+      b'\x00\x00c\x94\x1f@\x10\b',
+      b'\x00\x00c\xb7\x1f@\x10\x16',
+      b'\000\000c\x90\037@\020\016',
+      b'\x00\x00c\xec\x37@\x04',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xb4+@p\a',
+      b'\xab\"@@\a',
+      b'\xa0\x62\x41\x71\x07',
+      b'\xa0*@q\a',
+      b'\xab*@@\a',
+      b'\xb4"@0\a',
+      b'\xb4"@p\a',
+      b'\xab"@s\a',
+      b'\xab+@@\a',
+      b'\xb4"@r\a',
+      b'\xa0+@@\x07'
+      b'\xa0\"@\x80\a',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xbd\xfb\xe0\x80\x00',
+      b'\xbe\xf2@\x80\x00',
+      b'\xbf\xe2\x40\x80\x00',
+      b'\xbf\xf2@\x80\x00',
+      b'\xbe\xf2@p\x00',
+      b'\xbd\xf2@`\x00',
+      b'\xbd\xf2@\x81\000',
+      b'\xbe\xfb\xe0p\000',
+      b'\xbf\xfb\xe0b\x00',
+    ],
+  },
+  CAR.OUTBACK_PREGLOBAL_2018: {
+    (Ecu.esp, 0x7b0, None): [
+      b'\x8b\x97\xac\x00',
+      b'\x8b\x9a\xac\x00',
+      b'\x9b\x97\xac\x00',
+      b'\x8b\x97\xbc\x00',
+      b'\x8b\x99\xac\x00',
+      b'\x9b\x9a\xac\000',
+      b'\x9b\x97\xbe\x10',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'{\xb0\x00\x00',
+      b'{\xb0\x00\x01',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00df\x1f@ \n',
+      b'\x00\x00d\xfe\x1f@ \x15',
+      b'\x00\x00d\x95\x00\x00\x00\x00',
+      b'\x00\x00d\x95\x1f@ \x0f',
+      b'\x00\x00d\xfe\x00\x00\x00\x00',
+      b'\x00\x00e\x19\x1f@ \x15',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xb5"@p\a',
+      b'\xb5+@@\a',
+      b'\xb5"@P\a',
+      b'\xc4"@0\a',
+      b'\xb5b@1\x07',
+      b'\xb5q\xe0@\a',
+      b'\xc4+@0\a',
+      b'\xc4b@p\a',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xbc\xf2@\x81\x00',
+      b'\xbc\xfb\xe0\x80\x00',
+      b'\xbc\xf2@\x80\x00',
+      b'\xbb\xf2@`\x00',
+      b'\xbc\xe2@\x80\x00',
+      b'\xbc\xfb\xe0`\x00',
+      b'\xbc\xaf\xe0`\x00',
+      b'\xbb\xfb\xe0`\000',
+    ],
  },
-  # LEGACY 2018
-  {
-    2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 316: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 392: 8, 554: 8, 604: 8, 640: 8, 642: 8, 805: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 977: 8, 1614: 8, 1632: 8, 1640: 8, 1657: 8, 1658: 8, 1672: 8, 1722: 8, 1743: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 2015: 8, 2016: 8, 2024: 8
-  }],
 }

 STEER_THRESHOLD = {
  CAR.ASCENT: 80,
  CAR.IMPREZA: 80,
+  CAR.IMPREZA_2020: 80,
  CAR.FORESTER: 80,
  CAR.FORESTER_PREGLOBAL: 75,
  CAR.LEGACY_PREGLOBAL: 75,
@ -81,6 +372,7 @@ STEER_THRESHOLD = {
 DBC = {
  CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None),
  CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None),
+  CAR.IMPREZA_2020: dbc_dict('subaru_global_2017_generated', None),
  CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None),
  CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None),
  CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
--- a/Show More
+++ b/Show More