diff --git a/.github/ISSUE_TEMPLATE/car_bug_report.yml b/.github/ISSUE_TEMPLATE/car_bug_report.yml
index 23527c3a43..7f368f11b4 100644
--- a/.github/ISSUE_TEMPLATE/car_bug_report.yml
+++ b/.github/ISSUE_TEMPLATE/car_bug_report.yml
@@ -1,6 +1,6 @@
 name: Car bug report
 description: For issues with a particular car make or model
-labels: ["car bug"]
+labels: ["car", "bug"]
 body:
 
   - type: markdown
diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml
index a6808a0276..7acc8a2254 100644
--- a/.github/workflows/prebuilt.yaml
+++ b/.github/workflows/prebuilt.yaml
@@ -25,11 +25,12 @@ jobs:
       IMAGE_NAME: openpilot-prebuilt
     steps:
     - name: Wait for green check mark
-      uses: lewagon/wait-on-check-action@v0.2
+      uses: commaai/wait-on-check-action@f16fc3bb6cd4886520b4e9328db1d42104d5cadc
       with:
         ref: master
         wait-interval: 30
         running-workflow-name: 'build prebuilt'
+        check-regexp: ^((?!.*(build master-ci).*).)*$
     - uses: actions/checkout@v3
       with:
         submodules: true
diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml
index 14555f1e7d..fb5a37eeef 100644
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@@ -12,11 +12,12 @@ jobs:
     if: github.repository == 'commaai/openpilot'
     steps:
     - name: Wait for green check mark
-      uses: lewagon/wait-on-check-action@v0.2
+      uses: commaai/wait-on-check-action@f16fc3bb6cd4886520b4e9328db1d42104d5cadc
       with:
         ref: master
         wait-interval: 30
         running-workflow-name: 'build master-ci'
+        check-regexp: ^((?!.*(build prebuilt).*).)*$
     - uses: actions/checkout@v3
       with:
         submodules: true
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 04ae841f77..0ff0092b02 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -20,8 +20,7 @@ env:
   RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c
 
   BUILD_CL: |
-      docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base_cl) || true
-      docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
+      docker pull $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest || true
       docker build --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
   RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache $CL_BASE_IMAGE /bin/sh -c
 
@@ -95,7 +94,7 @@ jobs:
       run: |
           ${{ env.RUN }} "scons -j$(nproc) --extras --test && \
                           rm -rf /tmp/scons_cache/* && \
-                          scons -j$(nproc) --cache-populate"
+                          scons -j$(nproc) --extras --test --cache-populate"
 
   #build_mac:
   #  name: build macos
@@ -201,12 +200,15 @@ jobs:
         submodules: true
     - name: Build Docker image
       run: eval "$BUILD"
+    - name: Push to container registry
+      run: |
+        $DOCKER_LOGIN
+        docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest
     - name: Build CL Docker image
       run: eval "$BUILD_CL"
     - name: Push to container registry
       run: |
         $DOCKER_LOGIN
-        docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest
         docker push $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest
 
   static_analysis:
@@ -297,18 +299,22 @@ jobs:
                         $UNIT_TEST selfdrive/loggerd && \
                         $UNIT_TEST selfdrive/car && \
                         $UNIT_TEST selfdrive/locationd && \
+                        selfdrive/locationd/test/_test_locationd_lib.py && \
                         $UNIT_TEST selfdrive/athena && \
                         $UNIT_TEST selfdrive/thermald && \
                         $UNIT_TEST selfdrive/hardware/tici && \
                         $UNIT_TEST selfdrive/modeld && \
                         $UNIT_TEST tools/lib/tests && \
+                        ./selfdrive/ui/tests/create_test_translations.sh && \
+                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
+                        ./selfdrive/ui/tests/test_translations.py && \
                         ./common/tests/test_util && \
                         ./common/tests/test_swaglog && \
                         ./selfdrive/boardd/tests/test_boardd_usbprotocol && \
                         ./selfdrive/loggerd/tests/test_logger &&\
                         ./system/proclogd/tests/test_proclog && \
-                        ./selfdrive/ui/replay/tests/test_replay && \
-                        ./selfdrive/camerad/test/ae_gray_test && \
+                        ./tools/replay/tests/test_replay && \
+                        ./system/camerad/test/ae_gray_test && \
                         coverage xml"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v2
@@ -362,7 +368,7 @@ jobs:
                         CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v2
-  
+
   model_replay_onnx:
     name: model replay onnx
     runs-on: ubuntu-20.04
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index 1e4ce7a4ae..b2433fba8f 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -21,6 +21,46 @@ env:
        GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c
 
 jobs:
+  build_latest_ubuntu:
+    name: build latest ubuntu
+    runs-on: ubuntu-20.04
+    timeout-minutes: 60
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: true
+    - name: Cache pyenv
+      id: ubuntu-latest-pyenv
+      uses: actions/cache@v3
+      with:
+        path: |
+          ~/.pyenv
+          ~/.local/share/virtualenvs/
+        key: ubuntu-latest-python-${{ hashFiles('tools/ubuntu_setup.sh') }}-
+    - name: Cache scons
+      id: ubuntu-latest-scons
+      uses: actions/cache@v3
+      with:
+        path: /tmp/scons_cache
+        key: ubuntu-latest-scons-${{ hashFiles('.github/workflows/tools_test.yaml') }}-
+        restore-keys: |
+          ubuntu-latest-scons-${{ hashFiles('.github/workflows/tools_test.yaml') }}-
+          ubuntu-latest-scons-
+
+    - name: tools/ubuntu_setup.sh
+      run: |
+        source tools/openpilot_env.sh
+        tools/ubuntu_setup.sh
+    - name: Build openpilot
+      run: |
+        source tools/openpilot_env.sh
+        pipenv run scons -j$(nproc) --extras --test
+    - name: Cleanup scons cache
+      run: |
+        source tools/openpilot_env.sh
+        rm -rf /tmp/scons_cache/*
+        pipenv run scons -j$(nproc) --extras --test --cache-populate
+
   plotjuggler:
     name: plotjuggler
     runs-on: ubuntu-20.04
diff --git a/.gitignore b/.gitignore
index 334b1b4fed..0092c4dc94 100644
--- a/.gitignore
+++ b/.gitignore
@@ -49,8 +49,8 @@ selfdrive/loggerd/loggerd
 selfdrive/loggerd/bootlog
 selfdrive/sensord/_gpsd
 selfdrive/sensord/_sensord
-selfdrive/camerad/camerad
-selfdrive/camerad/test/ae_gray_test
+system/camerad/camerad
+system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 81ce927f65..b901e07721 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -20,7 +20,7 @@ repos:
     hooks:
     -   id: mypy
         exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)/'
-        additional_dependencies: ['lxml', 'numpy', 'types-atomicwrites', 'types-pycurl', 'types-requests', 'types-certifi']
+        additional_dependencies: ['types-PyYAML', 'lxml', 'numpy', 'types-atomicwrites', 'types-pycurl', 'types-requests', 'types-certifi']
         args:
         - --warn-redundant-casts
         - --warn-return-any
diff --git a/.pylintrc b/.pylintrc
index 73035360ca..58988c5d74 100644
--- a/.pylintrc
+++ b/.pylintrc
@@ -3,7 +3,7 @@
 # A comma-separated list of package or module names from where C extensions may
 # be loaded. Extensions are loading into the active Python interpreter and may
 # run arbitrary code
-extension-pkg-whitelist=scipy cereal.messaging.messaging_pyx
+extension-pkg-whitelist=scipy,cereal.messaging.messaging_pyx,PyQt5,av
 
 # Add files or directories to the blacklist. They should be base names, not
 # paths.
@@ -250,13 +250,6 @@ max-line-length=100
 # Maximum number of lines in a module
 max-module-lines=1000
 
-# List of optional constructs for which whitespace checking is disabled. `dict-
-# separator` is used to allow tabulation in dicts, etc.: {1  : 1,\n222: 2}.
-# `trailing-comma` allows a space between comma and closing bracket: (a, ).
-# `empty-line` allows space-only lines.
-no-space-check=trailing-comma,
-               dict-separator
-
 # Allow the body of a class to be on the same line as the declaration if body
 # contains single statement.
 single-line-class-stmt=no
diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot
index 66b9f18a11..102da78d7d 100644
--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@@ -8,11 +8,6 @@ ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
 RUN mkdir -p ${OPENPILOT_PATH}
 WORKDIR ${OPENPILOT_PATH}
 
-COPY Pipfile Pipfile.lock $OPENPILOT_PATH
-RUN pip install --no-cache-dir pipenv==2021.5.29 pip==21.3.1 && \
-    pipenv install --system --deploy --dev --clear && \
-    pip uninstall -y pipenv
-
 COPY SConstruct ${OPENPILOT_PATH}
 
 COPY ./pyextra ${OPENPILOT_PATH}/pyextra
@@ -30,4 +25,4 @@ COPY ./panda ${OPENPILOT_PATH}/panda
 COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
 COPY ./system ${OPENPILOT_PATH}/system
 
-RUN scons -j$(nproc)
+RUN scons --cache-readonly -j$(nproc)
diff --git a/Jenkinsfile b/Jenkinsfile
index 3b134d7c0d..0fa623fbcd 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -10,6 +10,7 @@ export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
+export AZURE_TOKEN='${env.AZURE_TOKEN}'
 
 source ~/.bash_profile
 if [ -f /TICI ]; then
@@ -42,8 +43,10 @@ def phone_steps(String device_type, steps) {
 pipeline {
   agent none
   environment {
+    CI = "1"
     TEST_DIR = "/data/openpilot"
     SOURCE_DIR = "/data/openpilot_source/"
+    AZURE_TOKEN = credentials('azure_token')
   }
   options {
     timeout(time: 4, unit: 'HOURS')
@@ -74,72 +77,87 @@ pipeline {
         }
       }
 
