Merge remote-tracking branch 'origin/master' into nlp-driving

2 years ago · ace3a59dad
parent f2707ee02f 1802de3f01
commit ace3a59dad
41 changed files with 285 additions and 1608 deletions
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@ -54,6 +54,7 @@ jobs:
        cp -r ../build/docs/html/ docs/
        touch docs/.nojekyll
        echo -n docs.comma.ai > docs/CNAME
        git add -f .
        git commit -m "build docs"
--- a/README.md
+++ b/README.md
@ -109,7 +109,6 @@ Directory Structure
    ├── third_party         # External libraries
    └── system              # Generic services
        ├── camerad         # Driver to capture images from the camera sensors
        ├── clocksd         # Broadcasts current time
        ├── hardware        # Hardware abstraction classes
        ├── logcatd         # systemd journal as a service
        ├── loggerd         # Logger and uploader of car data
--- a/RELEASES.md
+++ b/RELEASES.md
@ -2,6 +2,7 @@ Version 0.9.5 (2023-XX-XX)
 ========================
 * New driving model
  * Improved navigate on openpilot performance using navigation instructions as an additional model input
 * Cadillac Escalade ESV 2019 support thanks to twilsonco!
 * Hyundai Azera 2022 support thanks to sunnyhaibin!
 * Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
 * Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
--- a/1
+++ b/1
@ -382,7 +382,6 @@ SConscript(['rednose/SConscript'])
 # Build system services
 SConscript([
  'system/clocksd/SConscript',
  'system/proclogd/SConscript',
  'system/ubloxd/SConscript',
  'system/loggerd/SConscript',
--- a/docs/CARS.md
+++ b/docs/CARS.md
@ -4,7 +4,7 @@
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
-# 265 Supported Cars
+# 267 Supported Cars
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@ -20,6 +20,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Buick|LaCrosse 2017-19[<sup>4</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
 |Cadillac|Escalade 2017[<sup>4</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
 |Cadillac|Escalade ESV 2016[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
 |Cadillac|Escalade ESV 2019[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2019">Buy Here</a></sub></details>||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
@ -74,7 +75,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
 |Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
 |Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Custin 2023">Buy Here</a></sub></details>||
-|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-18">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2019">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
--- a/release/files_common
+++ b/release/files_common
@ -132,10 +132,6 @@ selfdrive/car/tesla/*.py
 selfdrive/car/toyota/*.py
 selfdrive/car/volkswagen/*.py
 system/clocksd/.gitignore
 system/clocksd/SConscript
 system/clocksd/clocksd.cc
 selfdrive/debug/can_printer.py
 selfdrive/debug/check_freq.py
 selfdrive/debug/dump.py
@ -230,7 +226,6 @@ system/ubloxd/*.cc
 selfdrive/locationd/__init__.py
 selfdrive/locationd/SConscript
 selfdrive/locationd/.gitignore
 selfdrive/locationd/laikad.py
 selfdrive/locationd/locationd.h
 selfdrive/locationd/locationd.cc
 selfdrive/locationd/paramsd.py
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@ -198,17 +198,22 @@ class CarInterface(CarInterfaceBase):
      ret.centerToFront = ret.wheelbase * 0.5
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-    elif candidate == CAR.ESCALADE_ESV:
+    elif candidate in (CAR.ESCALADE_ESV, CAR.ESCALADE_ESV_2019):
      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
      ret.mass = 2739.
      ret.wheelbase = 3.302
      ret.steerRatio = 17.3
      ret.centerToFront = ret.wheelbase * 0.5
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
      ret.lateralTuning.pid.kf = 0.000045
      ret.tireStiffnessFactor = 1.0
      if candidate == CAR.ESCALADE_ESV:
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
        ret.lateralTuning.pid.kf = 0.000045
      else:
        ret.steerActuatorDelay = 0.2
        CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
    elif candidate == CAR.BOLT_EUV:
      ret.mass = 1669.
      ret.wheelbase = 2.63779
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@ -71,6 +71,7 @@ class CAR(StrEnum):
  BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
  ESCALADE = "CADILLAC ESCALADE 2017"
  ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
  ESCALADE_ESV_2019 = "CADILLAC ESCALADE ESV 2019"
  BOLT_EUV = "CHEVROLET BOLT EUV 2022"
  SILVERADO = "CHEVROLET SILVERADO 1500 2020"
  EQUINOX = "CHEVROLET EQUINOX 2019"
@ -106,6 +107,7 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
  CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
  CAR.ESCALADE: GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
  CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
  CAR.ESCALADE_ESV_2019: GMCarInfo("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS"),
  CAR.BOLT_EUV: [
    GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
    GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
@ -198,6 +200,10 @@ FINGERPRINTS = {
  {
    309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8
  }],
  CAR.ESCALADE_ESV_2019: [
  {
    715: 8, 840: 5, 717: 5, 869: 4, 880: 6, 289: 8, 454: 8, 842: 5, 460: 5, 463: 3, 801: 8, 170: 8, 190: 6, 241: 6, 201: 8, 417: 7, 211: 2, 419: 1, 398: 8, 426: 7, 487: 8, 442: 8, 451: 8, 452: 8, 453: 6, 479: 3, 311: 8, 500: 6, 647: 6, 193: 8, 707: 8, 197: 8, 209: 7, 199: 4, 455: 7, 313: 8, 481: 7, 485: 8, 489: 8, 249: 8, 393: 7, 407: 7, 413: 8, 422: 4, 431: 8, 501: 8, 499: 3, 810: 8, 508: 8, 381: 8, 462: 4, 532: 6, 562: 8, 386: 8, 761: 7, 573: 1, 554: 3, 719: 5, 560: 8, 1279: 4, 388: 8, 288: 5, 1005: 6, 497: 8, 844: 8, 961: 8, 967: 4, 977: 8, 979: 8, 985: 5, 1001: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 510: 8, 866: 4, 304: 1, 969: 8, 384: 4, 1033: 7, 1009: 8, 1034: 7, 1296: 4, 1930: 7, 1105: 5, 1013: 5, 1225: 7, 1919: 7, 320: 3, 534: 2, 352: 5, 298: 8, 1223: 2, 1233: 8, 608: 8, 1265: 8, 609: 6, 1267: 1, 1417: 8, 610: 6, 1906: 7, 611: 6, 612: 8, 613: 8, 208: 8, 564: 5, 309: 8, 1221: 5, 1280: 4, 1249: 8, 1907: 7, 1257: 6, 1300: 8, 1920: 7, 563: 5, 1322: 6, 1323: 4, 1328: 4, 1917: 7, 328: 1, 1912: 7, 1914: 7, 804: 3, 1918: 7
  }],
  CAR.BOLT_EUV: [
  {
    189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@ -3,8 +3,8 @@ from panda import Panda
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
-                                         EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, \
+                                         CANFD_UNSUPPORTED_LONGITUDINAL_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \
-                                         Buttons
+                                         UNSUPPORTED_LONGITUDINAL_CAR, Buttons
 from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
@ -88,7 +88,7 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.90
      ret.steerRatio = 15.6 * 1.15
      ret.tireStiffnessFactor = 0.63
-    elif candidate == CAR.ELANTRA:
+    elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
      ret.mass = 1275.
      ret.wheelbase = 2.7
      ret.steerRatio = 15.4            # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
@ -260,7 +260,8 @@ class CarInterface(CarInterfaceBase):
    if candidate in CANFD_CAR:
      ret.longitudinalTuning.kpV = [0.1]
      ret.longitudinalTuning.kiV = [0.0]
-      ret.experimentalLongitudinalAvailable = candidate in (HYBRID_CAR | EV_CAR) and candidate not in CANFD_RADAR_SCC_CAR
+      ret.experimentalLongitudinalAvailable = (candidate in (HYBRID_CAR | EV_CAR) and candidate not in
                                               (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR))
    else:
      ret.longitudinalTuning.kpV = [0.5]
      ret.longitudinalTuning.kiV = [0.0]
--- a/selfdrive/car/hyundai/tests/test_hyundai.py
+++ b/selfdrive/car/hyundai/tests/test_hyundai.py
@ -23,6 +23,7 @@ NO_DATES_PLATFORMS = {
  CAR.TUCSON_HYBRID_4TH_GEN,
  # CAN
  CAR.ELANTRA,
  CAR.ELANTRA_GT_I30,
  CAR.KIA_CEED,
  CAR.KIA_FORTE,
  CAR.KIA_OPTIMA_G4,
@ -99,7 +100,7 @@ class TestHyundaiFingerprint(unittest.TestCase):
  def test_platform_code_ecus_available(self):
    # TODO: add queries for these non-CAN FD cars to get EPS
    no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H,
-                                    CAR.KIA_OPTIMA_H_G4_FL, CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80}
+                                    CAR.KIA_OPTIMA_H_G4_FL, CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80, CAR.ELANTRA}
    # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
    for car_model, ecus in FW_VERSIONS.items():
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@ -37,7 +37,7 @@ class CarControllerParams:
    # 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.
-    elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.IONIQ,
+    elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.IONIQ,
                               CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
                               CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_SORENTO):
      self.STEER_MAX = 255
@ -72,6 +72,7 @@ class CAR(StrEnum):
  AZERA_6TH_GEN = "HYUNDAI AZERA 6TH GEN"
  AZERA_HEV_6TH_GEN = "HYUNDAI AZERA HYBRID 6TH GEN"
  ELANTRA = "HYUNDAI ELANTRA 2017"
  ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT"
  ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
  ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021"
  HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016"
@ -160,7 +161,11 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
  CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
  CAR.AZERA_HEV_6TH_GEN: HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
  CAR.ELANTRA: [
-    HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
+    # TODO: 2017-18 could be Hyundai G
    HyundaiCarInfo("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
    HyundaiCarInfo("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
  ],
  CAR.ELANTRA_GT_I30: [
    HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
    HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
  ],
@ -298,9 +303,6 @@ class Buttons:
  CANCEL = 4  # on newer models, this is a pause/resume button
 FINGERPRINTS = {
  CAR.ELANTRA: [{
    66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 832: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
  }],
  CAR.HYUNDAI_GENESIS: [{
    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
  },
@ -1702,6 +1704,33 @@ FW_VERSIONS = {
    ],
  },
  CAR.ELANTRA: {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00ADP LKAS AT USA LHD 1.00 1.03 99211-F2000 X31',
      b'\xf1\x00AD  LKAS AT USA LHD 1.01 1.01 95895-F2000 251',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'\xf1\x006T6K0_C2\x00\x006T6S2051\x00\x00TAD0N20NSD(\xfcA\x9d',
      b'\xf1\x006T6K0_C2\x00\x006T6S2051\x00\x00TAD0N20NSD\x00\x00\x00\x00',
      b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20NS2\x00\x00\x00\x00',
      b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20NS2\xc5\x92\x9e\x8a',
      b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20SS2.~\x90\x87',
    ],
    (Ecu.engine, 0x7e0, None): [
      b'\xf1\x8161698051\x00\x00\x00\x00\x00\x00\x00\x00',
      b'\xf1\x8161657051\x00\x00\x00\x00\x00\x00\x00\x00',
      b'\xf1\x816165D051\x00\x00\x00\x00\x00\x00\x00\x00',
      b'\xf1\x816165E051\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.abs, 0x7d1, None): [
      b'\xf1\x00AD ESC \x11 11 \x18\x05\x06 58910-F2840',
      b'\xf1\x00AD ESC \x11 12 \x15\t\t 58920-F2810',
    ],
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00AD__ SCC H-CUP      1.00 1.00 99110-F2100         ',
      b'\xf1\x00AD__ SCC H-CUP      1.00 1.01 96400-F2100         ',
    ],
  },
  CAR.ELANTRA_GT_I30: {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00PD  LKAS AT USA LHD 1.01 1.01 95740-G3100 A54',
      b'\xf1\x00PD  LKAS AT KOR LHD 1.00 1.02 95740-G3000 A51',
@ -2065,7 +2094,7 @@ CHECKSUM = {
 CAN_GEARS = {
  # which message has the gear. hybrid and EV use ELECT_GEAR
-  "use_cluster_gears": {CAR.ELANTRA, CAR.KONA},
+  "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
  "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
 }
@ -2076,7 +2105,11 @@ CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCS
 # The radar does SCC on these cars when HDA I, rather than the camera
 CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80,
-                       CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.IONIQ_6}
+                       CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN}
 # These CAN FD cars do not accept communication control to disable the ADAS ECU,
 # responds with 0x7F2822 - 'conditions not correct'
 CANFD_UNSUPPORTED_LONGITUDINAL_CAR = {CAR.IONIQ_6, CAR.KONA_EV_2ND_GEN}
 # The camera does SCC on these cars, rather than the radar
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
@ -2094,7 +2127,7 @@ EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR
 # these cars require a special panda safety mode due to missing counters and checksums in the messages
 LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KIA_OPTIMA_G4,
                          CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022,
-                          CAR.KIA_OPTIMA_H}
+                          CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30}