-      stages {
-        stage('On-device Tests') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          stages {
-            stage('parallel tests') {
-              parallel {
-                stage('build') {
-                  environment {
-                    R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
-                  }
-                  steps {
-                    phone_steps("tici", [
-                      ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"],
-                      ["build openpilot", "cd selfdrive/manager && ./build.py"],
-                      ["test manager", "python selfdrive/manager/test/test_manager.py"],
-                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
-                      ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
-                    ])
-                  }
-                }
-
-                stage('HW + Unit Tests') {
-                  steps {
-                    phone_steps("tici2", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["test power draw", "python selfdrive/hardware/tici/test_power_draw.py"],
-                      ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
-                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
-                      ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
-                      ["test sensord", "python selfdrive/sensord/test/test_sensord.py"],
-                    ])
-                  }
-                }
-
-                stage('camerad') {
-                  steps {
-                    phone_steps("tici-party", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
-                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
-                    ])
-                  }
-                }
-
-                stage('replay') {
-                  steps {
-                    phone_steps("tici3", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
-                      ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
-                    ])
-                  }
-                }
-
-              }
+      parallel {
+
+        stage('simulator') {
+          agent {
+            dockerfile {
+              filename 'Dockerfile.sim_nvidia'
+              dir 'tools/sim'
+              args '--user=root'
+            }
+          }
+          steps {
+            sh "git config --global --add safe.directory ${WORKSPACE}"
+            sh "git lfs pull"
+            lock(resource: "", label: "simulator", inversePrecedence: true, quantity: 1) {
+              sh "${WORKSPACE}/tools/sim/build_container.sh"
+              sh "DETACH=1 ${WORKSPACE}/tools/sim/start_carla.sh"
+              sh "${WORKSPACE}/tools/sim/start_openpilot_docker.sh"
             }
           }
 
           post {
             always {
-              cleanWs()
+              sh "docker kill carla_sim || true"
+              sh "rm -rf ${WORKSPACE}/* || true"
+              sh "rm -rf .* || true"
             }
           }
+        }
+
+        stage('build') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          environment {
+            R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
+          }
+          steps {
+            phone_steps("tici", [
+              ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"],
+              ["build openpilot", "cd selfdrive/manager && ./build.py"],
+              ["test manager", "python selfdrive/manager/test/test_manager.py"],
+              ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
+              ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
+            ])
+          }
+        }
+
+        stage('HW + Unit Tests') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tici2", [
+              ["build", "cd selfdrive/manager && ./build.py"],
+              ["test power draw", "python system/hardware/tici/test_power_draw.py"],
+              ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
+              ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
+              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
+              ["test sensord", "python selfdrive/sensord/test/test_sensord.py"],
+            ])
+          }
+        }
 
+        stage('camerad') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tici-party", [
+              ["build", "cd selfdrive/manager && ./build.py"],
+              ["test camerad", "python system/camerad/test/test_camerad.py"],
+              ["test exposure", "python system/camerad/test/test_exposure.py"],
+            ])
+          }
         }
 
+        stage('replay') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tici3", [
+              ["build", "cd selfdrive/manager && ./build.py"],
+              ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
+            ])
+          }
+        }
       }
+
     }
   }
 }
diff --git a/Pipfile b/Pipfile
index 1e526a5ec0..b8545b1a21 100644
--- a/Pipfile
+++ b/Pipfile
@@ -11,7 +11,7 @@ coverage = "*"
 dictdiffer = "*"
 fastcluster = "*"
 hexdump = "*"
-hypothesis = "*"
+hypothesis = "==6.46.7"
 inputs = "*"
 lru-dict = "*"
 markdown-it-py = "*"
@@ -39,7 +39,8 @@ breathe = "*"
 subprocess32 = "*"
 tenacity = "*"
 mpld3 = "*"
-carla = {version = "==0.9.12", markers="platform_system != 'Darwin'"}
+carla = {version = "==0.9.13", markers="platform_system != 'Darwin'"}
+ft4222 = "*"
 
 [packages]
 atomicwrites = "*"
@@ -58,6 +59,7 @@ json-rpc = "*"
 libusb1 = "*"
 nose = "*"
 numpy = "*"
+protobuf = "==3.20.1"
 onnx = "*"
 onnxruntime-gpu = {version = "*", markers="platform_system != 'Darwin'"}
 pillow = "*"
@@ -84,6 +86,8 @@ urllib3 = "*"
 utm = "*"
 websocket_client = "*"
 hatanaka = "==2.4"
+PyQt5 = "==5.15.4"
+PyQt5-sip = "==12.9.0"
 
 [requires]
 python_version = "3.8"
diff --git a/Pipfile.lock b/Pipfile.lock
index b0ec993b2a..cc347a60f4 100644
--- a/Pipfile.lock
+++ b/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "50d3486820d05997c1e084e70362fa080e0a294faa01c7f1d43219e44f94a80b"
+            "sha256": "d2629168f477b3a14f68f26e3b63ea9797b20599c066b2aa23a027bcee2ca40a"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -18,11 +18,11 @@
     "default": {
         "astroid": {
             "hashes": [
-                "sha256:14ffbb4f6aa2cf474a0834014005487f7ecd8924996083ab411e7fa0b508ce0b",
-                "sha256:f4e4ec5294c4b07ac38bab9ca5ddd3914d4bf46f9006eb5c0ae755755061044e"
+                "sha256:4f933d0bf5e408b03a6feb5d23793740c27e07340605f236496cd6ce552043d6",
+                "sha256:ba33a82a9a9c06a5ceed98180c5aab16e29c285b828d94696bf32d6015ea82a9"
             ],
             "markers": "python_full_version >= '3.6.2'",
-            "version": "==2.11.5"
+            "version": "==2.11.6"
         },
         "atomicwrites": {
             "hashes": [
@@ -146,7 +146,7 @@
                 "sha256:2857e29ff0d34db842cd7ca3230549d1a697f96ee6d3fb071cfa6c7393832597",
                 "sha256:6881edbebdb17b39b4eaaa821b438bf6eddffb4468cf344f09f89def34a8b1df"
             ],
-            "markers": "python_version >= '3'",
+            "markers": "python_full_version >= '3.5.0'",
             "version": "==2.0.12"
         },
         "click": {
@@ -347,7 +347,7 @@
                 "sha256:84d9dd047ffa80596e0f246e2eab0b391788b0503584e8945f2368256d2735ff",
                 "sha256:9d643ff0a55b762d5cdb124b8eaa99c66322e2157b69160bc32796e824360e6d"
             ],
-            "markers": "python_version >= '3'",
+            "markers": "python_full_version >= '3.5.0'",
             "version": "==3.3"
         },
         "importlib-metadata": {
@@ -689,21 +689,35 @@
             "hashes": [
                 "sha256:06059eb6953ff01e56a25cd02cca1a9649a75a7e65397b5b9b4e929ed71d10cf",
                 "sha256:097c5d8a9808302fb0da7e20edf0b8d4703274d140fd25c5edabddcde43e081f",
+                "sha256:0d4719e724472e296062ba8e82a36d64693fcfdb550d9dff98af70ca79eafe3d",
                 "sha256:284f86a6207c897542d7e956eb243a36bb8f9564c1742b253462386e96c6b78f",
+                "sha256:2b35602cb65d53c168c104469e714bf68670335044c38eee3c899d6a8af03ffc",
                 "sha256:32ca378605b41fd180dfe4e14d3226386d8d1b002ab31c969c366549e66a2bb7",
+                "sha256:32fff501b6df3050936d1839b80ea5899bf34db24792d223d7640611f67de15a",
+                "sha256:34400fd76f85bdae9a2e9c1444ea4699c0280962423eff4418765deceebd81b5",
+                "sha256:3767c64593a49c7ac0accd08ed39ce42744405f0989d468f0097a17496fdbe84",
                 "sha256:3cc797c9d15d7689ed507b165cd05913acb992d78b379f6014e013f9ecb20996",
+                "sha256:3f2ed842e8ca43b790cb4a101bcf577226e0ded98a6a6ba2d5e12095a08dc4da",
+                "sha256:52c1e44e25f2949be7ffa7c66acbfea940b0945dd416920231f7cb30ea5ac6db",
+                "sha256:5d9b5c8270461706973c3871c6fbdd236b51dfe9dab652f1fb6a36aa88287e47",
                 "sha256:62f1b5c4cd6c5402b4e2d63804ba49a327e0c386c99b1675c8a0fefda23b2067",
                 "sha256:69ccfdf3657ba59569c64295b7d51325f91af586f8d5793b734260dfe2e94e2c",
                 "sha256:6f50601512a3d23625d8a85b1638d914a0970f17920ff39cec63aaef80a93fb7",
+                "sha256:72d357cc4d834cc85bd957e8b8e1f4b64c2eac9ca1a942efeb8eb2e723fca852",
                 "sha256:7403941f6d0992d40161aa8bb23e12575637008a5a02283a930addc0508982f9",
                 "sha256:755f3aee41354ae395e104d62119cb223339a8f3276a0cd009ffabfcdd46bb0c",
                 "sha256:77053d28427a29987ca9caf7b72ccafee011257561259faba8dd308fda9a8739",
+                "sha256:79cd8d0a269b714f6b32641f86928c718e8d234466919b3f552bfb069dbb159b",
                 "sha256:7e371f10abe57cee5021797126c93479f59fccc9693dafd6bd5633ab67808a91",
                 "sha256:9016d01c91e8e625141d24ec1b20fed584703e527d28512aa8c8707f105a683c",
                 "sha256:9be73ad47579abc26c12024239d3540e6b765182a91dbc88e23658ab71767153",
+                "sha256:a4c0c6f2f95a559e59a0258d3e4b186f340cbdc5adec5ce1bc06d01972527c88",
                 "sha256:adc31566d027f45efe3f44eeb5b1f329da43891634d61c75a5944e9be6dd42c9",
                 "sha256:adfc6cf69c7f8c50fd24c793964eef18f0ac321315439d94945820612849c388",
                 "sha256:af0ebadc74e281a517141daad9d0f2c5d93ab78e9d455113719a45a49da9db4e",
+                "sha256:b309fda192850ac4184ca1777aab9655564bc8d10a9cc98f10e1c8bf11295c22",
+                "sha256:b3d7d4b4945fe3c001403b6c24442901a5e58c0a3059290f5a63523ed4435f82",
+                "sha256:c8829092c5aeb61619161269b2f8a2e36fd7cb26abbd9282d3bc453f02769146",
                 "sha256:cb29edb9eab15742d791e1025dd7b6a8f6fcb53802ad2f6e3adcb102051063ab",
                 "sha256:cd68be2559e2a3b84f517fb029ee611546f7812b1fdd0aa2ecc9bc6ec0e4fdde",
                 "sha256:cdee09140e1cd184ba9324ec1df410e7147242b94b5f8b0c64fc89e38a8ba531",
@@ -712,7 +726,7 @@
                 "sha256:e250a42f15bf9d5b09fe1b293bdba2801cd520a9f5ea2d7fb7536d4441811d20",
                 "sha256:ff8d8fa42675249bb456f5db06c00de6c2f4c27a065955917b28c4f15978b9c3"
             ],
-            "markers": "python_version >= '3.7'",
+            "index": "pypi",
             "version": "==3.20.1"
         },
         "psutil": {
@@ -841,11 +855,11 @@
         },
         "pylint": {
             "hashes": [
-                "sha256:095567c96e19e6f57b5b907e67d265ff535e588fe26b12b5ebe1fc5645b2c731",
-                "sha256:705c620d388035bdd9ff8b44c5bcdd235bfb49d276d488dd2c8ff1736aa42526"
+                "sha256:549261e0762c3466cc001024c4419c08252cb8c8d40f5c2c6966fea690e7fe2a",
+                "sha256:bb71e6d169506de585edea997e48d9ff20c0dc0e2fbc1d166bad6b640120326b"
             ],
             "index": "pypi",
-            "version": "==2.13.9"
+            "version": "==2.14.1"
         },
         "pyopencl": {
             "hashes": [
@@ -890,6 +904,53 @@
             "index": "pypi",
             "version": "==2022.1.5"
         },
+        "pyqt5": {
+            "hashes": [
+                "sha256:213bebd51821ed89b4d5b35bb10dbe67564228b3568f463a351a08e8b1677025",
+                "sha256:2a69597e0dd11caabe75fae133feca66387819fc9bc050f547e5551bce97e5be",
+                "sha256:883a549382fc22d29a0568f3ef20b38c8e7ab633a59498ac4eb63a3bf36d3fd3",
+                "sha256:8c0848ba790a895801d5bfd171da31cad3e551dbcc4e59677a3b622de2ceca98",
+                "sha256:a88526a271e846e44779bb9ad7a738c6d3c4a9d01e15a128ecfc6dd4696393b7"
+            ],
+            "index": "pypi",
+            "version": "==5.15.4"
+        },
+        "pyqt5-qt5": {
+            "hashes": [
+                "sha256:1988f364ec8caf87a6ee5d5a3a5210d57539988bf8e84714c7d60972692e2f4a",
+                "sha256:750b78e4dba6bdf1607febedc08738e318ea09e9b10aea9ff0d73073f11f6962",
+                "sha256:76980cd3d7ae87e3c7a33bfebfaee84448fd650bad6840471d6cae199b56e154",
+                "sha256:9cc7a768b1921f4b982ebc00a318ccb38578e44e45316c7a4a850e953e1dd327"
+            ],
+            "version": "==5.15.2"
+        },
+        "pyqt5-sip": {
+            "hashes": [
+                "sha256:055581c6fed44ba4302b70eeb82e979ff70400037358908f251cd85cbb3dbd93",
+                "sha256:0fc9aefacf502696710b36cdc9fa2a61487f55ee883dbcf2c2a6477e261546f7",
+                "sha256:42274a501ab4806d2c31659170db14c282b8313d2255458064666d9e70d96206",
+                "sha256:4347bd81d30c8e3181e553b3734f91658cfbdd8f1a19f254777f906870974e6d",
+                "sha256:485972daff2fb0311013f471998f8ec8262ea381bded244f9d14edaad5f54271",
+                "sha256:4f8e05fe01d54275877c59018d8e82dcdd0bc5696053a8b830eecea3ce806121",
+                "sha256:69a3ad4259172e2b1aa9060de211efac39ddd734a517b1924d9c6c0cc4f55f96",
+                "sha256:6a8701892a01a5a2a4720872361197cc80fdd5f49c8482d488ddf38c9c84f055",
+                "sha256:6d5bca2fc222d58e8093ee8a81a6e3437067bb22bc3f86d06ec8be721e15e90a",