 # these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc.
 UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4_FL,
@ -2106,6 +2139,7 @@ DBC = {
  CAR.AZERA_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
  CAR.AZERA_HEV_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
  CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
  CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None),
  CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None),
  CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None),
  CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None),
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@ -25,7 +25,6 @@ non_tested_cars = [
  HONDA.ODYSSEY_CHN,
  VOLKSWAGEN.CRAFTER_MK2,  # need a route from an ACC-equipped Crafter
  TOYOTA.RAV4_TSS2_2023,
  TOYOTA.RAV4H_TSS2_2023,
  SUBARU.FORESTER_HYBRID,
 ]
@ -61,6 +60,7 @@ routes = [
  CarTestRoute("75a6bcb9b8b40373|2023-03-11--22-47-33", GM.BUICK_LACROSSE),
  CarTestRoute("ef8f2185104d862e|2023-02-09--18-37-13", GM.ESCALADE),
  CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV),
  CarTestRoute("168f8b3be57f66ae|2023-09-12--21-44-42", GM.ESCALADE_ESV_2019),
  CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT),
  CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV, segment=1),
  CarTestRoute("555d4087cf86aa91|2022-12-02--12-15-07", GM.BOLT_EUV, segment=14),  # Bolt EV
@ -159,7 +159,7 @@ routes = [
  CarTestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE),
  CarTestRoute("192283cdbb7a58c2|2022-10-15--01-43-18", HYUNDAI.KIA_SPORTAGE_5TH_GEN),
  CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA),
-  CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.ELANTRA),  # 2019 Elantra GT
+  CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.ELANTRA_GT_I30),
  CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021),
  CarTestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.ELANTRA_HEV_2021),
  CarTestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.SONATA_HYBRID),
@ -167,17 +167,17 @@ routes = [
  CarTestRoute("6b0d44d22df18134|2023-05-06--10-36-55", HYUNDAI.GENESIS_GV80),
  CarTestRoute("00c829b1b7613dea|2021-06-24--09-10-10", TOYOTA.ALPHARD_TSS2),
-  CarTestRoute("912119ebd02c7a42|2022-03-19--07-24-50", TOYOTA.ALPHARDH_TSS2),
+  CarTestRoute("912119ebd02c7a42|2022-03-19--07-24-50", TOYOTA.ALPHARD_TSS2),  # hybrid
  CarTestRoute("000cf3730200c71c|2021-05-24--10-42-05", TOYOTA.AVALON),
  CarTestRoute("0bb588106852abb7|2021-05-26--12-22-01", TOYOTA.AVALON_2019),
-  CarTestRoute("87bef2930af86592|2021-05-30--09-40-54", TOYOTA.AVALONH_2019),
+  CarTestRoute("87bef2930af86592|2021-05-30--09-40-54", TOYOTA.AVALON_2019),  # hybrid
  CarTestRoute("e9966711cfb04ce3|2022-01-11--07-59-43", TOYOTA.AVALON_TSS2),
-  CarTestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.AVALONH_TSS2),
+  CarTestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.AVALON_TSS2),  # hybrid
  CarTestRoute("6cdecc4728d4af37|2020-02-23--15-44-18", TOYOTA.CAMRY),
  CarTestRoute("2f37c007683e85ba|2023-09-02--14-39-44", TOYOTA.CAMRY),  # openpilot longitudinal, with radar CAN filter
  CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.CAMRY),  # hybrid
  CarTestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.CAMRY_TSS2),
-  CarTestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRYH_TSS2),
+  CarTestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRY_TSS2),  # hybrid
  CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.CAMRYH),
  CarTestRoute("4e45c89c38e8ec4d|2021-05-02--02-49-28", TOYOTA.COROLLA),
  CarTestRoute("5f5afb36036506e4|2019-05-14--02-09-54", TOYOTA.COROLLA_TSS2),
  CarTestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.COROLLA_TSS2),  # hybrid
@ -186,7 +186,7 @@ routes = [
  CarTestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.RAV4_TSS2),
  CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022),
  CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4_TSS2),  # hybrid
-  CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4H_TSS2_2022),
+  CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4_TSS2_2022),  # hybrid
  CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES),
  CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
  CarTestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ES_TSS2),  # hybrid
@ -202,7 +202,7 @@ routes = [
  CarTestRoute("3fd5305f8b6ca765|2021-04-28--19-26-49", TOYOTA.LEXUS_NX_TSS2),
  CarTestRoute("09ae96064ed85a14|2022-06-09--12-22-31", TOYOTA.LEXUS_NX_TSS2),  # hybrid
  CarTestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2),
-  CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDERH_TSS2),
+  CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDER_TSS2),  # hybrid
  CarTestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER),
  CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDERH),
  CarTestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.SIENNA),
@ -214,8 +214,8 @@ routes = [
  CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHR),  # hybrid
  CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.CHR_TSS2),
  CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.CHR_TSS2),  # openpilot longitudinal, with smartDSU
-  CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHRH_TSS2),
+  CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHR_TSS2),  # hybrid
-  # CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.CHRH_TSS2),  # openpilot longitudinal, radar disabled
+  # CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.CHR_TSS2),  # hybrid, openpilot longitudinal, radar disabled
  CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V),
  CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1),
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@ -133,7 +133,7 @@ class TestCarInterfaces(unittest.TestCase):
    # Make sure we can combine dicts
    ret = get_interface_attr('DBC', combine_brands=True)
-    self.assertGreaterEqual(len(ret), 170)
+    self.assertGreaterEqual(len(ret), 160)
    # We don't support combining non-dicts
    ret = get_interface_attr('CAR', combine_brands=True)
--- a/selfdrive/car/tests/test_models_segs.txt
+++ b/selfdrive/car/tests/test_models_segs.txt
@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2e57357c95937475fe92c13709ff2ee067f036643d5d455383bd9c3335525614
+oid sha256:8674d9a8304d501aee2bfaea2d668d746fd424b5b0872b83ab265d15d3a3d887
-size 126281
+size 125301
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@ -14,7 +14,6 @@ SUBARU ASCENT 2023: [.nan, 3.0, .nan]
 # Toyota LTA also has torque
 TOYOTA RAV4 2023: [.nan, 3.0, .nan]
 TOYOTA RAV4 HYBRID 2023: [.nan, 3.0, .nan]
 # Tesla has high torque
 TESLA AP1 MODEL S: [.nan, 2.5, .nan]
@ -37,6 +36,7 @@ RAM 1500 5TH GEN: [2.0, 2.0, 0.05]
 RAM HD 5TH GEN: [1.4, 1.4, 0.05]
 SUBARU OUTBACK 6TH GEN: [2.0, 2.0, 0.2]
 CADILLAC ESCALADE 2017: [1.899999976158142, 1.842270016670227, 0.1120000034570694]
 CADILLAC ESCALADE ESV 2019: [1.15, 1.3, 0.2]
 CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
 CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112]
 CHEVROLET TRAILBLAZER 2021: [1.33, 1.9, 0.16]
--- a/selfdrive/car/torque_data/params.yaml
+++ b/selfdrive/car/torque_data/params.yaml
@ -61,16 +61,13 @@ TOYOTA AVALON 2019: [1.7036141952825095, 1.239619084240008, 0.08459830394899492]
 TOYOTA AVALON 2022: [2.3154403649717357, 2.7777922854327124, 0.11453999639164605]
 TOYOTA C-HR 2018: [1.5591084333664578, 1.271271459066948, 0.20259087058453193]
 TOYOTA C-HR 2021: [1.7678810166088303, 1.3742176337919942, 0.2319674583741509]
-TOYOTA CAMRY 2018: [2.1172995371905015, 1.7156177222420887, 0.105192506]
+TOYOTA CAMRY 2018: [2.0568162685952505, 1.7576185169559122, 0.108878753]
-TOYOTA CAMRY 2021: [2.446083, 2.3476510120007434, 0.121615]
+TOYOTA CAMRY 2021: [2.3548324999999997, 2.368900128946771, 0.118436]
 TOYOTA CAMRY HYBRID 2018: [1.996333, 1.7996193116697359, 0.112565]
 TOYOTA CAMRY HYBRID 2021: [2.263582, 2.3901492458927986, 0.115257]
 TOYOTA COROLLA 2017: [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
 TOYOTA COROLLA TSS2 2019: [1.991132339206426, 1.868866242720403, 0.19570063298031432]
 TOYOTA HIGHLANDER 2017: [1.8696367437248915, 1.626293990451463, 0.17485372210240796]
-TOYOTA HIGHLANDER 2020: [2.022340166827233, 1.6183134804881791, 0.14592306380054457]
+TOYOTA HIGHLANDER 2020: [1.9617570834136164, 1.8611643317268927, 0.14519673256119725]
 TOYOTA HIGHLANDER HYBRID 2018: [1.752033, 1.6433903296845025, 0.144600]
 TOYOTA HIGHLANDER HYBRID 2020: [1.901174, 2.104015182965606, 0.14447040132184993]
 TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
 TOYOTA PRIUS 2017: [1.60, 1.5023147650693636, 0.151515]
 TOYOTA PRIUS TSS2 2021: [1.972600, 1.9104337425537743, 0.170968]
@ -79,8 +76,8 @@ TOYOTA RAV4 2019: [2.279239424615458, 2.087101966779332, 0.13682208413446817]
 TOYOTA RAV4 2019 8965: [2.3080951748210854, 2.1189367835820603, 0.12942102328134028]
 TOYOTA RAV4 2019 x02: [2.762293266024922, 2.243615865975329, 0.11113568178327986]
 TOYOTA RAV4 HYBRID 2017: [1.9796257271652042, 1.7503987331707576, 0.14628860048885406]
-TOYOTA RAV4 HYBRID 2022: [2.241883248393209, 1.9304407208090029, 0.112174]
+TOYOTA RAV4 2022: [2.241883248393209, 1.9304407208090029, 0.112174]
-TOYOTA RAV4 HYBRID 2022 x02: [3.044930631831037, 2.3979189796380918, 0.14023209146703736]
+TOYOTA RAV4 2022 x02: [3.044930631831037, 2.3979189796380918, 0.14023209146703736]
 TOYOTA SIENNA 2018: [1.689726, 1.3208264576110418, 0.140456]
 VOLKSWAGEN ARTEON 1ST GEN: [1.45136518053819, 1.3639364049316804, 0.23806361745695032]
 VOLKSWAGEN ATLAS 1ST GEN: [1.4677006726964945, 1.6733266634075656, 0.12959584092073367]
--- a/selfdrive/car/torque_data/substitute.yaml
+++ b/selfdrive/car/torque_data/substitute.yaml
@ -4,18 +4,13 @@ MAZDA CX-5: MAZDA CX-9 2021
 MAZDA CX-5 2022: MAZDA CX-9 2021
 MAZDA CX-9: MAZDA CX-9 2021
 TOYOTA ALPHARD HYBRID 2021 : TOYOTA SIENNA 2018
 TOYOTA ALPHARD 2020: TOYOTA SIENNA 2018
 TOYOTA PRIUS v 2017 : TOYOTA PRIUS 2017
 TOYOTA RAV4 2022: TOYOTA RAV4 HYBRID 2022
 TOYOTA C-HR HYBRID 2022: TOYOTA C-HR 2021
 LEXUS IS 2018: LEXUS NX 2018
 LEXUS CT HYBRID 2018 : LEXUS NX 2018
-LEXUS ES 2018: TOYOTA CAMRY HYBRID 2018
+LEXUS ES 2018: TOYOTA CAMRY 2018
-LEXUS ES HYBRID 2018: TOYOTA CAMRY HYBRID 2018
+LEXUS ES HYBRID 2018: TOYOTA CAMRY 2018
 LEXUS RC 2020: LEXUS NX 2020
 TOYOTA AVALON HYBRID 2019: TOYOTA AVALON 2019
 TOYOTA AVALON HYBRID 2022: TOYOTA AVALON 2022
 KIA OPTIMA 4TH GEN: HYUNDAI SONATA 2020
 KIA OPTIMA 4TH GEN FACELIFT: HYUNDAI SONATA 2020
@ -34,6 +29,7 @@ HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019
 HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019
 HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019
 HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019
 HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019
 HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020
 HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019
 HYUNDAI TUCSON 4TH GEN: HYUNDAI TUCSON HYBRID 4TH GEN
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@ -85,28 +85,28 @@ class CarInterface(CarInterfaceBase):
      ret.tireStiffnessFactor = 0.5533
      ret.mass = 4481. * CV.LB_TO_KG  # mean between min and max
-    elif candidate in (CAR.CHR, CAR.CHR_TSS2, CAR.CHRH_TSS2):
+    elif candidate in (CAR.CHR, CAR.CHR_TSS2):
      stop_and_go = True
      ret.wheelbase = 2.63906
      ret.steerRatio = 13.6
      ret.tireStiffnessFactor = 0.7933
      ret.mass = 3300. * CV.LB_TO_KG
-    elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
+    elif candidate in (CAR.CAMRY, CAR.CAMRY_TSS2):
      stop_and_go = True
      ret.wheelbase = 2.82448
      ret.steerRatio = 13.7
      ret.tireStiffnessFactor = 0.7933
      ret.mass = 3400. * CV.LB_TO_KG  # mean between normal and hybrid
-    elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
+    elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2):
      stop_and_go = True
      ret.wheelbase = 2.8194  # average of 109.8 and 112.2 in
      ret.steerRatio = 16.0
      ret.tireStiffnessFactor = 0.8
      ret.mass = 4516. * CV.LB_TO_KG  # mean between normal and hybrid
-    elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2):
+    elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALON_TSS2):
      # starting from 2019, all Avalon variants have stop and go
      # https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf
      stop_and_go = candidate != CAR.AVALON
@ -115,8 +115,7 @@ class CarInterface(CarInterfaceBase):
      ret.tireStiffnessFactor = 0.7983
      ret.mass = 3505. * CV.LB_TO_KG  # mean between normal and hybrid
-    elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2022,
+    elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023):
                       CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023):
      ret.wheelbase = 2.68986
      ret.steerRatio = 14.3
      ret.tireStiffnessFactor = 0.7933
@ -191,7 +190,7 @@ class CarInterface(CarInterfaceBase):
      ret.tireStiffnessFactor = 0.8
      ret.mass = 4300. * CV.LB_TO_KG
-    elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2):
+    elif candidate == CAR.ALPHARD_TSS2:
      ret.wheelbase = 3.00
      ret.steerRatio = 14.2
      ret.tireStiffnessFactor = 0.444
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@ -49,26 +49,19 @@ class ToyotaFlags(IntFlag):
 class CAR(StrEnum):
  # Toyota
  ALPHARD_TSS2 = "TOYOTA ALPHARD 2020"
  ALPHARDH_TSS2 = "TOYOTA ALPHARD HYBRID 2021"
  AVALON = "TOYOTA AVALON 2016"
  AVALON_2019 = "TOYOTA AVALON 2019"
  AVALONH_2019 = "TOYOTA AVALON HYBRID 2019"
  AVALON_TSS2 = "TOYOTA AVALON 2022"  # TSS 2.5
  AVALONH_TSS2 = "TOYOTA AVALON HYBRID 2022"
  CAMRY = "TOYOTA CAMRY 2018"
  CAMRYH = "TOYOTA CAMRY HYBRID 2018"
  CAMRY_TSS2 = "TOYOTA CAMRY 2021"  # TSS 2.5
  CAMRYH_TSS2 = "TOYOTA CAMRY HYBRID 2021"
  CHR = "TOYOTA C-HR 2018"
  CHR_TSS2 = "TOYOTA C-HR 2021"
  CHRH_TSS2 = "TOYOTA C-HR HYBRID 2022"
  COROLLA = "TOYOTA COROLLA 2017"
  # LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid
  COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
  HIGHLANDER = "TOYOTA HIGHLANDER 2017"
  HIGHLANDER_TSS2 = "TOYOTA HIGHLANDER 2020"
  HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018"
  HIGHLANDERH_TSS2 = "TOYOTA HIGHLANDER HYBRID 2020"
  PRIUS = "TOYOTA PRIUS 2017"
  PRIUS_V = "TOYOTA PRIUS v 2017"
  PRIUS_TSS2 = "TOYOTA PRIUS TSS2 2021"
@ -77,8 +70,6 @@ class CAR(StrEnum):
  RAV4_TSS2 = "TOYOTA RAV4 2019"
  RAV4_TSS2_2022 = "TOYOTA RAV4 2022"
  RAV4_TSS2_2023 = "TOYOTA RAV4 2023"
  RAV4H_TSS2_2022 = "TOYOTA RAV4 HYBRID 2022"
  RAV4H_TSS2_2023 = "TOYOTA RAV4 HYBRID 2023"
  MIRAI = "TOYOTA MIRAI 2021"  # TSS 2.5
  SIENNA = "TOYOTA SIENNA 2018"
@ -111,26 +102,38 @@ class ToyotaCarInfo(CarInfo):
 CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
  # Toyota
-  CAR.ALPHARD_TSS2: ToyotaCarInfo("Toyota Alphard 2019-20"),
+  CAR.ALPHARD_TSS2: [
-  CAR.ALPHARDH_TSS2: ToyotaCarInfo("Toyota Alphard Hybrid 2021"),
+    ToyotaCarInfo("Toyota Alphard 2019-20"),
    ToyotaCarInfo("Toyota Alphard Hybrid 2021"),
  ],
  CAR.AVALON: [
    ToyotaCarInfo("Toyota Avalon 2016", "Toyota Safety Sense P"),
    ToyotaCarInfo("Toyota Avalon 2017-18"),
  ],
-  CAR.AVALON_2019: ToyotaCarInfo("Toyota Avalon 2019-21"),
+  CAR.AVALON_2019: [
-  CAR.AVALONH_2019: ToyotaCarInfo("Toyota Avalon Hybrid 2019-21"),
+    ToyotaCarInfo("Toyota Avalon 2019-21"),
-  CAR.AVALON_TSS2: ToyotaCarInfo("Toyota Avalon 2022"),
+    ToyotaCarInfo("Toyota Avalon Hybrid 2019-21"),
-  CAR.AVALONH_TSS2: ToyotaCarInfo("Toyota Avalon Hybrid 2022"),
+  ],
-  CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
+  CAR.AVALON_TSS2: [
-  CAR.CAMRYH: ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
+    ToyotaCarInfo("Toyota Avalon 2022"),
-  CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-23", footnotes=[Footnote.CAMRY]),
+    ToyotaCarInfo("Toyota Avalon Hybrid 2022"),
-  CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-24"),
+  ],