+                "sha256:83c3220b1ca36eb8623ba2eb3766637b19eb0ce9f42336ad8253656d32750c0a",
+                "sha256:a25b9843c7da6a1608f310879c38e6434331aab1dc2fe6cb65c14f1ecf33780e",
+                "sha256:ac57d796c78117eb39edd1d1d1aea90354651efac9d3590aac67fa4983f99f1f",
+                "sha256:b09f4cd36a4831229fb77c424d89635fa937d97765ec90685e2f257e56a2685a",
+                "sha256:c446971c360a0a1030282a69375a08c78e8a61d568bfd6dab3dcc5cf8817f644",
+                "sha256:c5216403d4d8d857ec4a61f631d3945e44fa248aa2415e9ee9369ab7c8a4d0c7",
+                "sha256:d3e4489d7c2b0ece9d203ae66e573939f7f60d4d29e089c9f11daa17cfeaae32",
+                "sha256:d59af63120d1475b2bf94fe8062610720a9be1e8940ea146c7f42bb449d49067",
+                "sha256:d85002238b5180bce4b245c13d6face848faa1a7a9e5c6e292025004f2fd619a",
+                "sha256:d8b2bdff7bbf45bc975c113a03b14fd669dc0c73e1327f02706666a7dd51a197",
+                "sha256:dd05c768c2b55ffe56a9d49ce6cc77cdf3d53dbfad935258a9e347cbfd9a5850",
+                "sha256:fc43f2d7c438517ee33e929e8ae77132749c15909afab6aeece5fcf4147ffdb5"
+            ],
+            "index": "pypi",
+            "version": "==12.9.0"
+        },
         "pyserial": {
             "hashes": [
                 "sha256:3c77e014170dfffbd816e6ffc205e9842efb10be9f58ec16d3e8675b4925cddb",
@@ -954,74 +1015,74 @@
         },
         "pyzmq": {
             "hashes": [
-                "sha256:011a45c846ec69a3671ed15893b74b6ad608800c89ac6d0f0411e2137c6b313d",
-                "sha256:011f26841dd56ed87e464c98023dbbd4c0b3ab8802a045de3ea83e0187eb8145",
-                "sha256:0258563bf69f6ca305204354f171e0627a9bf8fe78c9d4f63a5e2447035cbb4b",
-                "sha256:07d2008e51718fba60641e5d1a0646b222b7929f16f6e7cf0834b8439f42c9e8",
-                "sha256:0a787f7870cba38d655c68ea7ae14bb6c3e9e19bb618d0c2412513321eeaeb80",
-                "sha256:0a89b9860d2171bcf674648dc8186db9cf3b773ad3c0610a2c7bf189cf3560b6",
-                "sha256:0de8a7e13ffacfe33c89acc0d7bfa2f5bde94e3f74b7f1e4d43c97ce17864d77",
-                "sha256:12a53f5c13edf12547ce495afebdd5ab11c1b67ea078a941b21e13161783741a",
-                "sha256:12eac2294d48ee27d1eaef7e214acedb394e4c95e3a1f6e4467099b82d58ef73",
-                "sha256:176be6c348dbec04e8e0d41e810743b7084b73e50954a6fedeeafc65d7fa9290",
-                "sha256:1d480d48253f61ff90115b8069ed32f51a0907eb19101c4a5ae0b9a5973e40ad",
-                "sha256:21792f4d0fcc5040978ee211c033e915d8b6608ea8a5b33fe197a04f0d43e991",
-                "sha256:277b3ebc684b369a57a186a9acf629c1b01247eb04d1105536ef2dae5f61168a",
-                "sha256:2f227150148e7c3db7ecd8a58500439979f556e15455841a30b6d121755b14bc",
-                "sha256:34b143751e9b2b89cf9b656081f1b2842a563c4c9ffc8465531875daf546e772",
-                "sha256:3f3807e81bf51d4c63eb12a21920614e0e840645418e9f2e3b5ffdd5991b3415",
-                "sha256:3fa7126d532effee452c0ab395ab3cbef1c06fd6870ab7e681f812ba9e685cfa",
-                "sha256:434044eec7f9df08fc5ca5c9bdd1a4bb08663679d43ebe7b9849713956f4d85f",
-                "sha256:4d861ae20040afc17adef33053c328667da78d4d3676b2936788fd031665e3a8",
-                "sha256:536491ad640448f14d8aa2dc497c354a348f216eb23513bf5aa0ac40e2b02577",
-                "sha256:5619f6598d6fd30778053ae2daa48a7c54029816648b908270b751411fd52e74",
-                "sha256:591b455546d34bb96aa453dd9666bddb8c81314e23dbf2606f9614acf7e73d9f",
-                "sha256:5a13171268f05d127e31b4c369b753733f67dbb0d765901ef625a115feb5c7de",
-                "sha256:5eaf7e0841d3d8d1d92838c8b56f98cb9bf35b14bcbe4efa281e4812ef4be728",
-                "sha256:6c09e6e5c4baf0959287943dc8170624d739ae555d334e896a94d9de01c7bb21",
-                "sha256:6e2093a97bf3f6008a4be6b5bae8ae3fc409f18373593bef19dd7b381ab8030c",
-                "sha256:7b518ad9cdbaaeb1a9da3444797698871ae2eeae34ff9a656d5150d37e1e42a1",
-                "sha256:7ca7d77f24644298cbe53bc279eb7ca05f3b8637473d392f0c9f34b37f08b49a",
-                "sha256:7eca5902ff41575d9a26f91fc750018b7eb129600ea600fe69ce852fbdfab4e2",
-                "sha256:8951830d6a00636b3af478091f9668ecc486f1dad01b975527957fd1d8c31bfd",
-                "sha256:8c234aefeef034c5d6de452e2af5173a95ea06315b685db703091e6f937a6e60",
-                "sha256:9273f6d1da1018822f41630fb0f3fe208e8e70e5d5e780795326900cfa22d8b6",
-                "sha256:9622d9560a6fd8d589816cdcec6946642cb4e070b3f68be1d3779b52cf240f73",
-                "sha256:9ef2d1476cea927ba33a29f59aa128ce3b174e81083cbd091dd3149af741c85d",
-                "sha256:9feb7ccd426ff2158ce79f4c87a8a1600ed4f77e65e2fffda2b42638b2bc73e4",
-                "sha256:a0b8528aefceb787f41ad429f3210a3c6b52e99f85413416e3d0c9e6d035f8ac",
-                "sha256:a2e4d70d34112997a32c8193fae2579aec854745f8730031e5d84cc579fd98ff",
-                "sha256:a37f0ec88e220326803084208d80229218b309d728954ab747ab21cca33424aa",
-                "sha256:a45f5c0477d12df05ef2e2922b49b7c0ae9d0f4ff9b6bb0d666558df0ef37122",
-                "sha256:a64b9cce166396df5f33894074d6515778d48c63aae5ee1abd86d8bbc5a711d8",
-                "sha256:a89285fedbeca483a855a77285453e21e4fc86ef0944bc018ef4b3033aa04ad2",
-                "sha256:a8f40604437ec8010f77f7053fd135ccb202d6ca18329903831087cab8dbdab1",
-                "sha256:b2a4af5e6fa85ee1743c725b46579f8de0b97024eb5ae1a0b5c5711adc436665",
-                "sha256:b97dc1273f16f85a38cff6668a07b636ef14e30591039efbfd21f5f91efae964",
-                "sha256:bdd008629293a0d4f00b516841ac0df89f17a64bc2d83bcfa48212d3f3b3ca1a",
-                "sha256:be3425dfdb9c46dc62d490fc1a6142a5f3dc6605ebb9048ae675056ef621413c",
-                "sha256:c2394bb857607494c3750b5040f852a1ad7831d7a7907b6106f0af2c70860cef",
-                "sha256:cb45b7ea577283b547b907a3389d62ca2eaddaf725fbb79cd360802440fa9c91",
-                "sha256:cd3f563b98e2a8730c93bdc550f119ae766b2d3da1f0d6a3c7735b59adfa1642",
-                "sha256:cda55ff0a7566405fb29ca38db1829fecb4c041b8dc3f91754f337bb7b27cbd8",
-                "sha256:df0b05fa4321b090abe5601dea9b1c8933c06f496588ccb397a0b1f9dfe32ebe",
-                "sha256:e464e7b1be2216eba54b47256c15bf307ae4a656aa0f73becea7b3e7283c5ac2",
-                "sha256:e730d490b1421e52b43b1b9f5e1f8c3973499206e188f29b582577531e11033b",
-                "sha256:e7ae3e520bd182a0cbfff3cc69dda3a2c26f69847e81bd3f090ed04471fc1282",
-                "sha256:e9631c6a339843e4f95efb80ff9a1bfaaf3d611ba9677a7a5cc61ffb923b4e06",
-                "sha256:f3daabbe42ca31712e29d906dfa4bf1890341d2fd5178de118bc9977a8d2b23b",
-                "sha256:fe8807d67456e7cf0e9a33b85e0d05bb9d2977dbdb23977e4cc2b843633618fd"
-            ],
-            "index": "pypi",
-            "version": "==23.0.0"
+                "sha256:057176dd3f5ccf5aad4abd662d76b6a39bbf799baaf2f39cd4fdaf2eab326e43",
+                "sha256:05ec90a8da618f2398f9d1aa20b18a9ef332992c6ac23e8c866099faad6ef0d6",
+                "sha256:154de02b15422af28b53d29a02de72121ba503634955017255573fc1f995143d",
+                "sha256:16b832adb5d8716f46051da5533c480250bf126984ce86804db6137a3a7f931b",
+                "sha256:1df26aa854bdd3a8341bf199064dd6aa6e240f2eaa3c9fa8d217e5d8b868c73e",
+                "sha256:28f9164fb2658b7b414fa0894c75b1a9c61375774cdc1bdb7298beb042a2cd87",
+                "sha256:2951c29b8649f3672af9dca8ff61d86310d3664d9629788b1c66422fb13b1239",
+                "sha256:2b08774057ae7ce8a2eb4e7d54db05358234440706ce43a85814500c5d7bd22e",
+                "sha256:2e2ac40f7a91c740ec68d6db07ae19ea9259c959333c68bee56ab2c799a67d66",
+                "sha256:312e56799410c34797417a4060a8bd37d4db1f06d1ec0c54f7c8fd81e0d90376",
+                "sha256:38f778a74e3889392e949326cfd0e9b2eb37dcbb2980d98fad2c51703d523db2",
+                "sha256:3955dd5bbbe02f454655296ee36a66c334c7102a29b8458223d168c0380edfd5",
+                "sha256:425ba851a6f9892bde1da2024d82e2fe6796bd77e3391fb96665c50fe9d4c6a5",
+                "sha256:48bbc2db041ab28eeee4a3e8ada0ed336640946dd5a8e53dbd3805f9dbdcf0dc",
+                "sha256:4fbcd657cda75574fd1315a4c44bd322bc2e219039fb09f146bbe6f8aef039e9",