  CAR.CAMRY: [
    ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
    ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
  ],
  CAR.CAMRY_TSS2: [
    ToyotaCarInfo("Toyota Camry 2021-23", footnotes=[Footnote.CAMRY]),
    ToyotaCarInfo("Toyota Camry Hybrid 2021-24"),
  ],
  CAR.CHR: [
    ToyotaCarInfo("Toyota C-HR 2017-20"),
    ToyotaCarInfo("Toyota C-HR Hybrid 2017-20"),
  ],
-  CAR.CHR_TSS2: ToyotaCarInfo("Toyota C-HR 2021"),
+  CAR.CHR_TSS2: [
-  CAR.CHRH_TSS2: ToyotaCarInfo("Toyota C-HR Hybrid 2021-22"),
+    ToyotaCarInfo("Toyota C-HR 2021"),
    ToyotaCarInfo("Toyota C-HR Hybrid 2021-22"),
  ],
  CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19"),
  CAR.COROLLA_TSS2: [
    ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
@ -143,9 +146,11 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
    ToyotaCarInfo("Lexus UX Hybrid 2019-23"),
  ],
  CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"),
-  CAR.HIGHLANDER_TSS2: ToyotaCarInfo("Toyota Highlander 2020-23"),
+  CAR.HIGHLANDER_TSS2: [
    ToyotaCarInfo("Toyota Highlander 2020-23"),
    ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"),
  ],
  CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"),
  CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"),
  CAR.PRIUS: [
    ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
    ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
@ -168,10 +173,14 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
    ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
    ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),
  ],
-  CAR.RAV4_TSS2_2022: ToyotaCarInfo("Toyota RAV4 2022"),
+  CAR.RAV4_TSS2_2022: [
-  CAR.RAV4_TSS2_2023: ToyotaCarInfo("Toyota RAV4 2023"),
+    ToyotaCarInfo("Toyota RAV4 2022"),
-  CAR.RAV4H_TSS2_2022: ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
+    ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
-  CAR.RAV4H_TSS2_2023: ToyotaCarInfo("Toyota RAV4 Hybrid 2023"),
+  ],
  CAR.RAV4_TSS2_2023: [
    ToyotaCarInfo("Toyota RAV4 2023"),
    ToyotaCarInfo("Toyota RAV4 Hybrid 2023"),
  ],
  CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"),
  CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED),
@ -381,7 +390,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
  ],
  non_essential_ecus={
    # FIXME: On some models, abs can sometimes be missing
-    Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS],
+    Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS, CAR.ALPHARD_TSS2],
    # On some models, the engine can show on two different addresses
    Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, CAR.LEXUS_RC,
                 CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX_TSS2],
@ -453,44 +462,26 @@ FW_VERSIONS = {
      b'F152607171\x00\x00\x00\x00\x00\x00',
      b'F152607110\x00\x00\x00\x00\x00\x00',
      b'F152607180\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.dsu, 0x791, None): [
      b'881510703200\x00\x00\x00\x00',
    ],
    (Ecu.eps, 0x7a1, None): [
      b'8965B41080\x00\x00\x00\x00\x00\x00',
      b'8965B07010\x00\x00\x00\x00\x00\x00',
      b'8965B41090\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x700, None): [
      b'\x01896630725200\x00\x00\x00\x00',
      b'\x01896630725300\x00\x00\x00\x00',
      b'\x01896630735100\x00\x00\x00\x00',
      b'\x01896630738000\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [
      b'8821F4702300\x00\x00\x00\x00',
    ],
    (Ecu.fwdCamera, 0x750, 0x6d): [
      b'8646F0702100\x00\x00\x00\x00',
    ],
  },
  CAR.AVALONH_2019: {
    (Ecu.abs, 0x7b0, None): [
      b'F152641040\x00\x00\x00\x00\x00\x00',
      b'F152641061\x00\x00\x00\x00\x00\x00',
      b'F152641050\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.dsu, 0x791, None): [
      b'881510703200\x00\x00\x00\x00',
      b'881510704200\x00\x00\x00\x00',
      b'881514107100\x00\x00\x00\x00',
    ],
    (Ecu.eps, 0x7a1, None): [
      b'8965B41080\x00\x00\x00\x00\x00\x00',
      b'8965B07010\x00\x00\x00\x00\x00\x00',
      b'8965B41090\x00\x00\x00\x00\x00\x00',
      b'8965B41070\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x700, None): [
      b'\x01896630725200\x00\x00\x00\x00',
      b'\x01896630725300\x00\x00\x00\x00',
      b'\x01896630735100\x00\x00\x00\x00',
      b'\x01896630738000\x00\x00\x00\x00',
      b'\x02896630724000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
      b'\x02896630737000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
      b'\x02896630728000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
@ -507,6 +498,7 @@ FW_VERSIONS = {
      b'\x01F152607240\x00\x00\x00\x00\x00\x00',
      b'\x01F152607250\x00\x00\x00\x00\x00\x00',
      b'\x01F152607280\x00\x00\x00\x00\x00\x00',
      b'F152641080\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.eps, 0x7a1, None): [
      b'8965B41110\x00\x00\x00\x00\x00\x00',
@ -514,24 +506,6 @@ FW_VERSIONS = {
    (Ecu.engine, 0x700, None): [
      b'\x01896630742000\x00\x00\x00\x00',
      b'\x01896630743000\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [
      b'\x018821F6201200\x00\x00\x00\x00',
      b'\x018821F6201300\x00\x00\x00\x00',
    ],
    (Ecu.fwdCamera, 0x750, 0x6d): [
      b'\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
      b'\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
    ],
  },
  CAR.AVALONH_TSS2: {
    (Ecu.abs, 0x7b0, None): [
      b'F152641080\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.eps, 0x7a1, None): [
      b'8965B41110\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x700, None): [
      b'\x018966306Q6000\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [
@ -567,65 +541,6 @@ FW_VERSIONS = {
      b'\x018966333Q6300\x00\x00\x00\x00',
      b'\x018966333Q6500\x00\x00\x00\x00',
      b'\x018966333W6000\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x7e0, None): [
      b'\x02333P1100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.dsu, 0x791, None): [
      b'8821F0601200    ',
      b'8821F0601300    ',
      b'8821F0602000    ',
      b'8821F0603300    ',
      b'8821F0604100    ',
      b'8821F0605200    ',
      b'8821F0607200    ',
      b'8821F0608000    ',
      b'8821F0608200    ',
      b'8821F0609100    ',
    ],
    (Ecu.abs, 0x7b0, None): [
      b'F152606210\x00\x00\x00\x00\x00\x00',
      b'F152606230\x00\x00\x00\x00\x00\x00',
      b'F152606270\x00\x00\x00\x00\x00\x00',
      b'F152606290\x00\x00\x00\x00\x00\x00',
      b'F152606410\x00\x00\x00\x00\x00\x00',
      b'F152633540\x00\x00\x00\x00\x00\x00',
      b'F152633A10\x00\x00\x00\x00\x00\x00',
      b'F152633A20\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.eps, 0x7a1, None): [
      b'8965B33540\x00\x00\x00\x00\x00\x00',
      b'8965B33542\x00\x00\x00\x00\x00\x00',
      b'8965B33580\x00\x00\x00\x00\x00\x00',
      b'8965B33581\x00\x00\x00\x00\x00\x00',
      b'8965B33621\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [  # Same as 0x791
      b'8821F0601200    ',
      b'8821F0601300    ',
      b'8821F0602000    ',
      b'8821F0603300    ',
      b'8821F0604100    ',
      b'8821F0605200    ',
      b'8821F0607200    ',
      b'8821F0608000    ',
      b'8821F0608200    ',
      b'8821F0609100    ',
    ],
    (Ecu.fwdCamera, 0x750, 0x6d): [
      b'8646F0601200    ',
      b'8646F0601300    ',
      b'8646F0601400    ',
      b'8646F0603400    ',
      b'8646F0604100    ',
      b'8646F0605000    ',
      b'8646F0606000    ',
      b'8646F0606100    ',
      b'8646F0607100    ',
    ],
  },
  CAR.CAMRYH: {
    (Ecu.engine, 0x700, None): [
      b'\x018966306Q6000\x00\x00\x00\x00',
      b'\x018966333N1100\x00\x00\x00\x00',
      b'\x018966333N4300\x00\x00\x00\x00',
@ -648,78 +563,97 @@ FW_VERSIONS = {
      b'\x028966306S0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
      b'\x028966306S1100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
    ],
-    (Ecu.abs, 0x7b0, None): [
+    (Ecu.engine, 0x7e0, None): [
-      b'F152633214\x00\x00\x00\x00\x00\x00',
+      b'\x02333P1100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
      b'F152633660\x00\x00\x00\x00\x00\x00',
      b'F152633712\x00\x00\x00\x00\x00\x00',
      b'F152633713\x00\x00\x00\x00\x00\x00',
      b'F152633B51\x00\x00\x00\x00\x00\x00',
      b'F152633B60\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.dsu, 0x791, None): [
      b'8821F0601200    ',
      b'8821F0601300    ',
-      b'8821F0603400    ',
+      b'8821F0602000    ',
-      b'8821F0604000    ',
+      b'8821F0603300    ',
      b'8821F0604100    ',
      b'8821F0604200    ',
      b'8821F0605200    ',
      b'8821F0606200    ',
      b'8821F0607200    ',
      b'8821F0608000    ',
      b'8821F0608200    ',
      b'8821F0609000    ',
      b'8821F0609100    ',
      b'8821F0603400    ',
      b'8821F0604000    ',
      b'8821F0604200    ',
      b'8821F0606200    ',
      b'8821F0609000    ',
    ],
    (Ecu.abs, 0x7b0, None): [
      b'F152606210\x00\x00\x00\x00\x00\x00',
      b'F152606230\x00\x00\x00\x00\x00\x00',
      b'F152606270\x00\x00\x00\x00\x00\x00',
      b'F152606290\x00\x00\x00\x00\x00\x00',
      b'F152606410\x00\x00\x00\x00\x00\x00',
      b'F152633540\x00\x00\x00\x00\x00\x00',
      b'F152633A10\x00\x00\x00\x00\x00\x00',
      b'F152633A20\x00\x00\x00\x00\x00\x00',
      b'F152633214\x00\x00\x00\x00\x00\x00',
      b'F152633660\x00\x00\x00\x00\x00\x00',
      b'F152633712\x00\x00\x00\x00\x00\x00',
      b'F152633713\x00\x00\x00\x00\x00\x00',
      b'F152633B51\x00\x00\x00\x00\x00\x00',
      b'F152633B60\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.eps, 0x7a1, None): [
      b'8965B33540\x00\x00\x00\x00\x00\x00',
      b'8965B33542\x00\x00\x00\x00\x00\x00',
      b'8965B33550\x00\x00\x00\x00\x00\x00',
      b'8965B33551\x00\x00\x00\x00\x00\x00',
      b'8965B33580\x00\x00\x00\x00\x00\x00',
      b'8965B33581\x00\x00\x00\x00\x00\x00',
      b'8965B33611\x00\x00\x00\x00\x00\x00',
      b'8965B33621\x00\x00\x00\x00\x00\x00',
      b'8965B33550\x00\x00\x00\x00\x00\x00',
      b'8965B33551\x00\x00\x00\x00\x00\x00',
      b'8965B33611\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [  # Same as 0x791
      b'8821F0601200    ',
      b'8821F0601300    ',
-      b'8821F0603400    ',
+      b'8821F0602000    ',
-      b'8821F0604000    ',
+      b'8821F0603300    ',
      b'8821F0604100    ',
      b'8821F0604200    ',
      b'8821F0605200    ',
      b'8821F0606200    ',
      b'8821F0607200    ',
      b'8821F0608000    ',
      b'8821F0608200    ',
      b'8821F0609000    ',
      b'8821F0609100    ',
      b'8821F0603400    ',
      b'8821F0604000    ',
      b'8821F0604200    ',
      b'8821F0606200    ',
      b'8821F0609000    ',
    ],
    (Ecu.fwdCamera, 0x750, 0x6d): [
      b'8646F0601200    ',
      b'8646F0601300    ',
      b'8646F0601400    ',
      b'8646F0603400    ',
      b'8646F0603500    ',
      b'8646F0604100    ',
      b'8646F0605000    ',
      b'8646F0606000    ',
      b'8646F0606100    ',
      b'8646F0607000    ',
      b'8646F0607100    ',
      b'8646F0603500    ',
      b'8646F0607000    ',
    ],
  },
  CAR.CAMRY_TSS2: {
    (Ecu.eps, 0x7a1, None): [
      b'8965B33630\x00\x00\x00\x00\x00\x00',
      b'8965B33640\x00\x00\x00\x00\x00\x00',
      b'8965B33650\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.abs, 0x7b0, None): [
      b'\x01F152606370\x00\x00\x00\x00\x00\x00',
      b'\x01F152606390\x00\x00\x00\x00\x00\x00',
      b'\x01F152606400\x00\x00\x00\x00\x00\x00',
      b'\x01F152606431\x00\x00\x00\x00\x00\x00',
      b'F152633D00\x00\x00\x00\x00\x00\x00',
      b'F152633D60\x00\x00\x00\x00\x00\x00',
      b'F152633310\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x700, None): [
      b'\x018966306Q5000\x00\x00\x00\x00',
@ -730,10 +664,16 @@ FW_VERSIONS = {
      b'\x018966306T3200\x00\x00\x00\x00',
      b'\x018966306T4000\x00\x00\x00\x00',
      b'\x018966306T4100\x00\x00\x00\x00',
      b'\x018966306Q6000\x00\x00\x00\x00',
      b'\x018966306Q7000\x00\x00\x00\x00',
      b'\x018966306T0000\x00\x00\x00\x00',
      b'\x018966306V1000\x00\x00\x00\x00',
      b'\x01896633T20000\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [
      b'\x018821F6201200\x00\x00\x00\x00',
      b'\x018821F6201300\x00\x00\x00\x00',
      b'\x018821F6201400\x00\x00\x00\x00',
    ],
    (Ecu.fwdCamera, 0x750, 0x6d): [
      b'\x028646F0602100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
@ -743,35 +683,7 @@ FW_VERSIONS = {
      b'\x028646F3305200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
      b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
      b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
    ],
  },
  CAR.CAMRYH_TSS2: {
    (Ecu.eps, 0x7a1, None): [
      b'8965B33630\x00\x00\x00\x00\x00\x00',
      b'8965B33650\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.abs, 0x7b0, None): [
      b'F152633D00\x00\x00\x00\x00\x00\x00',
      b'F152633D60\x00\x00\x00\x00\x00\x00',
      b'F152633310\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x700, None): [
      b'\x018966306Q6000\x00\x00\x00\x00',
      b'\x018966306Q7000\x00\x00\x00\x00',
      b'\x018966306T0000\x00\x00\x00\x00',
      b'\x018966306V1000\x00\x00\x00\x00',
      b'\x01896633T20000\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 15): [
      b'\x018821F6201200\x00\x00\x00\x00',
      b'\x018821F6201300\x00\x00\x00\x00',
      b'\x018821F6201400\x00\x00\x00\x00',
    ],
    (Ecu.fwdCamera, 0x750, 109): [
      b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
      b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
      b'\x028646F3305300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
      b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
    ],
  },
  CAR.CHR: {
@ -863,13 +775,19 @@ FW_VERSIONS = {
    (Ecu.abs, 0x7b0, None): [
      b'F152610260\x00\x00\x00\x00\x00\x00',
      b'F1526F4270\x00\x00\x00\x00\x00\x00',
      b'F152610041\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.eps, 0x7a1, None): [
      b'8965B10091\x00\x00\x00\x00\x00\x00',
      b'8965B10110\x00\x00\x00\x00\x00\x00',
      b'8965B10092\x00\x00\x00\x00\x00\x00',
      b'8965B10111\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x700, None): [
      b'\x0189663F459000\x00\x00\x00\x00',
      b'\x0189663F438000\x00\x00\x00\x00',
      b'\x02896631025000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
      b'\x0289663F453000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x7e0, None): [
      b'\x0331014000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
@ -877,33 +795,12 @@ FW_VERSIONS = {
    (Ecu.fwdRadar, 0x750, 0xf): [
      b'\x018821FF410200\x00\x00\x00\x00',
      b'\x018821FF410300\x00\x00\x00\x00',
      b'\x018821FF410500\x00\x00\x00\x00',
    ],
    (Ecu.fwdCamera, 0x750, 0x6d): [
      b'\x028646FF410200\x00\x00\x00\x008646GF408200\x00\x00\x00\x00',
      b'\x028646FF411100\x00\x00\x00\x008646GF409000\x00\x00\x00\x00',
    ],
  },
  CAR.CHRH_TSS2: {
    (Ecu.eps, 0x7a1, None): [
      b'8965B10092\x00\x00\x00\x00\x00\x00',
      b'8965B10091\x00\x00\x00\x00\x00\x00',
      b'8965B10111\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.abs, 0x7b0, None): [
      b'F152610041\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x700, None): [
      b'\x0189663F438000\x00\x00\x00\x00',
      b'\x02896631025000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
      b'\x0289663F453000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 15): [
      b'\x018821FF410500\x00\x00\x00\x00',
      b'\x018821FF410300\x00\x00\x00\x00',
    ],
    (Ecu.fwdCamera, 0x750, 109): [
      b'\x028646FF413100\x00\x00\x00\x008646GF411100\x00\x00\x00\x00',
      b'\x028646FF411100\x00\x00\x00\x008646GF409000\x00\x00\x00\x00',
    ],
  },
  CAR.COROLLA: {
@ -1189,6 +1086,18 @@ FW_VERSIONS = {
      b'\x01F15260E110\x00\x00\x00\x00\x00\x00',
      b'\x01F15260E170\x00\x00\x00\x00\x00\x00',
      b'\x01F15260E05300\x00\x00\x00\x00',
      b'\x01F15264872300\x00\x00\x00\x00',