+                "sha256:523ba7fd4d8fe75ad09c1e574a648892b75a97d0cfc8005727681053ac19555b",
+                "sha256:53b2c1326c2e484d450932d2be739f064b7cb572faabec38386098a28516a529",
+                "sha256:540d7146c3cdc9bbffab039ea067f494eba24d1abe5bd33eb9f963c01e3305d4",
+                "sha256:563d4281c4dbdf647d93114420151d33f895afc4c46b7115a67a0aa5347e6624",
+                "sha256:67a049bcf967a39993858beed873ed3405536019820922d4efacfe35ab3da51a",
+                "sha256:67ec63ae3c9c1fa2e077fcb42e77035e2121a04f987464bdf9945a28535d30ad",
+                "sha256:68e22c5d3be451e87d47f956b397a7823bfbde2176341bc902fba30f96831d7e",
+                "sha256:6ab4b6108e69f63c917cd7ef7217c5727955b1ac90600e44a13ed5312019a014",
+                "sha256:6bd7f18bd4cf51ea8d7e54825902cf36f9d2f35cc51ef618373988d5398b8dd0",
+                "sha256:6cd53e861bccc0bdc4620f68fb4a91d5bcfe9f4213cf8e200fa498044d33a6dc",
+                "sha256:6d346e551fa64b89d57a4ac74b9bc66703413f02f50093e089e861999ec5cccc",
+                "sha256:6ff8708fabc9f9bc2949f457d39b4088c9656c4c9ac15fbbbbaafce8f6d07833",
+                "sha256:7626e8384275a7dea6f3d1f749fb5e00299042e9c895fc3dbe24cb154909c242",
+                "sha256:7e7346b2b33dcd4a2171dd8a9870ae283eec8f6231dcbcf237a0f41e74751a50",
+                "sha256:81623c67cb71b93b5f7e06c9107f3781738ae86866db830c950223d87af2a235",
+                "sha256:83f1c76068faf62c32a36dd62dc4db642c2027bbbd960f8f6345b59e9d4dc472",
+                "sha256:8679bb1dd723ecbea03b1f96c98972815775fd8ec756c440a14f289c436c472e",
+                "sha256:86fb683cb9a9c0bb7476988b7957393ecdd22777d87d804442c66e62c99197f9",
+                "sha256:8757c62f7960cd26122f7aaaf86eda1e016fa85734c3777b8054dd334d7dea4d",
+                "sha256:894be7d17228e7328cc188096c0162697211ec91761f6812fff12790cbe11c66",
+                "sha256:8a0f240bf43c29be1bd82d77e602a61c798e9de02e5f8bb7bb414cb814f43236",
+                "sha256:8c3abf7eab5b76ae162c4fbb16d514a947fc57fd995b64e5ea8ef8ba3b888a69",
+                "sha256:93332c6972e4c91522c4810e907f3aea067424338071161b39cacded022559df",
+                "sha256:97d6c676dc97d593625d9fc48154f2ffeabb619a1e6fe8d2a5b53f97e3e9bdee",
+                "sha256:99dd85f0ca1db8d17a01a25c2bbb7784d25a2d39497c6beddbe96bff74194e04",
+                "sha256:9c7fb691fb07ec7ab99fd173bb0e7e0248d31bf83d484a87b917a342f63812c9",
+                "sha256:b3bc3cf200aab74f3d758586ac50295214eda496ac6a6636e0c881c5958d9123",
+                "sha256:bba54f97578943f48f621b4a7afb8eb022370da26a88b88ccc9fee9f3ef7ce45",
+                "sha256:bd2a13a0f8367e50347cbac87ae230ae1953935443240238f956bf10668bead6",
+                "sha256:cbc1184349ca6e5112898aa7fc3efa1b1bbae24ab1edc774cfd09cbfd3b091d7",
+                "sha256:cd82cca9c489e441574804dbda2dd8e114cf3be7935b03de11dade2c9478aea6",
+                "sha256:ce8ba5ed8b0a7a203922d61cff45ee6001a41a9359f04f00d055a4e988755569",
+                "sha256:cfee22e072a382b92ee0709dbb8203dabd52d54258051e770d9d2a81b162530b",
+                "sha256:d977df6f7c4109ed1d96ffb6795f6af77114be606ae4556efbfc9cac725db65d",
+                "sha256:da72a384a1d7e87490ca71182f3ab469ed21d847adc16b70c34faac5a3b12801",
+                "sha256:ddf4ad1d651e6c9234945061e1a31fe27a4be0dea21c498b87b186fadf8f5919",
+                "sha256:eb0ae5dfda83bbce660179d7b41c1c38fd833a54d2e6d9b258c644f3b75ef94d",
+                "sha256:f4c7d370badc60ac94a554bc571a46d03e39d8aacfba8006b334512e184aed59",
+                "sha256:f6c378b435a26fda8996579c0e324b108d2ca0d01b4661503a75634e5155559f",
+                "sha256:f6c9d30888503f2f5f87d6d41f016301352dd98da4a861bd10663c3a2d99d3b5",
+                "sha256:fab8a7877275060f7b303e1f91c218069a2814a616b6a5ee2d8a3737deb15915",
+                "sha256:fc32e7d7f98cac3d8d5153ed2cb583158ae3d446a6efb8e28ccb1c54a09f4169"
+            ],
+            "index": "pypi",
+            "version": "==23.1.0"
         },
         "requests": {
             "hashes": [
-                "sha256:68d7c56fd5a8999887728ef304a6d12edc7be74f1cfa47714fc8b414525c9a61",
-                "sha256:f22fa1e554c9ddfd16e6e41ac79759e17be9e492b3587efa038054674760e72d"
+                "sha256:bc7861137fbce630f17b03d3ad02ad0bf978c844f3536d0edda6499dafce2b6f",
+                "sha256:d568723a7ebd25875d8d1eaf5dfa068cd2fc8194b2e483d7b1f7c81918dbec6b"
             ],
             "index": "pypi",
-            "version": "==2.27.1"
+            "version": "==2.28.0"
         },
         "scons": {
             "hashes": [
@@ -1118,11 +1179,11 @@
         },
         "setuptools": {
             "hashes": [
-                "sha256:68e45d17c9281ba25dc0104eadd2647172b3472d9e01f911efa57965e8d51a36",
-                "sha256:a43bdedf853c670e5fed28e5623403bad2f73cf02f9a2774e91def6bda8265a7"
+                "sha256:5a844ad6e190dccc67d6d7411d119c5152ce01f7c76be4d8a1eaa314501bba77",
+                "sha256:bf8a748ac98b09d32c9a64a995a6b25921c96cc5743c1efa82763ba80ff54e91"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==62.3.2"
+            "version": "==62.4.0"
         },
         "six": {
             "hashes": [
@@ -1134,11 +1195,11 @@
         },
         "smbus2": {
             "hashes": [
-                "sha256:6276eb599b76c4e74372f2582d2282f03b4398f0da16bc996608e4f21557ca9b",
-                "sha256:8b1e70cda011b6fb3caf8377a1084f73a5aa99392b78529f140b0a3f06468f6c"
+                "sha256:50f3c78e436b42a9583948be06961a8104cf020ebad5edfaaf2657528bef0818",
+                "sha256:634541ed794068a822fe7499f1577468b9d4641b68dd9bfb6d0eb7270f4d2a32"
             ],
             "index": "pypi",
-            "version": "==0.4.1"
+            "version": "==0.4.2"
         },
         "sympy": {
             "hashes": [
@@ -1150,11 +1211,11 @@
         },
         "timezonefinder": {
             "hashes": [
-                "sha256:90228f7bcf60388868ac95d3d6a8c9f710c766990909cb89dc39a893da7132ad",
-                "sha256:ce16831bc6349a82ca25ffc0e4c89df5bc5df29b286e5201701bce852f8e49f2"
+                "sha256:0471463083b5fef7a656c7e31a7376fa1941bf6a41a0750c6e0ca151e43646e7",
+                "sha256:2e8e958814f21fa809b16e98bd2f99082b69a0f88b864a4a1f2944d5a7e61827"
             ],
             "index": "pypi",
-            "version": "==6.0.0"
+            "version": "==6.0.1"
         },
         "tomli": {
             "hashes": [
@@ -1164,6 +1225,14 @@
             "markers": "python_version < '3.11'",
             "version": "==2.0.1"
         },
+        "tomlkit": {
+            "hashes": [
+                "sha256:0f4050db66fd445b885778900ce4dd9aea8c90c4721141fde0d6ade893820ef1",
+                "sha256:71ceb10c0eefd8b8f11fe34e8a51ad07812cb1dc3de23247425fbc9ddc47b9dd"
+            ],
+            "markers": "python_version >= '3.6' and python_version < '4.0'",
+            "version": "==0.11.0"
+        },
         "tqdm": {
             "hashes": [
                 "sha256:40be55d30e200777a307a7585aee69e4eabb46b4ec6a4b4a5f2d9f11e7d5408d",
@@ -1374,11 +1443,11 @@
         },
         "babel": {
             "hashes": [
-                "sha256:3f349e85ad3154559ac4930c3918247d319f21910d5ce4b25d439ed8693b98d2",
-                "sha256:98aeaca086133efb3e1e2aad0396987490c8425929ddbcfe0550184fdc54cd13"
+                "sha256:7aed055f0c04c9e7f51a2f75261e41e1c804efa724cb65b60a970dd4448d469d",
+                "sha256:81a3beca4d0cd40a9cfb9e2adb2cf39261c2f959b92e7a74750befe5d79afd7b"
             ],
             "markers": "python_version >= '3.6'",
-            "version": "==2.10.1"
+            "version": "==2.10.2"
         },
         "bcrypt": {
             "hashes": [
@@ -1407,17 +1476,17 @@
         },
         "carla": {
             "hashes": [
-                "sha256:1ed11b56c781cd15cbd540cacfb59ad348e0a021d898cfd0ff89a585f144da0b",
-                "sha256:20c1e1b72034175824d89b2d86b09ae72b4aca09ea25874dc6251f239297251d",
-                "sha256:6d1122c24af4f6375dc6858fbb0309b61c219b101d8c5a540def4c36c4563fe1",
-                "sha256:9c19ebf6cbbc535bde4baf9e18c72ab349657b34c4202b9751541e4c0d20b3cc",