      b'\x01F15264872400\x00\x00\x00\x00',
      b'\x01F15264872500\x00\x00\x00\x00',
      b'\x01F15264872600\x00\x00\x00\x00',
      b'\x01F15264872700\x00\x00\x00\x00',
      b'\x01F15264873500\x00\x00\x00\x00',
      b'\x01F152648C6300\x00\x00\x00\x00',
      b'\x01F152648J4000\x00\x00\x00\x00',
      b'\x01F152648J5000\x00\x00\x00\x00',
      b'\x01F152648J6000\x00\x00\x00\x00',
      b'\x01F152648J7000\x00\x00\x00\x00',
      b'\x01F152648L5000\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x700, None): [
      b'\x01896630E62100\x00\x00\x00\x00',
@ -1209,44 +1118,13 @@ FW_VERSIONS = {
      b'\x01896630EE1100\x00\x00\x00\x00',
      b'\x01896630EG3000\x00\x00\x00\x00',
      b'\x01896630EG5000\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [
      b'\x018821F3301400\x00\x00\x00\x00',
      b'\x018821F6201200\x00\x00\x00\x00',
      b'\x018821F6201300\x00\x00\x00\x00',
    ],
    (Ecu.fwdCamera, 0x750, 0x6d): [
      b'\x028646F0E02100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
      b'\x028646F4803000\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
      b'\x028646F4803000\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
      b'\x028646F4803200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
    ],
  },
  CAR.HIGHLANDERH_TSS2: {
    (Ecu.eps, 0x7a1, None): [
      b'8965B48241\x00\x00\x00\x00\x00\x00',
      b'8965B48310\x00\x00\x00\x00\x00\x00',
      b'8965B48400\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.abs, 0x7b0, None): [
      b'\x01F15264872300\x00\x00\x00\x00',
      b'\x01F15264872400\x00\x00\x00\x00',
      b'\x01F15264872500\x00\x00\x00\x00',
      b'\x01F15264872600\x00\x00\x00\x00',
      b'\x01F15264873500\x00\x00\x00\x00',
      b'\x01F152648C6300\x00\x00\x00\x00',
      b'\x01F152648J4000\x00\x00\x00\x00',
      b'\x01F152648J5000\x00\x00\x00\x00',
      b'\x01F152648J6000\x00\x00\x00\x00',
      b'\x01F15264872700\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x700, None): [
      b'\x01896630E67000\x00\x00\x00\x00',
      b'\x01896630EA1000\x00\x00\x00\x00',
      b'\x01896630EE4000\x00\x00\x00\x00',
      b'\x01896630EE4100\x00\x00\x00\x00',
      b'\x01896630EE5000\x00\x00\x00\x00',
      b'\x01896630EE6000\x00\x00\x00\x00',
      b'\x01896630EE7000\x00\x00\x00\x00',
      b'\x01896630EF8000\x00\x00\x00\x00',
      b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
      b'\x02896630E66100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
@ -1634,46 +1512,6 @@ FW_VERSIONS = {
    (Ecu.abs, 0x7b0, None): [
      b'\x01F15260R350\x00\x00\x00\x00\x00\x00',
      b'\x01F15260R361\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.eps, 0x7a1, None): [
      b'\x028965B0R01500\x00\x00\x00\x008965B0R02500\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x700, None): [
      b'\x01896634AA0000\x00\x00\x00\x00',
      b'\x01896634AA0100\x00\x00\x00\x00',
      b'\x01896634AA1000\x00\x00\x00\x00',
      b'\x01896634A88000\x00\x00\x00\x00',
      b'\x01896634A89000\x00\x00\x00\x00',
      b'\x01896634A89100\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [
      b'\x018821F0R01100\x00\x00\x00\x00',
    ],
    (Ecu.fwdCamera, 0x750, 0x6d): [
      b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00',
    ],
  },
  CAR.RAV4_TSS2_2023: {
    (Ecu.abs, 0x7b0, None): [
      b'\x01F15260R450\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.eps, 0x7a1, None): [
      b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x700, None): [
      b'\x01896634A88100\x00\x00\x00\x00',
      b'\x01896634AJ2000\x00\x00\x00\x00',
      b'\x01896634A89100\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [
      b'\x018821F0R03100\x00\x00\x00\x00',
    ],
    (Ecu.fwdCamera, 0x750, 0x6d): [
      b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00',
    ],
  },
  CAR.RAV4H_TSS2_2022: {
    (Ecu.abs, 0x7b0, None): [
      b'\x01F15264283100\x00\x00\x00\x00',
      b'\x01F15264286200\x00\x00\x00\x00',
      b'\x01F15264286100\x00\x00\x00\x00',
@ -1685,6 +1523,12 @@ FW_VERSIONS = {
      b'8965B42172\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x700, None): [
      b'\x01896634AA0000\x00\x00\x00\x00',
      b'\x01896634AA0100\x00\x00\x00\x00',
      b'\x01896634AA1000\x00\x00\x00\x00',
      b'\x01896634A88000\x00\x00\x00\x00',
      b'\x01896634A89000\x00\x00\x00\x00',
      b'\x01896634A89100\x00\x00\x00\x00',
      b'\x01896634A02001\x00\x00\x00\x00',
      b'\x01896634A03000\x00\x00\x00\x00',
      b'\x01896634A08000\x00\x00\x00\x00',
@ -1700,8 +1544,9 @@ FW_VERSIONS = {
      b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00',
    ],
  },
-  CAR.RAV4H_TSS2_2023: {
+  CAR.RAV4_TSS2_2023: {
    (Ecu.abs, 0x7b0, None): [
      b'\x01F15260R450\x00\x00\x00\x00\x00\x00',
      b'\x01F15264283200\x00\x00\x00\x00',
      b'\x01F15264283300\x00\x00\x00\x00',
      b'\x01F152642F1000\x00\x00\x00\x00',
@ -1711,15 +1556,12 @@ FW_VERSIONS = {
      b'8965B42371\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x700, None): [
      b'\x01896634A88100\x00\x00\x00\x00',
      b'\x01896634AJ2000\x00\x00\x00\x00',
      b'\x01896634A89100\x00\x00\x00\x00',
      b'\x01896634AE1001\x00\x00\x00\x00',
      b'\x01896634AF0000\x00\x00\x00\x00',
    ],
    (Ecu.hybrid, 0x7d2, None): [
      b'\x02899830R39000\x00\x00\x00\x00899850R20000\x00\x00\x00\x00',
      b'\x02899830R41000\x00\x00\x00\x00899850R20000\x00\x00\x00\x00',
      b'\x028998342C0000\x00\x00\x00\x00899854224000\x00\x00\x00\x00',
      b'\x028998342C6000\x00\x00\x00\x00899854224000\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [
      b'\x018821F0R03100\x00\x00\x00\x00',
    ],
@ -2178,34 +2020,22 @@ FW_VERSIONS = {
    (Ecu.engine, 0x7e0, None): [
      b'\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
      b'\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.eps, 0x7a1, None): [
      b'8965B58040\x00\x00\x00\x00\x00\x00',
      b'8965B58052\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [
      b'\x018821F3301200\x00\x00\x00\x00',
      b'\x018821F3301400\x00\x00\x00\x00',
    ],
    (Ecu.fwdCamera, 0x750, 0x6d): [
      b'\x028646F58010C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
      b'\x028646F5803200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
    ],
  },
  CAR.ALPHARDH_TSS2: {
    (Ecu.engine, 0x7e0, None): [
      b'\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.eps, 0x7a1, None): [
      b'8965B58040\x00\x00\x00\x00\x00\x00',
      b'8965B58052\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.abs, 0x7b0, None): [
      b'F152658341\x00\x00\x00\x00\x00\x00'
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [
      b'\x018821F3301200\x00\x00\x00\x00',
      b'\x018821F3301400\x00\x00\x00\x00',
    ],
    (Ecu.fwdCamera, 0x750, 0x6d): [
      b'\x028646F58010C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
      b'\x028646F5803200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
      b'\x028646FV201000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
    ],
  },
@ -2225,20 +2055,14 @@ DBC = {
  CAR.LEXUS_RX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
  CAR.CHR: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
  CAR.CHR_TSS2: dbc_dict('toyota_nodsu_pt_generated', None),
  CAR.CHRH_TSS2: dbc_dict('toyota_nodsu_pt_generated', None),
  CAR.CAMRY: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
  CAR.CAMRYH: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
  CAR.CAMRY_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
  CAR.CAMRYH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
  CAR.HIGHLANDER: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
  CAR.HIGHLANDER_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
  CAR.HIGHLANDERH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
  CAR.HIGHLANDERH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
  CAR.AVALON: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
  CAR.AVALON_2019: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
  CAR.AVALONH_2019: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
  CAR.AVALON_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
  CAR.AVALONH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
  CAR.RAV4_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
  CAR.RAV4_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None),
  CAR.RAV4_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None),
@ -2250,14 +2074,11 @@ DBC = {
  CAR.LEXUS_IS: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
  CAR.LEXUS_IS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
  CAR.LEXUS_CTH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
  CAR.RAV4H_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None),
  CAR.RAV4H_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None),
  CAR.LEXUS_NX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
  CAR.LEXUS_NX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
  CAR.PRIUS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
  CAR.MIRAI: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
  CAR.ALPHARD_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
  CAR.ALPHARDH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
 }
 # These cars have non-standard EPS torque scale factors. All others are 73
@ -2265,20 +2086,19 @@ EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_I
 # Toyota/Lexus Safety Sense 2.0 and 2.5
 TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.LEXUS_ES_TSS2,
-            CAR.RAV4H_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2,
+            CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.LEXUS_IS_TSS2,
-            CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2, CAR.LEXUS_IS_TSS2, CAR.MIRAI, CAR.LEXUS_NX_TSS2,
+            CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.CHR_TSS2}
            CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2, CAR.CHR_TSS2, CAR.CHRH_TSS2}
-NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CAMRY, CAR.CAMRYH}
+NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CAMRY}
 # the DSU uses the AEB message for longitudinal on these cars
 UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC}
 # these cars have a radar which sends ACC messages instead of the camera
-RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2, CAR.CHRH_TSS2}
+RADAR_ACC_CAR = {CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2}
 # these cars use the Lane Tracing Assist (LTA) message for lateral control
-ANGLE_CONTROL_CAR = {CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023}
+ANGLE_CONTROL_CAR = {CAR.RAV4_TSS2_2023}
 # no resume button press required
 NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH}
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@ -832,6 +832,7 @@ FW_VERSIONS = {
      b'\xf1\x8783A907115F \xf1\x890002',
      b'\xf1\x8783A907115G \xf1\x890001',
      b'\xf1\x8783A907115K \xf1\x890001',
      b'\xf1\x8783A907115K \xf1\x890002',
      b'\xf1\x8704E906024AP\xf1\x891461',
      b'\xf1\x8783A907115  \xf1\x890007',
    ],
@ -841,6 +842,7 @@ FW_VERSIONS = {
      b'\xf1\x8709G927158GC\xf1\x893821',
      b'\xf1\x8709G927158GD\xf1\x893820',
      b'\xf1\x8709G927158GM\xf1\x893936',
      b'\xf1\x8709G927158GN\xf1\x893938',
      b'\xf1\x870D9300043  \xf1\x895202',
      b'\xf1\x870DL300011N \xf1\x892001',
      b'\xf1\x870DL300011N \xf1\x892012',
@ -879,6 +881,7 @@ FW_VERSIONS = {
      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60604A1',
      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A60604A1',
      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A60804A1',
      b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002RA60A2ROM',
      b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002SA6092SOM',
      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00',
      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60804A1',
@ -1071,11 +1074,13 @@ FW_VERSIONS = {
      b'\xf1\x8783A906259  \xf1\x890001',
      b'\xf1\x8783A906259  \xf1\x890005',
      b'\xf1\x8783A906259C \xf1\x890002',
      b'\xf1\x8783A906259D \xf1\x890001',
      b'\xf1\x8783A906259F \xf1\x890001',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'\xf1\x8709G927158CN\xf1\x893608',
      b'\xf1\x8709G927158FL\xf1\x893758',
      b'\xf1\x8709G927158GG\xf1\x893825',
      b'\xf1\x8709G927158GP\xf1\x893937',
      b'\xf1\x870GC300045D \xf1\x892802',
      b'\xf1\x870GC300046F \xf1\x892701',
@ -1085,6 +1090,7 @@ FW_VERSIONS = {
      b'\xf1\x875Q0959655BQ\xf1\x890421\xf1\x82\x132121111121120031112124218C219321532111',
      b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111224118A119321532111',
      b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111237116A119321532111',
      b'\xf1\x875Q0959655BQ\xf1\x890421\xf1\x82\x132121111121120031112124218A219321532111',
    ],
    (Ecu.eps, 0x712, None): [
      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000300',
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@ -1,468 +0,0 @@
 #!/usr/bin/env python3
 import math
 import os
 import time
 import shutil
 from collections import defaultdict
 from concurrent.futures import Future, ProcessPoolExecutor
 from enum import IntEnum
 from typing import List, Optional, Dict, Any
 import numpy as np
 from cereal import log, messaging
 from openpilot.common.params import Params, put_nonblocking
 from laika import AstroDog
 from laika.constants import SECS_IN_HR, SECS_IN_MIN
 from laika.downloader import DownloadFailed
 from laika.ephemeris import EphemerisType, GPSEphemeris, GLONASSEphemeris, ephemeris_structs, parse_qcom_ephem
 from laika.gps_time import GPSTime
 from laika.helpers import ConstellationId, get_sv_id
 from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox
 from laika.raw_gnss import gps_time_from_qcom_report, get_measurements_from_qcom_reports
 from laika.opt import calc_pos_fix, get_posfix_sympy_fun, calc_vel_fix, get_velfix_sympy_func
 from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind
 from openpilot.selfdrive.locationd.models.gnss_kf import GNSSKalman
 from openpilot.selfdrive.locationd.models.gnss_kf import States as GStates
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.swaglog import cloudlog
 MAX_TIME_GAP = 10
 EPHEMERIS_CACHE = 'LaikadEphemerisV3'
 CACHE_VERSION = 0.2
 POS_FIX_RESIDUAL_THRESHOLD = 100.0
 class LogEphemerisType(IntEnum):
  nav = 0
  nasaUltraRapid = 1
  glonassIacUltraRapid = 2
  qcom = 3
 class EphemerisSource(IntEnum):
  gnssChip = 0
  internet = 1
  cache = 2
  unknown = 3
 def get_log_eph_type(ephem):
  if ephem.eph_type == EphemerisType.NAV:
    source_type = LogEphemerisType.nav
  elif ephem.eph_type == EphemerisType.QCOM_POLY:
    source_type = LogEphemerisType.qcom
  else:
    assert ephem.file_epoch is not None
    file_src = ephem.file_source
    if file_src == 'igu':  # example nasa: '2214/igu22144_00.sp3.Z'
      source_type = LogEphemerisType.nasaUltraRapid
    elif file_src == 'Sta':  # example nasa: '22166/ultra/Stark_1D_22061518.sp3'
      source_type = LogEphemerisType.glonassIacUltraRapid
    else:
      raise Exception(f"Didn't expect file source {file_src}")
  return source_type
 def get_log_eph_source(ephem):
  if ephem.file_name == 'qcom' or ephem.file_name == 'ublox':
    source = EphemerisSource.gnssChip
  elif ephem.file_name == EPHEMERIS_CACHE:
    source = EphemerisSource.cache
  else:
    source = EphemerisSource.internet
  return source
 class Laikad:
  def __init__(self, valid_const=(ConstellationId.GPS, ConstellationId.GLONASS), auto_fetch_navs=True, auto_update=False,
               valid_ephem_types=(EphemerisType.NAV, EphemerisType.QCOM_POLY),
               save_ephemeris=False, use_qcom=False):
    """
    valid_const: GNSS constellation which can be used
    auto_fetch_navs: If true fetch navs from internet when needed
    auto_update: If true download AstroDog will download all files needed. This can be ephemeris or correction data like ionosphere.
    valid_ephem_types: Valid ephemeris types to be used by AstroDog
    save_ephemeris: If true saves and loads nav and orbit ephemeris to cache.
    """
    self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types,
                              clear_old_ephemeris=True, cache_dir=Paths.download_cache_root())
    self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True, erratic_clock=use_qcom)
    self.auto_fetch_navs = auto_fetch_navs
    self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None
    self.orbit_fetch_future: Optional[Future] = None
    self.last_report_time = GPSTime(0, 0)
    self.last_fetch_navs_t = GPSTime(0, 0)
    self.last_cached_t = GPSTime(0, 0)
    self.save_ephemeris = save_ephemeris
    self.load_cache()
    self.posfix_functions = {constellation: get_posfix_sympy_fun(constellation) for constellation in (ConstellationId.GPS, ConstellationId.GLONASS)}
    self.velfix_function = get_velfix_sympy_func()
    self.last_fix_pos = None
    self.last_fix_t = None
    self.use_qcom = use_qcom
    self.first_log_time = None
    self.ttff = -1
    self.measurement_lag = 0.630 if self.use_qcom else 0.095
    # qcom specific stuff
    self.qcom_reports_received = 4
    self.qcom_reports = []
  def load_cache(self):
    if not self.save_ephemeris:
      return
    cache_bytes = Params().get(EPHEMERIS_CACHE)
    if not cache_bytes:
      return
    nav_dict = {}
    try:
      with ephemeris_structs.EphemerisCache.from_bytes(cache_bytes) as ephem_cache:
        glonass_navs = [GLONASSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.glonassEphemerides]
        gps_navs = [GPSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.gpsEphemerides]
      for e in sum([glonass_navs, gps_navs], []):
        if e.prn not in nav_dict:
          nav_dict[e.prn] = []
        nav_dict[e.prn].append(e)
      self.astro_dog.add_navs(nav_dict)
    except Exception:
      cloudlog.exception("Error parsing cache")
    cloudlog.debug(
      f"Loaded navs ({sum([len(nav_dict[prn]) for prn in nav_dict.keys()])}). Unique orbit and nav sats: {list(nav_dict.keys())} ")
  def cache_ephemeris(self):
    if self.save_ephemeris and (self.last_report_time - self.last_cached_t > SECS_IN_MIN):
      nav_list: List = sum([v for k,v in self.astro_dog.navs.items()], [])
      #TODO this only saves currently valid ephems, when we download future ephems we should save them too
      valid_navs = [e for e in nav_list if e.valid(self.last_report_time)]
      if len(valid_navs) > 0:
        ephem_cache = ephemeris_structs.EphemerisCache(glonassEphemerides=[e.data for e in valid_navs if e.prn[0]=='R'],
                                                       gpsEphemerides=[e.data for e in valid_navs if e.prn[0]=='G'])
        put_nonblocking(EPHEMERIS_CACHE, ephem_cache.to_bytes())
        cloudlog.debug("Cache saved")
      self.last_cached_t = self.last_report_time
  def create_ephem_statuses(self):
    ephemeris_statuses = []
    eph_list: List = sum([v for k,v in self.astro_dog.navs.items()], []) + sum([v for k,v in self.astro_dog.qcom_polys.items()], [])
    for eph in eph_list:
      status = log.GnssMeasurements.EphemerisStatus.new_message()
      status.constellationId = ConstellationId.from_rinex_char(eph.prn[0]).value
      status.svId = get_sv_id(eph.prn)
      status.type = get_log_eph_type(eph).value
      status.source = get_log_eph_source(eph).value
      status.tow = eph.epoch.tow
      status.gpsWeek = eph.epoch.week
      ephemeris_statuses.append(status)
    return ephemeris_statuses
  def get_lsq_fix(self, t, measurements):
    if self.last_fix_t is None or abs(self.last_fix_t - t) > 0:
      min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in measurements) else 4
      position_solution, pr_residuals, pos_std = calc_pos_fix(measurements, self.posfix_functions, min_measurements=min_measurements)
      if len(position_solution) < 3:
        return None
      position_estimate = position_solution[:3]
      position_std = pos_std[:3]
      velocity_solution, prr_residuals, vel_std = calc_vel_fix(measurements, position_estimate, self.velfix_function, min_measurements=min_measurements)
      if len(velocity_solution) < 3:
        return None
      velocity_estimate = velocity_solution[:3]
      velocity_std = vel_std[:3]
      return position_estimate, position_std, velocity_estimate, velocity_std
  def is_good_report(self, gnss_msg):
    if gnss_msg.which() in ['drMeasurementReport', 'measurementReport'] and self.use_qcom:
      # TODO: Understand and use remaining unknown constellations
      try:
        if gnss_msg.which() == 'drMeasurementReport':
          constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source)
        else:
          constellation_id = ConstellationId.from_qcom_source(gnss_msg.measurementReport.source)
        good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS, ConstellationId.GLONASS]
        report_time = gps_time_from_qcom_report(gnss_msg)
      except NotImplementedError:
        return False
      # Garbage timestamps with week > 32767 are sometimes sent by module.
      # This is an issue with gpsTime and GLONASS time.
      good_week = report_time.week < np.iinfo(np.int16).max
      return good_constellation and good_week
    elif gnss_msg.which() == 'measurementReport' and not self.use_qcom:
      return True
    else:
      return False
  def read_report(self, gnss_msg):
    if self.use_qcom:
      # QCOM reports are per constellation, so we need to aggregate them
      # Additionally, the pseudoranges are broken in the measurementReports
      # and the doppler filteredSpeed is broken in the drMeasurementReports
      report_time = gps_time_from_qcom_report(gnss_msg)
      if report_time - self.last_report_time == 0:
        self.qcom_reports.append(gnss_msg)
        self.last_report_time = report_time
      elif report_time - self.last_report_time > 0:
        self.qcom_reports_received = max(1, len(self.qcom_reports))
        self.qcom_reports = [gnss_msg]
        self.last_report_time = report_time
      else:
        # Sometimes DR reports get sent one iteration late (1second), they need to be ignored
        cloudlog.warning(f"Received report with time {report_time} before last report time {self.last_report_time}")
      if len(self.qcom_reports) == self.qcom_reports_received:
        new_meas = get_measurements_from_qcom_reports(self.qcom_reports)
      else:
        new_meas = []
    else:
      report = gnss_msg.measurementReport
      self.last_report_time = GPSTime(report.gpsWeek, report.rcvTow)
      new_meas = read_raw_ublox(report)
    return self.last_report_time, new_meas
  def is_ephemeris(self, gnss_msg):
    if self.use_qcom:
      return gnss_msg.which() == 'drSvPoly'
    else:
      return gnss_msg.which() in ('ephemeris', 'glonassEphemeris')
  def read_ephemeris(self, gnss_msg):
    if self.use_qcom:
      try:
        ephem = parse_qcom_ephem(gnss_msg.drSvPoly)
        self.astro_dog.add_qcom_polys({ephem.prn: [ephem]})
      except Exception:
        cloudlog.exception("Error parsing qcom svPoly ephemeris from qcom module")
        return
    else:
      if gnss_msg.which() == 'ephemeris':
        data_struct = ephemeris_structs.Ephemeris.new_message(**gnss_msg.ephemeris.to_dict())
        try:
          ephem = GPSEphemeris(data_struct, file_name='ublox')
        except Exception:
          cloudlog.exception("Error parsing GPS ephemeris from ublox")
          return
      elif gnss_msg.which() == 'glonassEphemeris':
        data_struct = ephemeris_structs.GlonassEphemeris.new_message(**gnss_msg.glonassEphemeris.to_dict())
        try:
          ephem = GLONASSEphemeris(data_struct, file_name='ublox')
        except Exception:
          cloudlog.exception("Error parsing GLONASS ephemeris from ublox")
          return
      else:
        cloudlog.error(f"Unsupported ephemeris type: {gnss_msg.which()}")
        return
      self.astro_dog.add_navs({ephem.prn: [ephem]})
    self.cache_ephemeris()
  def process_report(self, new_meas, t):
    # Filter measurements with unexpected pseudoranges for GPS and GLONASS satellites
    new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7]
    processed_measurements = process_measurements(new_meas, self.astro_dog)
    if self.last_fix_pos is not None:
      est_pos = self.last_fix_pos
      correct_delay = True
    else:
      est_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist()
      correct_delay = False
    corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog, correct_delay=correct_delay)
    # If many measurements weren't corrected, position may be garbage, so reset
    if len(processed_measurements) >= 8 and len(corrected_measurements) < 5:
      cloudlog.error("Didn't correct enough measurements, resetting estimate position")
      self.last_fix_pos = None
      self.last_fix_t = None
    return corrected_measurements
  def calc_fix(self, t, measurements):
    instant_fix = self.get_lsq_fix(t, measurements)
    if instant_fix is None:
      return None
    else:
      position_estimate, position_std, velocity_estimate, velocity_std = instant_fix
      self.last_fix_t = t
      self.last_fix_pos = position_estimate
      self.lat_fix_pos_std = position_std
      return position_estimate, position_std, velocity_estimate, velocity_std
  def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False):
    out_msg = messaging.new_message("gnssMeasurements")
    t = gnss_mono_time * 1e-9
    msg_dict: Dict[str, Any] = {"measTime": gnss_mono_time - int(1e9 * self.measurement_lag)}
    if self.first_log_time is None:
      self.first_log_time = 1e-9 * gnss_mono_time
    if self.is_ephemeris(gnss_msg):
      self.read_ephemeris(gnss_msg)
    elif self.is_good_report(gnss_msg):
      report_t, new_meas = self.read_report(gnss_msg)
      if report_t.week > 0:
        if self.auto_fetch_navs:
          self.fetch_navs(report_t, block)
      corrected_measurements = self.process_report(new_meas, t)
      msg_dict['correctedMeasurements'] = [create_measurement_msg(m) for m in corrected_measurements]
      fix = self.calc_fix(t, corrected_measurements)
      measurement_msg = log.LiveLocationKalman.Measurement.new_message
      if fix is not None:
        position_estimate, position_std, velocity_estimate, velocity_std = fix
        if self.ttff <= 0:
          self.ttff = max(1e-3, t - self.first_log_time)
        msg_dict["positionECEF"] = measurement_msg(value=position_estimate, std=position_std.tolist(), valid=bool(self.last_fix_t == t))
        msg_dict["velocityECEF"] = measurement_msg(value=velocity_estimate, std=velocity_std.tolist(), valid=bool(self.last_fix_t == t))
      self.update_localizer(self.last_fix_pos, t, corrected_measurements)
      P_diag = self.gnss_kf.P.diagonal()
      kf_valid = all(self.kf_valid(t))
      msg_dict["kalmanPositionECEF"] = measurement_msg(value=self.gnss_kf.x[GStates.ECEF_POS].tolist(),
                                        std=np.sqrt(P_diag[GStates.ECEF_POS]).tolist(),
                                        valid=kf_valid)
      msg_dict["kalmanVelocityECEF"] = measurement_msg(value=self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist(),
                                        std=np.sqrt(P_diag[GStates.ECEF_VELOCITY]).tolist(),
                                        valid=kf_valid)
    msg_dict['gpsWeek'] = self.last_report_time.week
    msg_dict['gpsTimeOfWeek'] = self.last_report_time.tow
    msg_dict['timeToFirstFix'] = self.ttff
    msg_dict['ephemerisStatuses'] = self.create_ephem_statuses()
    out_msg.gnssMeasurements = msg_dict
    return out_msg
  def update_localizer(self, est_pos, t: float, measurements: List[GNSSMeasurement]):
    # Check time and outputs are valid
    valid = self.kf_valid(t)
    if not all(valid):
      if not valid[0]:  # Filter not initialized
        pass
      elif not valid[1]:
        cloudlog.error("Time gap of over 10s detected, gnss kalman reset")
      elif not valid[2]:
        cloudlog.error("Gnss kalman filter state is nan")
      if est_pos is not None and len(est_pos) > 0:
        cloudlog.info(f"Reset kalman filter with {est_pos}")
        self.init_gnss_localizer(est_pos)