-                "sha256:a69f6d84b59e2f805b2a417de98f977fe9efe0cfa733da8d75e20d28892da915",
-                "sha256:c3ae0dce3f1354b6311fee21a365947b0ff169249993a913904f676046d2d69f",
-                "sha256:dd392a267e14b785a8f65dafef86e05a92201253e9fb4a01e1e262834f20bed2"
+                "sha256:1210cce213e968a644effd4e2e48458a072481459d073424b05725056ba3d77d",
+                "sha256:339fcb1e392f3ade1be82b7258de19c533e2efae111e954a6eb174efb296903d",
+                "sha256:5f065825ce812343bf27a80a19d647b3200b31b44a9e80cea0340e3bd20cdf81",
+                "sha256:954ca34d5bdd4516ceca353db907fee8cec6630d6b31a732b17dd1554e0f0f94",
+                "sha256:a64ee78fe91137fa7d4828c7fc06d5824bd7312e29e4ea4f31a5d74dd28bff40",
+                "sha256:a95d2d4218ea388c863c66b7c2ab3fe49ffefe53999305cfcb6a8107042f79af",
+                "sha256:d2bfaea2d6824a2d758cbe813856c69420494f5c97d2a2dfb45653ccf976f1ce"
             ],
             "index": "pypi",
             "markers": "platform_system != 'Darwin'",
-            "version": "==0.9.12"
+            "version": "==0.9.13"
         },
         "certifi": {
             "hashes": [
@@ -1496,62 +1565,62 @@
                 "sha256:2857e29ff0d34db842cd7ca3230549d1a697f96ee6d3fb071cfa6c7393832597",
                 "sha256:6881edbebdb17b39b4eaaa821b438bf6eddffb4468cf344f09f89def34a8b1df"
             ],
-            "markers": "python_version >= '3'",
+            "markers": "python_full_version >= '3.5.0'",
             "version": "==2.0.12"
         },
         "control": {
             "hashes": [
-                "sha256:8c9084bf386eafcf5d74008f780fae6dec68d243d18a380c866ac10a3549f8d3"
+                "sha256:0891d2d32d6006ac1faa4e238ed8223ca342a4721d202dfeccae24fb02563183"
             ],
             "index": "pypi",
-            "version": "==0.9.1"
+            "version": "==0.9.2"
         },
         "coverage": {
             "hashes": [
-                "sha256:00c8544510f3c98476bbd58201ac2b150ffbcce46a8c3e4fb89ebf01998f806a",
-                "sha256:016d7f5cf1c8c84f533a3c1f8f36126fbe00b2ec0ccca47cc5731c3723d327c6",
-                "sha256:03014a74023abaf5a591eeeaf1ac66a73d54eba178ff4cb1fa0c0a44aae70383",
-                "sha256:033ebec282793bd9eb988d0271c211e58442c31077976c19c442e24d827d356f",
-                "sha256:21e6686a95025927775ac501e74f5940cdf6fe052292f3a3f7349b0abae6d00f",
-                "sha256:26f8f92699756cb7af2b30720de0c5bb8d028e923a95b6d0c891088025a1ac8f",
-                "sha256:2e76bd16f0e31bc2b07e0fb1379551fcd40daf8cdf7e24f31a29e442878a827c",
-                "sha256:341e9c2008c481c5c72d0e0dbf64980a4b2238631a7f9780b0fe2e95755fb018",
-                "sha256:3cfd07c5889ddb96a401449109a8b97a165be9d67077df6802f59708bfb07720",
-                "sha256:4002f9e8c1f286e986fe96ec58742b93484195defc01d5cc7809b8f7acb5ece3",
-                "sha256:50ed480b798febce113709846b11f5d5ed1e529c88d8ae92f707806c50297abf",
-                "sha256:543e172ce4c0de533fa892034cce260467b213c0ea8e39da2f65f9a477425211",
-                "sha256:5a78cf2c43b13aa6b56003707c5203f28585944c277c1f3f109c7b041b16bd39",
-                "sha256:5cd698341626f3c77784858427bad0cdd54a713115b423d22ac83a28303d1d95",
-                "sha256:60c2147921da7f4d2d04f570e1838db32b95c5509d248f3fe6417e91437eaf41",
-                "sha256:62d382f7d77eeeaff14b30516b17bcbe80f645f5cf02bb755baac376591c653c",
-                "sha256:69432946f154c6add0e9ede03cc43b96e2ef2733110a77444823c053b1ff5166",
-                "sha256:727dafd7f67a6e1cad808dc884bd9c5a2f6ef1f8f6d2f22b37b96cb0080d4f49",
-                "sha256:742fb8b43835078dd7496c3c25a1ec8d15351df49fb0037bffb4754291ef30ce",
-                "sha256:750e13834b597eeb8ae6e72aa58d1d831b96beec5ad1d04479ae3772373a8088",
-                "sha256:7b546cf2b1974ddc2cb222a109b37c6ed1778b9be7e6b0c0bc0cf0438d9e45a6",
-                "sha256:83bd142cdec5e4a5c4ca1d4ff6fa807d28460f9db919f9f6a31babaaa8b88426",
-                "sha256:8d2e80dd3438e93b19e1223a9850fa65425e77f2607a364b6fd134fcd52dc9df",
-                "sha256:9229d074e097f21dfe0643d9d0140ee7433814b3f0fc3706b4abffd1e3038632",
-                "sha256:968ed5407f9460bd5a591cefd1388cc00a8f5099de9e76234655ae48cfdbe2c3",
-                "sha256:9c82f2cd69c71698152e943f4a5a6b83a3ab1db73b88f6e769fabc86074c3b08",
-                "sha256:a00441f5ea4504f5abbc047589d09e0dc33eb447dc45a1a527c8b74bfdd32c65",
-                "sha256:a022394996419142b33a0cf7274cb444c01d2bb123727c4bb0b9acabcb515dea",
-                "sha256:af5b9ee0fc146e907aa0f5fb858c3b3da9199d78b7bb2c9973d95550bd40f701",
-                "sha256:b5578efe4038be02d76c344007b13119b2b20acd009a88dde8adec2de4f630b5",
-                "sha256:b84ab65444dcc68d761e95d4d70f3cfd347ceca5a029f2ffec37d4f124f61311",
-                "sha256:c53ad261dfc8695062fc8811ac7c162bd6096a05a19f26097f411bdf5747aee7",
-                "sha256:cc173f1ce9ffb16b299f51c9ce53f66a62f4d975abe5640e976904066f3c835d",
-                "sha256:d548edacbf16a8276af13063a2b0669d58bbcfca7c55a255f84aac2870786a61",
-                "sha256:d55fae115ef9f67934e9f1103c9ba826b4c690e4c5bcf94482b8b2398311bf9c",
-                "sha256:d8099ea680201c2221f8468c372198ceba9338a5fec0e940111962b03b3f716a",
-                "sha256:e35217031e4b534b09f9b9a5841b9344a30a6357627761d4218818b865d45055",
-                "sha256:e4f52c272fdc82e7c65ff3f17a7179bc5f710ebc8ce8a5cadac81215e8326740",
-                "sha256:e637ae0b7b481905358624ef2e81d7fb0b1af55f5ff99f9ba05442a444b11e45",
-                "sha256:eef5292b60b6de753d6e7f2d128d5841c7915fb1e3321c3a1fe6acfe76c38052",
-                "sha256:fb45fe08e1abc64eb836d187b20a59172053999823f7f6ef4f18a819c44ba16f"
-            ],
-            "index": "pypi",
-            "version": "==6.4"
+                "sha256:01c5615d13f3dd3aa8543afc069e5319cfa0c7d712f6e04b920431e5c564a749",
+                "sha256:106c16dfe494de3193ec55cac9640dd039b66e196e4641fa8ac396181578b982",
+                "sha256:129cd05ba6f0d08a766d942a9ed4b29283aff7b2cccf5b7ce279d50796860bb3",
+                "sha256:145f296d00441ca703a659e8f3eb48ae39fb083baba2d7ce4482fb2723e050d9",
+                "sha256:1480ff858b4113db2718848d7b2d1b75bc79895a9c22e76a221b9d8d62496428",
+                "sha256:269eaa2c20a13a5bf17558d4dc91a8d078c4fa1872f25303dddcbba3a813085e",
+                "sha256:26dff09fb0d82693ba9e6231248641d60ba606150d02ed45110f9ec26404ed1c",
+                "sha256:2bd9a6fc18aab8d2e18f89b7ff91c0f34ff4d5e0ba0b33e989b3cd4194c81fd9",
+                "sha256:309ce4a522ed5fca432af4ebe0f32b21d6d7ccbb0f5fcc99290e71feba67c264",
+                "sha256:3384f2a3652cef289e38100f2d037956194a837221edd520a7ee5b42d00cc605",
+                "sha256:342d4aefd1c3e7f620a13f4fe563154d808b69cccef415415aece4c786665397",
+                "sha256:39ee53946bf009788108b4dd2894bf1349b4e0ca18c2016ffa7d26ce46b8f10d",
+                "sha256:4321f075095a096e70aff1d002030ee612b65a205a0a0f5b815280d5dc58100c",
+                "sha256:4803e7ccf93230accb928f3a68f00ffa80a88213af98ed338a57ad021ef06815",
+                "sha256:4ce1b258493cbf8aec43e9b50d89982346b98e9ffdfaae8ae5793bc112fb0068",
+                "sha256:664a47ce62fe4bef9e2d2c430306e1428ecea207ffd68649e3b942fa8ea83b0b",
+                "sha256:75ab269400706fab15981fd4bd5080c56bd5cc07c3bccb86aab5e1d5a88dc8f4",
+                "sha256:83c4e737f60c6936460c5be330d296dd5b48b3963f48634c53b3f7deb0f34ec4",
+                "sha256:84631e81dd053e8a0d4967cedab6db94345f1c36107c71698f746cb2636c63e3",
+                "sha256:84e65ef149028516c6d64461b95a8dbcfce95cfd5b9eb634320596173332ea84",
+                "sha256:865d69ae811a392f4d06bde506d531f6a28a00af36f5c8649684a9e5e4a85c83",
+                "sha256:87f4f3df85aa39da00fd3ec4b5abeb7407e82b68c7c5ad181308b0e2526da5d4",
+                "sha256:8c08da0bd238f2970230c2a0d28ff0e99961598cb2e810245d7fc5afcf1254e8",
+                "sha256:961e2fb0680b4f5ad63234e0bf55dfb90d302740ae9c7ed0120677a94a1590cb",
+                "sha256:9b3e07152b4563722be523e8cd0b209e0d1a373022cfbde395ebb6575bf6790d",
+                "sha256:a7f3049243783df2e6cc6deafc49ea123522b59f464831476d3d1448e30d72df",