      else:
        return
    if len(measurements) > 0:
      kf_add_observations(self.gnss_kf, t, measurements)
    else:
      # Ensure gnss filter is updated even with no new measurements
      self.gnss_kf.predict(t)
  def kf_valid(self, t: float) -> List[bool]:
    filter_time = self.gnss_kf.filter.get_filter_time()
    return [not math.isnan(filter_time),
            abs(t - filter_time) < MAX_TIME_GAP,
            all(np.isfinite(self.gnss_kf.x[GStates.ECEF_POS]))]
  def init_gnss_localizer(self, est_pos):
    x_initial, p_initial_diag = np.copy(GNSSKalman.x_initial), np.copy(np.diagonal(GNSSKalman.P_initial))
    x_initial[GStates.ECEF_POS] = est_pos
    p_initial_diag[GStates.ECEF_POS] = 1000 ** 2
    self.gnss_kf.init_state(x_initial, covs_diag=p_initial_diag)
  def fetch_navs(self, t: GPSTime, block):
    # Download new navs if 1 hour of navs data left
    if t + SECS_IN_HR not in self.astro_dog.navs_fetched_times and (abs(t - self.last_fetch_navs_t) > SECS_IN_MIN):
      astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types, self.astro_dog.cache_dir
      ret = None
      if block:  # Used for testing purposes
        ret = get_orbit_data(t, *astro_dog_vars)
      elif self.orbit_fetch_future is None:
        self.orbit_fetch_executor = ProcessPoolExecutor(max_workers=1)
        self.orbit_fetch_future = self.orbit_fetch_executor.submit(get_orbit_data, t, *astro_dog_vars)
      elif self.orbit_fetch_future.done():
        ret = self.orbit_fetch_future.result()
        self.orbit_fetch_executor = self.orbit_fetch_future = None
      if ret is not None:
        if ret[0] is None:
          self.last_fetch_navs_t = ret[2]
        else:
          self.astro_dog.navs, self.astro_dog.navs_fetched_times, self.last_fetch_navs_t = ret
          self.cache_ephemeris()
 def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types, cache_dir):
  astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, cache_dir=cache_dir)
  cloudlog.info(f"Start to download/parse navs for time {t.as_datetime()}")
  start_time = time.monotonic()
  try:
    astro_dog.get_navs(t)
    cloudlog.info(f"Done parsing navs. Took {time.monotonic() - start_time:.1f}s")
    cloudlog.debug(f"Downloaded navs ({sum([len(v) for v in astro_dog.navs])}): {list(astro_dog.navs.keys())}" +
                   f"With time range: {[f'{start.as_datetime()}, {end.as_datetime()}' for (start,end) in astro_dog.orbit_fetched_times._ranges]}")
    return astro_dog.navs, astro_dog.navs_fetched_times, t
  except (DownloadFailed, RuntimeError, ValueError, IOError) as e:
    cloudlog.warning(f"No orbit data found or parsing failure: {e}")
  return None, None, t
 def create_measurement_msg(meas: GNSSMeasurement):
  c = log.GnssMeasurements.CorrectedMeasurement.new_message()
  c.constellationId = meas.constellation_id.value
  c.svId = meas.sv_id
  c.glonassFrequency = meas.glonass_freq if meas.constellation_id == ConstellationId.GLONASS else 0
  c.pseudorange = float(meas.observables_final['C1C'])
  c.pseudorangeStd = float(meas.observables_std['C1C'])
  c.pseudorangeRate = float(meas.observables_final['D1C'])
  c.pseudorangeRateStd = float(meas.observables_std['D1C'])
  c.satPos = meas.sat_pos_final.tolist()
  c.satVel = meas.sat_vel.tolist()
  c.satVel = meas.sat_vel.tolist()
  return c
 def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMeasurement]):
  ekf_data = defaultdict(list)
  for m in measurements:
    m_arr = m.as_array()
    if m.constellation_id == ConstellationId.GPS:
      ekf_data[ObservationKind.PSEUDORANGE_GPS].append(m_arr)
    elif m.constellation_id == ConstellationId.GLONASS:
      ekf_data[ObservationKind.PSEUDORANGE_GLONASS].append(m_arr)
  ekf_data[ObservationKind.PSEUDORANGE_RATE_GPS] = ekf_data[ObservationKind.PSEUDORANGE_GPS]
  ekf_data[ObservationKind.PSEUDORANGE_RATE_GLONASS] = ekf_data[ObservationKind.PSEUDORANGE_GLONASS]
  for kind, data in ekf_data.items():
    if len(data) > 0:
      gnss_kf.predict_and_observe(t, kind, data)
 def clear_tmp_cache():
  if os.path.exists(Paths.download_cache_root()):
    shutil.rmtree(Paths.download_cache_root())
  os.mkdir(Paths.download_cache_root())
 def main():
  #clear_tmp_cache()
  use_qcom = not Params().get_bool("UbloxAvailable")
  if use_qcom:
    raw_name = "qcomGnss"
  else:
    raw_name = "ubloxGnss"
  raw_gnss_sock = messaging.sub_sock(raw_name, conflate=False)
  pm = messaging.PubMaster(['gnssMeasurements'])
  # disable until set as main gps source, to better analyze startup time
  # TODO ensure low CPU usage before enabling
  use_internet = False  # "LAIKAD_NO_INTERNET" not in os.environ
  replay = "REPLAY" in os.environ
  laikad = Laikad(save_ephemeris=not replay, auto_fetch_navs=use_internet, use_qcom=use_qcom)
  while True:
    for in_msg in messaging.drain_sock(raw_gnss_sock, wait_for_one=True):
      out_msg = laikad.process_gnss_msg(getattr(in_msg, raw_name), in_msg.logMonoTime, replay)
      pm.send('gnssMeasurements', out_msg)
 if __name__ == "__main__":
  main()
--- a/selfdrive/locationd/test/test_laikad.py
+++ b/selfdrive/locationd/test/test_laikad.py
@ -1,319 +0,0 @@
 #!/usr/bin/env python3
 import pytest
 import time
 import unittest
 from cereal import log
 from openpilot.common.params import Params
 from datetime import datetime
 from unittest import mock
 from laika.constants import SECS_IN_DAY
 from laika.downloader import DownloadFailed
 from laika.ephemeris import EphemerisType
 from laika.gps_time import GPSTime
 from laika.helpers import ConstellationId
 from laika.raw_gnss import GNSSMeasurement, read_raw_ublox, read_raw_qcom
 from openpilot.selfdrive.locationd.laikad import EPHEMERIS_CACHE, Laikad
 from openpilot.selfdrive.test.openpilotci import get_url
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
 GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC = GPSTime.from_datetime(datetime(2022, month=1, day=29, hour=12))
 UBLOX_TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"
 QCOM_TEST_ROUTE = "616dc83ca1f7f11e|2023-07-11--10-52-31"
 def get_log_ublox():
  logs = LogReader(get_url(UBLOX_TEST_ROUTE, 0))
  ublox_cfg = get_process_config("ubloxd")
  all_logs = replay_process(ublox_cfg, logs)
  low_gnss = []
  for m in all_logs:
    if m.which() != "ubloxGnss" or m.ubloxGnss.which() != 'measurementReport':
      continue
    MAX_MEAS = 7
    if m.ubloxGnss.measurementReport.numMeas > MAX_MEAS:
      mb = log.Event.new_message(ubloxGnss=m.ubloxGnss.to_dict())
      mb.logMonoTime = m.logMonoTime
      mb.ubloxGnss.measurementReport.numMeas = MAX_MEAS
      mb.ubloxGnss.measurementReport.measurements = list(m.ubloxGnss.measurementReport.measurements)[:MAX_MEAS]
      mb.ubloxGnss.measurementReport.measurements[0].pseudorange += 1000
      low_gnss.append(mb.as_reader())
    else:
      low_gnss.append(m)
  return all_logs, low_gnss
 def get_log_qcom():
  logs = LogReader(get_url(QCOM_TEST_ROUTE, 0))
  all_logs = [m for m in logs if m.which() == 'qcomGnss']
  return all_logs
 def verify_messages(lr, laikad, return_one_success=False):
  good_msgs = []
  for m in lr:
    if m.which() == 'ubloxGnss':
      gnss_msg = m.ubloxGnss
    elif m.which() == 'qcomGnss':
      gnss_msg = m.qcomGnss
    else:
      continue
    msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=True)
    if msg is not None and len(msg.gnssMeasurements.correctedMeasurements) > 0:
      good_msgs.append(msg)
      if return_one_success:
        return msg
  return good_msgs
 def get_first_gps_time(logs):
  for m in logs:
    if m.which() == 'ubloxGnss':
      if m.ubloxGnss.which == 'measurementReport':
        new_meas = read_raw_ublox(m.ubloxGnss.measurementReport)
        if len(new_meas) > 0:
          return new_meas[0].recv_time
    elif m.which() == "qcomGnss":
      if m.qcomGnss.which == 'measurementReport':
        new_meas = read_raw_qcom(m.qcomGnss.measurementReport)
        if len(new_meas) > 0:
          return new_meas[0].recv_time
 def get_measurement_mock(gpstime, sat_ephemeris):
  meas = GNSSMeasurement(ConstellationId.GPS, 1, gpstime.week, gpstime.tow, {'C1C': 0., 'D1C': 0.}, {'C1C': 0., 'D1C': 0.})
  # Fake measurement being processed
  meas.observables_final = meas.observables
  meas.sat_ephemeris = sat_ephemeris
  return meas
@pytest.mark.slow
 class TestLaikad(unittest.TestCase):
  @classmethod
  def setUpClass(cls):
    logs, low_gnss = get_log_ublox()
    cls.logs = logs
    cls.low_gnss = low_gnss
    cls.logs_qcom = get_log_qcom()
    first_gps_time = get_first_gps_time(logs)
    cls.first_gps_time = first_gps_time
  def setUp(self):
    Params().remove(EPHEMERIS_CACHE)
  def test_fetch_navs_non_blocking(self):
    gpstime = GPSTime.from_datetime(datetime(2021, month=3, day=1))
    laikad = Laikad()
    laikad.fetch_navs(gpstime, block=False)
    laikad.orbit_fetch_future.result(30)
    # Get results and save orbits to laikad:
    laikad.fetch_navs(gpstime, block=False)
    ephem = laikad.astro_dog.navs['G01'][0]
    self.assertIsNotNone(ephem)
    laikad.fetch_navs(gpstime+2*SECS_IN_DAY, block=False)
    laikad.orbit_fetch_future.result(30)
    # Get results and save orbits to laikad:
    laikad.fetch_navs(gpstime + 2 * SECS_IN_DAY, block=False)
    ephem2 = laikad.astro_dog.navs['G01'][0]
    self.assertIsNotNone(ephem)
    self.assertNotEqual(ephem, ephem2)
  def test_fetch_navs_with_wrong_clocks(self):
    laikad = Laikad()
    def check_has_navs():
      self.assertGreater(len(laikad.astro_dog.navs), 0)
      ephem = laikad.astro_dog.navs['G01'][0]
      self.assertIsNotNone(ephem)
    real_current_time = GPSTime.from_datetime(datetime(2021, month=3, day=1))
    wrong_future_clock_time = real_current_time + SECS_IN_DAY
    laikad.fetch_navs(wrong_future_clock_time, block=True)
    check_has_navs()
    self.assertEqual(laikad.last_fetch_navs_t, wrong_future_clock_time)
    # Test fetching orbits with earlier time
    assert real_current_time < laikad.last_fetch_navs_t
    laikad.astro_dog.orbits = {}
    laikad.fetch_navs(real_current_time, block=True)
    check_has_navs()
    self.assertEqual(laikad.last_fetch_navs_t, real_current_time)
  def test_laika_online(self):
    laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT)
    correct_msgs = verify_messages(self.logs, laikad)
    correct_msgs_expected = 560
    self.assertEqual(correct_msgs_expected, len(correct_msgs))
    self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
  def test_kf_becomes_valid(self):
    laikad = Laikad(auto_update=False)
    m = self.logs[0]
    self.assertFalse(all(laikad.kf_valid(m.logMonoTime * 1e-9)))
    kf_valid = False
    for m in self.logs:
      if m.which() != 'ubloxGnss':
        continue
      laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True)
      kf_valid = all(laikad.kf_valid(m.logMonoTime * 1e-9))
      if kf_valid:
        break
    self.assertTrue(kf_valid)
  def test_laika_online_nav_only(self):
    for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs], strict=True):
      laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV, use_qcom=use_qcom)
      # Disable fetch_orbits to test NAV only
      correct_msgs = verify_messages(logs, laikad)
      correct_msgs_expected = 55 if use_qcom else 560
      valid_fix_expected = 55 if use_qcom else 560
      self.assertEqual(correct_msgs_expected, len(correct_msgs))
      self.assertEqual(valid_fix_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
  @mock.patch('laika.downloader.download_and_cache_file')
  def test_laika_offline(self, downloader_mock):
    downloader_mock.side_effect = DownloadFailed("Mock download failed")
    laikad = Laikad(auto_update=False)
    laikad.fetch_navs(GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC, block=True)
  @mock.patch('laika.downloader.download_and_cache_file')
  def test_download_failed_russian_source(self, downloader_mock):
    downloader_mock.side_effect = DownloadFailed
    laikad = Laikad(auto_update=False)
    correct_msgs = verify_messages(self.logs, laikad)
    expected_msgs = 376
    self.assertEqual(expected_msgs, len(correct_msgs))
    self.assertEqual(expected_msgs, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
  def test_laika_get_orbits(self):
    laikad = Laikad(auto_update=False)
    # Pretend process has loaded the orbits on startup by using the time of the first gps message.
    laikad.fetch_navs(self.first_gps_time, block=True)
    self.dict_has_values(laikad.astro_dog.navs)
  @unittest.skip("Use to debug live data")
  def test_laika_get_navs_now(self):
    laikad = Laikad(auto_update=False)
    laikad.fetch_navs(GPSTime.from_datetime(datetime.utcnow()), block=True)
    prn = "G01"
    self.assertGreater(len(laikad.astro_dog.navs[prn]), 0)
    prn = "R01"
    self.assertGreater(len(laikad.astro_dog.navs[prn]), 0)
  def test_get_navs_in_process(self):
    for auto_fetch_navs in [True, False]:
      for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs], strict=True):
        laikad = Laikad(auto_update=False, use_qcom=use_qcom, auto_fetch_navs=auto_fetch_navs)
        has_navs = False
        has_fix = False
        seen_chip_eph = False
        seen_internet_eph = False
        for m in logs:
          if m.which() != 'ubloxGnss' and m.which() != 'qcomGnss':
            continue
          gnss_msg = m.qcomGnss if use_qcom else m.ubloxGnss
          out_msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=False)
          if laikad.orbit_fetch_future is not None:
            laikad.orbit_fetch_future.result()
          vals = laikad.astro_dog.navs.values()
          has_navs = len(vals) > 0 and max([len(v) for v in vals]) > 0
          vals = laikad.astro_dog.qcom_polys.values()
          has_polys = len(vals) > 0 and max([len(v) for v in vals]) > 0
          has_fix = has_fix or out_msg.gnssMeasurements.positionECEF.valid
          if len(out_msg.gnssMeasurements.ephemerisStatuses):
            seen_chip_eph = seen_chip_eph or any(x.source == 'gnssChip' for x in out_msg.gnssMeasurements.ephemerisStatuses)
            seen_internet_eph = seen_internet_eph or any(x.source == 'internet' for x in out_msg.gnssMeasurements.ephemerisStatuses)
        self.assertTrue(has_navs or has_polys)
        self.assertTrue(has_fix)
        self.assertTrue(seen_chip_eph or auto_fetch_navs)
        self.assertTrue(seen_internet_eph or not auto_fetch_navs)
        self.assertEqual(len(laikad.astro_dog.navs_fetched_times._ranges), 0)
        self.assertEqual(None, laikad.orbit_fetch_future)
  def test_cache(self):
    use_qcom = True
    for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs], strict=True):
      Params().remove(EPHEMERIS_CACHE)
      laikad = Laikad(auto_update=True, save_ephemeris=True, use_qcom=use_qcom)
      def wait_for_cache():
        max_time = 2
        while Params().get(EPHEMERIS_CACHE) is None:
          time.sleep(0.1)
          max_time -= 0.1
          if max_time < 0:
            self.fail("Cache has not been written after 2 seconds")
      # Test cache with no ephemeris
      laikad.last_report_time = GPSTime(1,0)
      laikad.cache_ephemeris()
      if Params().get(EPHEMERIS_CACHE) is not None:
        self.fail("Cache should not have been written without valid ephem")
      #laikad.astro_dog.get_navs(self.first_gps_time)
      msg = verify_messages(logs, laikad, return_one_success=True)
      laikad.cache_ephemeris()
      wait_for_cache()
      # Check both nav and orbits separate
      laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV,
                      save_ephemeris=True, use_qcom=use_qcom, auto_fetch_navs=False)
      # Verify navs are loaded from cache
      self.dict_has_values(laikad.astro_dog.navs)
      # Verify cache is working for only nav by running a segment
      msg = verify_messages(logs, laikad, return_one_success=True)
      self.assertTrue(len(msg.gnssMeasurements.ephemerisStatuses))
      self.assertTrue(any(x.source=='cache' for x in msg.gnssMeasurements.ephemerisStatuses))
      self.assertIsNotNone(msg)
      #TODO test cache with only orbits
      #with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method:
      #  # Verify no orbit downloads even if orbit fetch times is reset since the cache has recently been saved and we don't want to download high frequently
      #  laikad.astro_dog.orbit_fetched_times = TimeRangeHolder()
      #  laikad.fetch_navs(self.first_gps_time, block=False)
      #  mock_method.assert_not_called()
      #  # Verify cache is working for only orbits by running a segment
      #  laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT, save_ephemeris=True)
      #  msg = verify_messages(self.logs, laikad, return_one_success=True)
      #  self.assertIsNotNone(msg)
      #  # Verify orbit data is not downloaded
      #  mock_method.assert_not_called()
      #break
  def test_low_gnss_meas(self):
    cnt = 0
    laikad = Laikad()
    for m in self.low_gnss:
      msg = laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True)
      if msg is None:
        continue
      gm = msg.gnssMeasurements
      if len(gm.correctedMeasurements) != 0 and gm.positionECEF.valid:
        cnt += 1
    self.assertEqual(cnt, 560)
  def dict_has_values(self, dct):
    self.assertGreater(len(dct), 0)
    self.assertGreater(min([len(v) for v in dct.values()]), 0)
 if __name__ == "__main__":
  unittest.main()
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@ -45,7 +45,6 @@ procs = [
  DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
  NativeProcess("camerad", "system/camerad", ["./camerad"], driverview),
  NativeProcess("clocksd", "system/clocksd", ["./clocksd"], only_onroad),
  NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
  NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad),
  PythonProcess("logmessaged", "system.logmessaged", always_run),
@ -69,7 +68,6 @@ procs = [
  PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
  PythonProcess("deleter", "system.loggerd.deleter", always_run),
  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
  PythonProcess("laikad", "selfdrive.locationd.laikad", only_onroad),
  PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", qcomgps, enabled=TICI),
  PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
  PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),
--- a/selfdrive/modeld/constants.py
+++ b/selfdrive/modeld/constants.py
@ -26,6 +26,8 @@ class ModelConstants:
  # model outputs constants
  FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32)
  FCW_THRESHOLDS_3MS2 = np.array([.7, .7], dtype=np.float32)
  FCW_5MS2_PROBS_WIDTH = 5
  FCW_3MS2_PROBS_WIDTH = 2
  DISENGAGE_WIDTH = 5
  POSE_WIDTH = 6
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@ -1,16 +1,19 @@
 import os
 import capnp
 import numpy as np
 from typing import Dict
 from cereal import log
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 ConfidenceClass = log.ModelDataV2.ConfidenceClass
 class PublishState:
  def __init__(self):
    self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32)
-    self.prev_brake_5ms2_probs = np.zeros(ModelConstants.DISENGAGE_WIDTH, dtype=np.float32)
+    self.prev_brake_5ms2_probs = np.zeros(ModelConstants.FCW_5MS2_PROBS_WIDTH, dtype=np.float32)
-    self.prev_brake_3ms2_probs = np.zeros(ModelConstants.DISENGAGE_WIDTH, dtype=np.float32)
+    self.prev_brake_3ms2_probs = np.zeros(ModelConstants.FCW_3MS2_PROBS_WIDTH, dtype=np.float32)
 def fill_xyzt(builder, t, x, y, z, x_std=None, y_std=None, z_std=None):
  builder.t = t
@ -168,6 +171,10 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str,
  else:
    modelV2.confidence = ConfidenceClass.red
  # raw prediction if enabled
  if SEND_RAW_PRED:
    modelV2.rawPredictions = net_output_data['raw_pred'].tobytes()
 def fill_pose_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str, np.ndarray],
                  vipc_frame_id: int, vipc_dropped_frames: int, timestamp_eof: int, live_calib_seen: bool) -> None:
  msg.valid = live_calib_seen & (vipc_dropped_frames < 1)
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import sys
 import os
 import time
 import pickle
 import numpy as np
@ -22,6 +23,8 @@ from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 MODEL_PATHS = {
  ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed',
  ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'}
@ -73,7 +76,10 @@ class ModelState:
      self.model.addInput(k, v)
  def slice_outputs(self, model_outputs: np.ndarray) -> Dict[str, np.ndarray]:
-    return {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()}
+    parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()}
    if SEND_RAW_PRED:
      parsed_model_outputs['raw_pred'] = model_outputs.copy()
    return parsed_model_outputs
  def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
                inputs: Dict[str, np.ndarray], prepare_only: bool) -> Optional[Dict[str, np.ndarray]]:
--- a/selfdrive/test/process_replay/README.md
+++ b/selfdrive/test/process_replay/README.md
@ -17,7 +17,6 @@ Currently the following processes are tested:
 * locationd
 * paramsd
 * ubloxd
 * laikad
 * torqued
 ### Usage
@ -71,7 +70,7 @@ lr = LogReader(...)
 output_logs = replay_process_with_name('locationd', lr)
 # or list of names
-output_logs = replay_process_with_name(['ubloxd', 'locationd', 'laikad'], lr)
+output_logs = replay_process_with_name(['ubloxd', 'locationd'], lr)
 ```
 Supported processes: 
@ -83,7 +82,6 @@ Supported processes:
 * locationd
 * paramsd 
 * ubloxd
 * laikad
 * torqued
 * modeld
 * dmonitoringmodeld
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@ -448,16 +448,6 @@ def controlsd_config_callback(params, cfg, lr):
  params.put("ReplayControlsState", controlsState.as_builder().to_bytes())
 def laikad_config_pubsub_callback(params, cfg, lr):
  ublox = params.get_bool("UbloxAvailable")
  main_key = "ubloxGnss" if ublox else "qcomGnss"
  sub_keys = ({"qcomGnss", } if ublox else {"ubloxGnss", })
  cfg.pubs = set(cfg.pubs) - sub_keys
  cfg.main_pub = main_key
  cfg.main_pub_drained = True
 def locationd_config_pubsub_callback(params, cfg, lr):
  ublox = params.get_bool("UbloxAvailable")
  sub_keys = ({"gpsLocation", } if ublox else {"gpsLocationExternal", })
@ -543,17 +533,6 @@ CONFIGS = [
    subs=["ubloxGnss", "gpsLocationExternal"],
    ignore=["logMonoTime"],
  ),
  ProcessConfig(
    proc_name="laikad",
    pubs=["ubloxGnss", "qcomGnss"],
    subs=["gnssMeasurements"],
    ignore=["logMonoTime"],
    config_callback=laikad_config_pubsub_callback,
    tolerance=NUMPY_TOLERANCE,
    processing_time=0.002,
    timeout=60*10,  # first messages are blocked on internet assistance
    main_pub="ubloxGnss", # config_callback will switch this to qcom if needed
  ),
  ProcessConfig(
    proc_name="torqued",
    pubs=["liveLocationKalman", "carState", "carControl"],
--- a/selfdrive/test/process_replay/test_fuzzy.py
+++ b/selfdrive/test/process_replay/test_fuzzy.py
@ -13,7 +13,7 @@ import openpilot.selfdrive.test.process_replay.process_replay as pr
 # These processes currently fail because of unrealistic data breaking assumptions
 # that openpilot makes causing error with NaN, inf, int size, array indexing ...
 # TODO: Make each one testable
-NOT_TESTED = ['controlsd', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'laikad', 'dmonitoringmodeld', 'modeld']
+NOT_TESTED = ['controlsd', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld']
 TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED]
 class TestFuzzProcesses(unittest.TestCase):
--- a/selfdrive/test/profiling/profiler.py
+++ b/selfdrive/test/profiling/profiler.py
@ -83,14 +83,12 @@ if __name__ == '__main__':
  from openpilot.selfdrive.controls.radard import radard_thread
  from openpilot.selfdrive.locationd.paramsd import main as paramsd_thread
  from openpilot.selfdrive.controls.plannerd import main as plannerd_thread
  from openpilot.selfdrive.locationd.laikad import main as laikad_thread
  procs = {
    'radard': radard_thread,
    'controlsd': controlsd_thread,
    'paramsd': paramsd_thread,
    'plannerd': plannerd_thread,
    'laikad': laikad_thread,
  }
  proc = sys.argv[1]
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@ -47,7 +47,6 @@ PROCS = {
  "selfdrive.monitoring.dmonitoringd": 4.0,
  "./proclogd": 1.54,
  "system.logmessaged": 0.2,
  "./clocksd": 0.02,
  "selfdrive.tombstoned": 0,
  "./logcatd": 0,
  "system.micd": 10.0,
@ -57,7 +56,6 @@ PROCS = {
  "selfdrive.navd.navd": 0.4,
  "system.loggerd.uploader": 3.0,
  "system.loggerd.deleter": 0.1,
  "selfdrive.locationd.laikad": (1.0, 80.0),  # TODO: better GPS setup in testing closet
 }
 PROCS.update({
--- a/selfdrive/test/update_ci_routes.py
+++ b/selfdrive/test/update_ci_routes.py
@ -8,7 +8,6 @@ from azure.storage.blob import ContainerClient
 from tqdm import tqdm
 from openpilot.selfdrive.car.tests.routes import routes as test_car_models_routes
 from openpilot.selfdrive.locationd.test.test_laikad import UBLOX_TEST_ROUTE, QCOM_TEST_ROUTE
 from openpilot.selfdrive.test.process_replay.test_processes import source_segments as replay_segments
 from openpilot.selfdrive.test.openpilotci import (DATA_CI_ACCOUNT, DATA_CI_ACCOUNT_URL, DATA_CI_CONTAINER,
                                                  get_azure_credential, get_container_sas)
@ -90,7 +89,6 @@ if __name__ == "__main__":
  if not len(to_sync):
    # sync routes from the car tests routes and process replay
    to_sync.extend([UBLOX_TEST_ROUTE, QCOM_TEST_ROUTE])
    to_sync.extend([rt.route for rt in test_car_models_routes])
    to_sync.extend([s[1].rsplit('--', 1)[0] for s in replay_segments])
--- a/system/clocksd/.gitignore
+++ b/system/clocksd/.gitignore
@ -1 +0,0 @@
 clocksd
--- a/system/clocksd/SConscript
+++ b/system/clocksd/SConscript
@ -1,2 +0,0 @@
 Import('env', 'common', 'cereal', 'messaging')
 env.Program('clocksd.cc', LIBS=[common, cereal, messaging, 'capnp', 'zmq', 'kj'])
--- a/system/clocksd/clocksd.cc
+++ b/system/clocksd/clocksd.cc
@ -1,73 +0,0 @@
 #include <sys/resource.h>
 #include <sys/time.h>
 #include <unistd.h>
 #include <cstdint>
 #include <cstdio>
 // Apple doesn't have timerfd
 #ifdef __APPLE__
 #include <thread>
 #else
 #include <sys/timerfd.h>
 #endif
 #include <cassert>
 #include <chrono>
 #include "cereal/messaging/messaging.h"
 #include "common/timing.h"
 #include "common/util.h"
 ExitHandler do_exit;
 int main() {
  setpriority(PRIO_PROCESS, 0, -13);
  PubMaster pm({"clocks"});
 #ifndef __APPLE__
  int timerfd = timerfd_create(CLOCK_BOOTTIME, 0);
  assert(timerfd >= 0);
  struct itimerspec spec = {0};
  spec.it_interval.tv_sec = 1;
  spec.it_interval.tv_nsec = 0;
  spec.it_value.tv_sec = 1;
  spec.it_value.tv_nsec = 0;
  int err = timerfd_settime(timerfd, 0, &spec, 0);
  assert(err == 0);
  uint64_t expirations = 0;
  while (!do_exit && (err = read(timerfd, &expirations, sizeof(expirations)))) {
    if (err < 0) {
      if (errno == EINTR) continue;
      break;
    }
 #else
  // Just run at 1Hz on apple
  while (!do_exit) {
    util::sleep_for(1000);
 #endif
    uint64_t boottime = nanos_since_boot();
    uint64_t monotonic = nanos_monotonic();
    uint64_t monotonic_raw = nanos_monotonic_raw();
    uint64_t wall_time = nanos_since_epoch();
    MessageBuilder msg;
    auto clocks = msg.initEvent().initClocks();
    clocks.setBootTimeNanos(boottime);
    clocks.setMonotonicNanos(monotonic);
    clocks.setMonotonicRawNanos(monotonic_raw);
    clocks.setWallTimeNanos(wall_time);
    pm.send("clocks", msg);
  }
 #ifndef __APPLE__
  close(timerfd);
 #endif
  return 0;
 }
--- a/system/sensord/rawgps/test_rawgps.py
+++ b/system/sensord/rawgps/test_rawgps.py
@ -5,13 +5,11 @@ import time
 import datetime
 import unittest
 import subprocess
 import numpy as np
 import cereal.messaging as messaging
 from openpilot.system.hardware import TICI
 from openpilot.system.sensord.rawgps.rawgpsd import at_cmd, wait_for_modem
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.common.transformations.coordinates import ecef_from_geodetic
 GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0')))
@ -123,22 +121,5 @@ class TestRawgpsd(unittest.TestCase):
    managed_processes['rawgpsd'].stop()
    self.check_assistance(True)
  @unittest.skipIf(not GOOD_SIGNAL, "No good GPS signal")
  def test_fix(self):
    managed_processes['rawgpsd'].start()
    managed_processes['laikad'].start()
    assert self._wait_for_output(60)
    assert self.sm.updated['qcomGnss']
    assert self.sm.updated['gpsLocation']
    assert self.sm['gpsLocation'].flags == 1
    module_fix = ecef_from_geodetic([self.sm['gpsLocation'].latitude,
                                     self.sm['gpsLocation'].longitude,
                                     self.sm['gpsLocation'].altitude])
    assert self.sm['gnssMeasurements'].positionECEF.valid
    total_diff = np.array(self.sm['gnssMeasurements'].positionECEF.value) - module_fix
    self.assertLess(np.linalg.norm(total_diff), 100)
    managed_processes['laikad'].stop()
    managed_processes['rawgpsd'].stop()
 if __name__ == "__main__":
  unittest.main(failfast=True)
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@ -22,12 +22,6 @@
 #include "tools/cabana/streamselector.h"
 #include "tools/cabana/tools/findsignal.h"
 static MainWindow *main_win = nullptr;
 void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) {
  if (type == QtDebugMsg) std::cout << msg.toStdString() << std::endl;
  if (main_win) emit main_win->showMessage(msg, 2000);
 }
 MainWindow::MainWindow() : QMainWindow() {
  createDockWindows();
  setCentralWidget(center_widget = new CenterWidget(this));
@ -45,20 +39,23 @@ MainWindow::MainWindow() : QMainWindow() {
  }
  restoreState(settings.window_state);
  // install handlers
  static auto static_main_win = this;
  qRegisterMetaType<uint64_t>("uint64_t");
  qRegisterMetaType<SourceSet>("SourceSet");
  qRegisterMetaType<ReplyMsgType>("ReplyMsgType");
-  installMessageHandler([this](ReplyMsgType type, const std::string msg) {
+  installDownloadProgressHandler([](uint64_t cur, uint64_t total, bool success) {
-    // use queued connection to recv the log messages from replay.