+                "sha256:bf5601c33213d3cb19d17a796f8a14a9eaa5e87629a53979a5981e3e3ae166f6",
+                "sha256:cec3a0f75c8f1031825e19cd86ee787e87cf03e4fd2865c79c057092e69e3a3b",
+                "sha256:d42c549a8f41dc103a8004b9f0c433e2086add8a719da00e246e17cbe4056f72",
+                "sha256:d67d44996140af8b84284e5e7d398e589574b376fb4de8ccd28d82ad8e3bea13",
+                "sha256:d9c80df769f5ec05ad21ea34be7458d1dc51ff1fb4b2219e77fe24edf462d6df",
+                "sha256:e57816f8ffe46b1df8f12e1b348f06d164fd5219beba7d9433ba79608ef011cc",
+                "sha256:ee2ddcac99b2d2aec413e36d7a429ae9ebcadf912946b13ffa88e7d4c9b712d6",
+                "sha256:f02cbbf8119db68455b9d763f2f8737bb7db7e43720afa07d8eb1604e5c5ae28",
+                "sha256:f1d5aa2703e1dab4ae6cf416eb0095304f49d004c39e9db1d86f57924f43006b",
+                "sha256:f5b66caa62922531059bc5ac04f836860412f7f88d38a476eda0a6f11d4724f4",
+                "sha256:f69718750eaae75efe506406c490d6fc5a6161d047206cc63ce25527e8a3adad",
+                "sha256:fb73e0011b8793c053bfa85e53129ba5f0250fdc0392c1591fd35d915ec75c46",
+                "sha256:fd180ed867e289964404051a958f7cccabdeed423f91a899829264bb7974d3d3",
+                "sha256:fdb6f7bd51c2d1714cea40718f6149ad9be6a2ee7d93b19e9f00934c0f2a74d9",
+                "sha256:ffa9297c3a453fba4717d06df579af42ab9a28022444cae7fa605af4df612d54"
+            ],
+            "index": "pypi",
+            "version": "==6.4.1"
         },
         "cryptography": {
             "hashes": [
@@ -1665,11 +1734,11 @@
         },
         "filelock": {
             "hashes": [
-                "sha256:b795f1b42a61bbf8ec7113c341dad679d772567b936fbd1bf43c9a238e673e20",
-                "sha256:c7b5fdb219b398a5b28c8e4c1893ef5f98ece6a38c6ab2c22e26ec161556fed6"
+                "sha256:37def7b658813cda163b56fc564cdc75e86d338246458c4c28ae84cabefa2404",
+                "sha256:3a0fd85166ad9dbab54c9aec96737b744106dc5f15c0b09a6744a445299fcf04"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==3.7.0"
+            "version": "==3.7.1"
         },
         "fonttools": {
             "hashes": [
@@ -1679,6 +1748,33 @@
             "markers": "python_version >= '3.7'",
             "version": "==4.33.3"
         },
+        "ft4222": {
+            "hashes": [
+                "sha256:1489b08e4042cb2b24894495c1c8514fa115122e9f8a739f665f0e4d8c53d3f4",
+                "sha256:1c71913f9fb862634fb77eb6efeea38b2b839e09f739aee5864b9549bcf1c4a9",
+                "sha256:1f9be0961bd7f3e0c1729c9692f602244e93898610611602ce1fa16059ac5bfa",
+                "sha256:208cde748fc2bf4a753e217ee2844e75d7d1b6d370a8937a2055f9de8906f933",
+                "sha256:372be3d7d04c0f6dfa62ff66b3d4be5c39d57c258ab562d9eb0d7cdd3a90ed0f",
+                "sha256:3ebf9380315c6af8f9f3bc5c5c7a5ae06498349c14a7b2e65d5067b20462d21b",
+                "sha256:422740efac86f3fdd971bb9a94d9974e56cfe062284a2be1a85db96dd0e77e5e",
+                "sha256:4414ef82a6321c5205ab0e3dab2bf072f14b4dd3262e5f392560adf107210d41",
+                "sha256:459894dcca7db71a0d58e6f3abb4c9dd67654c92ad9d934f1e32dc08bed87645",
+                "sha256:4b7e4c8b5e4a8fe769127d3db99b7b410468ffe2718a07f7b317e7dc1ad9ca4f",
+                "sha256:68e6b357ea2287fe0e8dac287efbac2f0ce9632d65e828d422d3a0604555c174",
+                "sha256:800a26a4a8fc854f41e4de41e45b6deafdeb78ae5eff48818f710bb2d94a8c11",
+                "sha256:8790e96b4c3f8d1fb768f689f1c437a59b20889e4726ed7457ff3d188f0a3274",
+                "sha256:9369b55393b2e1f58f8b8516bcf9cd6fd34c05e77377c4cc48be39a49cad7be5",
+                "sha256:a6236f05b8948cd9c113c7159e3fdde202a0f73dce6440da078fd2fc9e411123",
+                "sha256:b7f58cd16213a5c92503c530b301f071d67283c80c1e8cb43d6f3ec5c186df35",
+                "sha256:cc368b06b92529a11add37d14196d2e2aaae19c6ffc51b9457513a0d05ceae1a",
+                "sha256:d479c037b417ff289727112f1d4725563b78448d3765f457c8bf6884e4d83abd",
+                "sha256:dce00d513be811f738954c5593c52b533a02331e8a26983280dea3f4d864962f",
+                "sha256:eadcbc1dd20ed6d7d07dc53354ea137bcea30fb0889d74bedcd189cdb4f61c84",
+                "sha256:ec984bd7e9300e5f2e50823dcd5874d54aa3e7503e69afe7eb3b4cea77071084"
+            ],
+            "index": "pypi",
+            "version": "==1.4.1"
+        },
         "hexdump": {
             "hashes": [
                 "sha256:d781a43b0c16ace3f9366aade73e8ad3a7bd5137d58f0b45ab2d3f54876f20db"
@@ -1689,6 +1785,8 @@
         "hypothesis": {
             "hashes": [
                 "sha256:2696cdb9005946bf1d2b215cc91d3fc01625e3342eb8743ddd04b667b2f1882b",
+                "sha256:4ad26c5d434171ffc02aba569dd52255573d615554c062bc30734dbe6f318c61",
+                "sha256:69978811f1d9c19710c7d2bf8233dc43c80efa964251b72efbe8274044e073b4",
                 "sha256:967009fa561b3a3f8363a73d71923357271c37dc7fa27b30c2d21a1b6092b240"
             ],
             "index": "pypi",
@@ -1707,7 +1805,7 @@
                 "sha256:84d9dd047ffa80596e0f246e2eab0b391788b0503584e8945f2368256d2735ff",
                 "sha256:9d643ff0a55b762d5cdb124b8eaa99c66322e2157b69160bc32796e824360e6d"
             ],
-            "markers": "python_version >= '3'",
+            "markers": "python_full_version >= '3.5.0'",
             "version": "==3.3"
         },
         "imagesize": {
@@ -1751,52 +1849,52 @@
         },
         "kiwisolver": {
             "hashes": [
-                "sha256:0b7f50a1a25361da3440f07c58cd1d79957c2244209e4f166990e770256b6b0b",
-                "sha256:0c380bb5ae20d829c1a5473cfcae64267b73aaa4060adc091f6df1743784aae0",
-                "sha256:0d98dca86f77b851350c250f0149aa5852b36572514d20feeadd3c6b1efe38d0",
-                "sha256:0e45e780a74416ef2f173189ef4387e44b5494f45e290bcb1f03735faa6779bf",
-                "sha256:0e8afdf533b613122e4bbaf3c1e42c2a5e9e2d1dd3a0a017749a7658757cb377",
-                "sha256:1008346a7741620ab9cc6c96e8ad9b46f7a74ce839dbb8805ddf6b119d5fc6c2",
-                "sha256:1d1078ba770d6165abed3d9a1be1f9e79b61515de1dd00d942fa53bba79f01ae",
-                "sha256:1dcade8f6fe12a2bb4efe2cbe22116556e3b6899728d3b2a0d3b367db323eacc",
-                "sha256:240009fdf4fa87844f805e23f48995537a8cb8f8c361e35fda6b5ac97fcb906f",
-                "sha256:240c2d51d098395c012ddbcb9bd7b3ba5de412a1d11840698859f51d0e643c4f",
-                "sha256:262c248c60f22c2b547683ad521e8a3db5909c71f679b93876921549107a0c24",
-                "sha256:2e6cda72db409eefad6b021e8a4f964965a629f577812afc7860c69df7bdb84a",
-                "sha256:3c032c41ae4c3a321b43a3650e6ecc7406b99ff3e5279f24c9b310f41bc98479",
-                "sha256:42f6ef9b640deb6f7d438e0a371aedd8bef6ddfde30683491b2e6f568b4e884e",
-                "sha256:484f2a5f0307bc944bc79db235f41048bae4106ffa764168a068d88b644b305d",
-                "sha256:69b2d6c12f2ad5f55104a36a356192cfb680c049fe5e7c1f6620fc37f119cdc2",
-                "sha256:6e395ece147f0692ca7cdb05a028d31b83b72c369f7b4a2c1798f4b96af1e3d8",
-                "sha256:6ece2e12e4b57bc5646b354f436416cd2a6f090c1dadcd92b0ca4542190d7190",
-                "sha256:71469b5845b9876b8d3d252e201bef6f47bf7456804d2fbe9a1d6e19e78a1e65",
-                "sha256:7f606d91b8a8816be476513a77fd30abe66227039bd6f8b406c348cb0247dcc9",
-                "sha256:7f88c4b8e449908eeddb3bbd4242bd4dc2c7a15a7aa44bb33df893203f02dc2d",
-                "sha256:81237957b15469ea9151ec8ca08ce05656090ffabc476a752ef5ad7e2644c526",
-                "sha256:89b57c2984f4464840e4b768affeff6b6809c6150d1166938ade3e22fbe22db8",
-                "sha256:8a830a03970c462d1a2311c90e05679da56d3bd8e78a4ba9985cb78ef7836c9f",
-                "sha256:8ae5a071185f1a93777c79a9a1e67ac46544d4607f18d07131eece08d415083a",
-                "sha256:8b6086aa6936865962b2cee0e7aaecf01ab6778ce099288354a7229b4d9f1408",
-                "sha256:8ec2e55bf31b43aabe32089125dca3b46fdfe9f50afbf0756ae11e14c97b80ca",
-                "sha256:8ff3033e43e7ca1389ee59fb7ecb8303abb8713c008a1da49b00869e92e3dd7c",
-                "sha256:91eb4916271655dfe3a952249cb37a5c00b6ba68b4417ee15af9ba549b5ba61d",