+    emit static_main_win->updateProgressBar(cur, total, success);
    emit showMessage(QString::fromStdString(msg), 2000);
  });
-  installDownloadProgressHandler([this](uint64_t cur, uint64_t total, bool success) {
+  qInstallMessageHandler([](QtMsgType type, const QMessageLogContext &context, const QString &msg) {
-    emit updateProgressBar(cur, total, success);
+    if (type == QtDebugMsg) std::cout << msg.toStdString() << std::endl;
    emit static_main_win->showMessage(msg, 2000);
  });
  installMessageHandler([](ReplyMsgType type, const std::string msg) {
    qInfo() << QString::fromStdString(msg);
  });
-  main_win = this;
+  // load fingerprints
  qInstallMessageHandler(qLogMessageHandler);
  QFile json_file(QApplication::applicationDirPath() + "/dbc/car_fingerprint_to_dbc.json");
  if (json_file.open(QIODevice::ReadOnly)) {
    fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll());
@ -597,7 +594,9 @@ void MainWindow::closeEvent(QCloseEvent *event) {
  cleanupAutoSaveFile();
  remindSaveChanges();
-  main_win = nullptr;
+  installDownloadProgressHandler(nullptr);
  qInstallMessageHandler(nullptr);
  if (floating_window)
    floating_window->deleteLater();
--- a/tools/gpstest/fuzzy_testing.py
+++ b/tools/gpstest/fuzzy_testing.py
@ -33,8 +33,7 @@ def run_remote_checker(lat, lon, alt, duration, ip_addr):
    return False, None, None
  matched, log, info = con.root.exposed_run_checker(lat, lon, alt,
-                        timeout=duration,
+                        timeout=duration)
                        use_laikad=True)
  con.close() # TODO: might wanna fetch more logs here
  con = None
@ -43,7 +42,7 @@ def run_remote_checker(lat, lon, alt, duration, ip_addr):
 stats = defaultdict(int) # type: ignore
-keys = ['success', 'failed', 'ublox_fail', 'laikad_fail', 'proc_crash', 'checker_crash']
+keys = ['success', 'failed', 'ublox_fail', 'proc_crash', 'checker_crash']
 def print_report():
  print("\nFuzzy testing report summary:")
@ -62,10 +61,7 @@ def update_stats(matched, log, info):
  if log == "CHECKER CRASHED":
    stats['checker_crash'] += 1
  if log == "TIMEOUT":
-    if "LAIKAD" in info:
+    stats['ublox_fail'] += 1
      stats['laikad_fail'] += 1
    else: # "UBLOX" in info
      stats['ublox_fail'] += 1
 def main(ip_addr, continuous_mode, timeout, pos):
--- a/tools/gpstest/rpc_server.py
+++ b/tools/gpstest/rpc_server.py
@ -1,185 +0,0 @@
 import os
 import time
 import shutil
 from datetime import datetime
 from collections import defaultdict
 from openpilot.system.hardware.hw import Paths
 import rpyc
 from rpyc.utils.server import ThreadedServer
 #from openpilot.common.params import Params
 import cereal.messaging as messaging
 from openpilot.selfdrive.manager.process_config import managed_processes
 from laika.lib.coordinates import ecef2geodetic
 DELTA = 0.001
 ALT_DELTA = 30
 MATCH_NUM = 10
 REPORT_STATS = 10
 EPHEM_CACHE = "/data/params/d/LaikadEphemerisV3"
 SERVER_LOG_FILE = "/tmp/fuzzy_server.log"
 server_log = open(SERVER_LOG_FILE, "w+")
 def slog(msg):
  server_log.write(f"{datetime.now().strftime('%H:%M:%S.%f')} | {msg}\n")
  server_log.flush()
 def handle_laikad(msg):
  if not hasattr(msg, 'correctedMeasurements'):
    return None
  num_corr = len(msg.correctedMeasurements)
  pos_ecef = msg.positionECEF.value
  pos_geo = []
  if len(pos_ecef) > 0:
    pos_geo = ecef2geodetic(pos_ecef)
  pos_std = msg.positionECEF.std
  pos_valid = msg.positionECEF.valid
  slog(f"{num_corr} {pos_geo} {pos_ecef} {pos_std} {pos_valid}")
  return pos_geo, (num_corr, pos_geo, list(pos_ecef), list(msg.positionECEF.std))
 hw_msgs = 0
 ephem_msgs: dict = defaultdict(int)
 def handle_ublox(msg):
  global hw_msgs
  d = msg.to_dict()
  if 'hwStatus2' in d:
    hw_msgs += 1
  if 'ephemeris' in d:
    ephem_msgs[msg.ephemeris.svId] += 1
  num_meas = None
  if 'measurementReport' in d:
    num_meas = msg.measurementReport.numMeas
  return [hw_msgs, ephem_msgs, num_meas]
 def start_procs(procs):
  for p in procs:
    managed_processes[p].start()
  time.sleep(1)
 def kill_procs(procs, no_retry=False):
  for p in procs:
    managed_processes[p].stop()
  time.sleep(1)
  if not no_retry:
    for p in procs:
      mp = managed_processes[p].proc
      if mp is not None and mp.is_alive():
        managed_processes[p].stop()
    time.sleep(3)
 def check_alive_procs(procs):
  for p in procs:
    mp = managed_processes[p].proc
    if mp is None or not mp.is_alive():
      return False, p
  return True, None
 class RemoteCheckerService(rpyc.Service):
  def on_connect(self, conn):
    pass
  def on_disconnect(self, conn):
    #kill_procs(self.procs, no_retry=False)
    # this execution is delayed, it will kill the next run of laikad
    # TODO: add polling to wait for everything is killed
    pass
  def run_checker(self, slat, slon, salt, sockets, procs, timeout):
    global hw_msgs, ephem_msgs
    hw_msgs = 0
    ephem_msgs = defaultdict(int)
    slog(f"Run test: {slat} {slon} {salt}")
    # quectel_mod = Params().get_bool("UbloxAvailable")
    match_cnt = 0
    msg_cnt = 0
    stats_laikad = []
    stats_ublox = []
    self.procs = procs
    start_procs(procs)
    sm = messaging.SubMaster(sockets)
    start_time = time.monotonic()
    while True:
      sm.update()
      if sm.updated['ubloxGnss']:
        stats_ublox.append(handle_ublox(sm['ubloxGnss']))
      if sm.updated['gnssMeasurements']:
        pos_geo, stats = handle_laikad(sm['gnssMeasurements'])
        if pos_geo is None or len(pos_geo) == 0:
          continue
        match  = all(abs(g-s) < DELTA for g,s in zip(pos_geo[:2], [slat, slon], strict=True))
        match &= abs(pos_geo[2] - salt) < ALT_DELTA
        if match:
          match_cnt += 1
          if match_cnt >= MATCH_NUM:
            return True, "MATCH", f"After: {round(time.monotonic() - start_time, 4)}"
        # keep some stats for error reporting
        stats_laikad.append(stats)
      if (msg_cnt % 10) == 0:
        a, p = check_alive_procs(procs)
        if not a:
          return False, "PROC CRASH", f"{p}"
      msg_cnt += 1
      if (time.monotonic() - start_time) > timeout:
        h = f"LAIKAD: {stats_laikad[-REPORT_STATS:]}"
        if len(h) == 0:
          h = f"UBLOX: {stats_ublox[-REPORT_STATS:]}"
        return False, "TIMEOUT", h
  def exposed_run_checker(self, slat, slon, salt, timeout=180, use_laikad=True):
    try:
      procs = []
      sockets = []
      if use_laikad:
        procs.append("laikad") # pigeond, ubloxd # might wanna keep them running
        sockets += ['ubloxGnss', 'gnssMeasurements']
        if os.path.exists(EPHEM_CACHE):
          os.remove(EPHEM_CACHE)
        shutil.rmtree(Paths.download_cache_root(), ignore_errors=True)
      ret = self.run_checker(slat, slon, salt, sockets, procs, timeout)
      kill_procs(procs)
      return ret
    except Exception as e:
      # always make sure processes get killed
      kill_procs(procs)
      return False, "CHECKER CRASHED", f"{str(e)}"
  def exposed_kill_procs(self):
    kill_procs(self.procs, no_retry=True)
 if __name__ == "__main__":
  print(f"Sever Log written to: {SERVER_LOG_FILE}")
  t = ThreadedServer(RemoteCheckerService, port=18861)
  t.start()
--- a/tools/gpstest/test_laikad.py
+++ b/tools/gpstest/test_laikad.py
@ -1,105 +0,0 @@
 #!/usr/bin/env python3
 import os
 import time
 import unittest
 import cereal.messaging as messaging
 import openpilot.system.sensord.pigeond as pd
 from openpilot.common.params import Params
 from openpilot.system.hardware import TICI
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.selfdrive.test.helpers import with_processes
 def wait_for_location(sm, timeout, con=10):
  cons_meas = 0
  start_time = time.monotonic()
  while (time.monotonic() - start_time) < timeout:
    sm.update()
    if not sm.updated["gnssMeasurements"]:
      continue
    msg = sm["gnssMeasurements"]
    cons_meas = (cons_meas + 1) if 'positionECEF' in msg.to_dict() else 0
    if cons_meas >= con:
      return True
  return False
 class TestLaikad(unittest.TestCase):
  @classmethod
  def setUpClass(self):
    if not TICI:
      raise unittest.SkipTest
    ublox_available = Params().get_bool("UbloxAvailable")
    if not ublox_available:
      raise unittest.SkipTest
  def setUp(self):
    # ensure laikad cold start
    Params().remove("LaikadEphemerisV3")
    os.environ["LAIKAD_NO_INTERNET"] = "1"
    managed_processes['laikad'].start()
  def tearDown(self):
    managed_processes['laikad'].stop()
  @with_processes(['pigeond', 'ubloxd'])
  def test_laikad_cold_start(self):
    time.sleep(5)
    start_time = time.monotonic()
    sm = messaging.SubMaster(["gnssMeasurements"])
    success = wait_for_location(sm, 60*2, con=10)
    duration = time.monotonic() - start_time
    assert success, "Waiting for location timed out (2min)!"
    assert duration < 60, f"Received Location {duration}!"
  @with_processes(['ubloxd'])
  def test_laikad_ublox_reset_start(self):
    time.sleep(2)
    pigeon, pm = pd.create_pigeon()
    pd.init_baudrate(pigeon)
    assert pigeon.reset_device(), "Could not reset device!"
    laikad_sock = messaging.sub_sock("gnssMeasurements", timeout=0.1)
    ublox_gnss_sock = messaging.sub_sock("ubloxGnss", timeout=0.1)
    pd.init_baudrate(pigeon)
    pd.initialize_pigeon(pigeon)
    pd.run_receiving(pigeon, pm, 180)
    ublox_msgs = messaging.drain_sock(ublox_gnss_sock)
    laikad_msgs = messaging.drain_sock(laikad_sock)
    gps_ephem_cnt = 0
    glonass_ephem_cnt = 0
    for um in ublox_msgs:
      if um.ubloxGnss.which() == 'ephemeris':
        gps_ephem_cnt += 1
      elif um.ubloxGnss.which() == 'glonassEphemeris':
        glonass_ephem_cnt += 1
    assert gps_ephem_cnt > 0, "NO gps ephemeris collected!"
    assert glonass_ephem_cnt > 0, "NO glonass ephemeris collected!"
    pos_meas = 0
    duration = -1
    for lm in laikad_msgs:
      pos_meas = (pos_meas + 1) if 'positionECEF' in lm.gnssMeasurements.to_dict() else 0
      if pos_meas > 5:
        duration = (lm.logMonoTime - laikad_msgs[0].logMonoTime)*1e-9
        break
    assert pos_meas > 5, "NOT enough positions at end of read!"
    assert duration < 120, "Laikad took too long to get a Position!"
 if __name__ == "__main__":
  unittest.main()
--- a/tools/replay/util.cc
+++ b/tools/replay/util.cc
@ -19,10 +19,7 @@
 #include "common/util.h"
 ReplayMessageHandler message_handler = nullptr;
 DownloadProgressHandler download_progress_handler = nullptr;
 void installMessageHandler(ReplayMessageHandler handler) { message_handler = handler; }
 void installDownloadProgressHandler(DownloadProgressHandler handler) { download_progress_handler = handler; }
 void logMessage(ReplyMsgType type, const char *fmt, ...) {
  static std::mutex lock;
@ -94,6 +91,11 @@ size_t write_cb(char *data, size_t size, size_t count, void *userp) {
 size_t dumy_write_cb(char *data, size_t size, size_t count, void *userp) { return size * count; }
 struct DownloadStats {
  void installDownloadProgressHandler(DownloadProgressHandler handler) {
    std::lock_guard lk(lock);
    download_progress_handler = handler;
  }
  void add(const std::string &url, uint64_t total_bytes) {
    std::lock_guard lk(lock);
    items[url] = {0, total_bytes};
@ -121,10 +123,17 @@ struct DownloadStats {
  std::mutex lock;
  std::map<std::string, std::pair<uint64_t, uint64_t>> items;
  double prev_tm = 0;
  DownloadProgressHandler download_progress_handler = nullptr;
 };
 static DownloadStats download_stats;
 } // namespace
 void installDownloadProgressHandler(DownloadProgressHandler handler) {
  download_stats.installDownloadProgressHandler(handler);
 }
 std::string formattedDataSize(size_t size) {
  if (size < 1024) {
    return std::to_string(size) + " B";
@ -167,7 +176,6 @@ std::string getUrlWithoutQuery(const std::string &url) {
 template <class T>
 bool httpDownload(const std::string &url, T &buf, size_t chunk_size, size_t content_length, std::atomic<bool> *abort) {
  static DownloadStats download_stats;
  download_stats.add(url, content_length);
  int parts = 1;
		`@ -1,2 +0,0 @@`
			`Import('env', 'common', 'cereal', 'messaging')`
			`env.Program('clocksd.cc', LIBS=[common, cereal, messaging, 'capnp', 'zmq', 'kj'])`