-                "sha256:9d2bb56309fb75a811d81ed55fbe2208aa77a3a09ff5f546ca95e7bb5fac6eff",
-                "sha256:a4e8f072db1d6fb7a7cc05a6dbef8442c93001f4bb604f1081d8c2db3ca97159",
-                "sha256:b1605c7c38cc6a85212dfd6a641f3905a33412e49f7c003f35f9ac6d71f67720",
-                "sha256:b3e251e5c38ac623c5d786adb21477f018712f8c6fa54781bd38aa1c60b60fc2",
-                "sha256:b978afdb913ca953cf128d57181da2e8798e8b6153be866ae2a9c446c6162f40",
-                "sha256:be9a650890fb60393e60aacb65878c4a38bb334720aa5ecb1c13d0dac54dd73b",
-                "sha256:c222f91a45da9e01a9bc4f760727ae49050f8e8345c4ff6525495f7a164c8973",
-                "sha256:c839bf28e45d7ddad4ae8f986928dbf5a6d42ff79760d54ec8ada8fb263e097c",
-                "sha256:cbb5eb4a2ea1ffec26268d49766cafa8f957fe5c1b41ad00733763fae77f9436",
-                "sha256:e348f1904a4fab4153407f7ccc27e43b2a139752e8acf12e6640ba683093dd96",
-                "sha256:e677cc3626287f343de751e11b1e8a5b915a6ac897e8aecdbc996cd34de753a0",
-                "sha256:f74f2a13af201559e3d32b9ddfc303c94ae63d63d7f4326d06ce6fe67e7a8255",
-                "sha256:fa4d97d7d2b2c082e67907c0b8d9f31b85aa5d3ba0d33096b7116f03f8061261",
-                "sha256:ffbdb9a96c536f0405895b5e21ee39ec579cb0ed97bdbd169ae2b55f41d73219"
+                "sha256:007799c7fa934646318fc128b033bb6e6baabe7fbad521bfb2279aac26225cd7",
+                "sha256:130c6c35eded399d3967cf8a542c20b671f5ba85bd6f210f8b939f868360e9eb",
+                "sha256:1858ad3cb686eccc7c6b7c5eac846a1cfd45aacb5811b2cf575e80b208f5622a",
+                "sha256:1ae7aa0784aeadfbd693c27993727792fbe1455b84d49970bad5886b42976b18",
+                "sha256:1d2c744aeedce22c122bb42d176b4aa6d063202a05a4abdacb3e413c214b3694",
+                "sha256:21a3a98f0a21fc602663ca9bce2b12a4114891bdeba2dea1e9ad84db59892fca",
+                "sha256:22ccba48abae827a0f952a78a7b1a7ff01866131e5bbe1f826ce9bda406bf051",
+                "sha256:26b5a70bdab09e6a2f40babc4f8f992e3771751e144bda1938084c70d3001c09",
+                "sha256:2d76780d9c65c7529cedd49fa4802d713e60798d8dc3b0d5b12a0a8f38cca51c",
+                "sha256:325fa1b15098e44fe4590a6c5c09a212ca10c6ebb5d96f7447d675f6c8340e4e",
+                "sha256:3a297d77b3d6979693f5948df02b89431ae3645ec95865e351fb45578031bdae",
+                "sha256:3b1dcbc49923ac3c973184a82832e1f018dec643b1e054867d04a3a22255ec6a",
+                "sha256:40240da438c0ebfe2aa76dd04b844effac6679423df61adbe3437d32f23468d9",
+                "sha256:46c6e5018ba31d5ee7582f323d8661498a154dea1117486a571db4c244531f24",
+                "sha256:46fb56fde006b7ef5f8eaa3698299b0ea47444238b869ff3ced1426aa9fedcb5",
+                "sha256:4dc350cb65fe4e3f737d50f0465fa6ea0dcae0e5722b7edf5d5b0a0e3cd2c3c7",
+                "sha256:51078855a16b7a4984ed2067b54e35803d18bca9861cb60c60f6234b50869a56",
+                "sha256:547111ef7cf13d73546c2de97ce434935626c897bdec96a578ca100b5fcd694b",
+                "sha256:5fb73cc8a34baba1dfa546ae83b9c248ef6150c238b06fc53d2773685b67ec67",
+                "sha256:654280c5f41831ddcc5a331c0e3ce2e480bbc3d7c93c18ecf6236313aae2d61a",
+                "sha256:6b3136eecf7e1b4a4d23e4b19d6c4e7a8e0b42d55f30444e3c529700cdacaa0d",
+                "sha256:7118ca592d25b2957ff7b662bc0fe4f4c2b5d5b27814b9b1bc9f2fb249a970e7",
+                "sha256:71af5b43e4fa286a35110fc5bb740fdeae2b36ca79fbcf0a54237485baeee8be",
+                "sha256:747190fcdadc377263223f8f72b038381b3b549a8a3df5baf4d067da4749b046",
+                "sha256:8395064d63b26947fa2c9faeea9c3eee35e52148c5339c37987e1d96fbf009b3",
+                "sha256:84f85adfebd7d3c3db649efdf73659e1677a2cf3fa6e2556a3f373578af14bf7",
+                "sha256:86bcf0009f2012847a688f2f4f9b16203ca4c835979a02549aa0595d9f457cc8",
+                "sha256:ab8a15c2750ae8d53e31f77a94f846d0a00772240f1c12817411fa2344351f86",
+                "sha256:af24b21c2283ca69c416a8a42cde9764dc36c63d3389645d28c69b0e93db3cd7",
+                "sha256:afe173ac2646c2636305ab820cc0380b22a00a7bca4290452e7166b4f4fa49d0",
+                "sha256:b9eb88593159a53a5ee0b0159daee531ff7dd9c87fa78f5d807ca059c7eb1b2b",
+                "sha256:c16635f8dddbeb1b827977d0b00d07b644b040aeb9ff8607a9fc0997afa3e567",
+                "sha256:ca3eefb02ef17257fae8b8555c85e7c1efdfd777f671384b0e4ef27409b02720",
+                "sha256:caa59e2cae0e23b1e225447d7a9ddb0f982f42a6a22d497a484dfe62a06f7c0e",
+                "sha256:cb55258931448d61e2d50187de4ee66fc9d9f34908b524949b8b2b93d0c57136",
+                "sha256:d248c46c0aa406695bda2abf99632db991f8b3a6d46018721a2892312a99f069",
+                "sha256:d2578e5149ff49878934debfacf5c743fab49eca5ecdb983d0b218e1e554c498",
+                "sha256:dd22085446f3eca990d12a0878eeb5199dc9553b2e71716bfe7bed9915a472ab",
+                "sha256:e7cf940af5fee00a92e281eb157abe8770227a5255207818ea9a34e54a29f5b2",
+                "sha256:f70f3d028794e31cf9d1a822914efc935aadb2438ec4e8d4871d95eb1ce032d6",
+                "sha256:fd2842a0faed9ab9aba0922c951906132d9384be89690570f0ed18cd4f20e658",
+                "sha256:fd628e63ffdba0112e3ddf1b1e9f3db29dd8262345138e08f4938acbc6d0805a",
+                "sha256:ffd7cf165ff71afb202b3f36daafbf298932bee325aac9f58e1c9cd55838bef0"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==1.4.2"
+            "version": "==1.4.3"
         },
         "lru-dict": {
             "hashes": [
@@ -1918,41 +2016,40 @@
         },
         "mpld3": {
             "hashes": [
-                "sha256:3626d37da7ac11d0fce4dd5ceb37d04ba618bf951129bf6ca3f94bf48da87d6f",
-                "sha256:b1290f6cca2d9515e32ee21a8b0c18b2ea361cefce58ba0f4df881e9eeb3f64c",
-                "sha256:c589db8b661aee25c93e198e2e18ed47b9a96951de41d96241345acec5f819ab"
+                "sha256:1a167dbef836dd7c66d8aa71c06a32d50bffa18725f304d93cb74fdb3545043b",
+                "sha256:41938e65de4ba41a1b53d92e7c8609e7172e09b33ef5db42bb6f73701106c8b7"
             ],
             "index": "pypi",
-            "version": "==0.5.7"
+            "version": "==0.5.8"
         },
         "mypy": {
             "hashes": [
-                "sha256:0112752a6ff07230f9ec2f71b0d3d4e088a910fdce454fdb6553e83ed0eced7d",
-                "sha256:0384d9f3af49837baa92f559d3fa673e6d2652a16550a9ee07fc08c736f5e6f8",
-                "sha256:1b333cfbca1762ff15808a0ef4f71b5d3eed8528b23ea1c3fb50543c867d68de",
-                "sha256:1fdeb0a0f64f2a874a4c1f5271f06e40e1e9779bf55f9567f149466fc7a55038",
-                "sha256:4c653e4846f287051599ed8f4b3c044b80e540e88feec76b11044ddc5612ffed",
-                "sha256:563514c7dc504698fb66bb1cf897657a173a496406f1866afae73ab5b3cdb334",
-                "sha256:5b231afd6a6e951381b9ef09a1223b1feabe13625388db48a8690f8daa9b71ff",
-                "sha256:5ce6a09042b6da16d773d2110e44f169683d8cc8687e79ec6d1181a72cb028d2",
-                "sha256:5e7647df0f8fc947388e6251d728189cfadb3b1e558407f93254e35abc026e22",
-                "sha256:6003de687c13196e8a1243a5e4bcce617d79b88f83ee6625437e335d89dfebe2",
-                "sha256:61504b9a5ae166ba5ecfed9e93357fd51aa693d3d434b582a925338a2ff57fd2",
-                "sha256:77423570c04aca807508a492037abbd72b12a1fb25a385847d191cd50b2c9605",
-                "sha256:a4d9898f46446bfb6405383b57b96737dcfd0a7f25b748e78ef3e8c576bba3cb",
-                "sha256:a952b8bc0ae278fc6316e6384f67bb9a396eb30aced6ad034d3a76120ebcc519",
-                "sha256:b5b5bd0ffb11b4aba2bb6d31b8643902c48f990cc92fda4e21afac658044f0c0",
-                "sha256:ca75ecf2783395ca3016a5e455cb322ba26b6d33b4b413fcdedfc632e67941dc",
-                "sha256:cf9c261958a769a3bd38c3e133801ebcd284ffb734ea12d01457cb09eacf7d7b",
-                "sha256:dd4d670eee9610bf61c25c940e9ade2d0ed05eb44227275cce88701fee014b1f",
-                "sha256:e19736af56947addedce4674c0971e5dceef1b5ec7d667fe86bcd2b07f8f9075",
-                "sha256:eaea21d150fb26d7b4856766e7addcf929119dd19fc832b22e71d942835201ef",
-                "sha256:eaff8156016487c1af5ffa5304c3e3fd183edcb412f3e9c72db349faf3f6e0eb",
-                "sha256:ee0a36edd332ed2c5208565ae6e3a7afc0eabb53f5327e281f2ef03a6bc7687a",
-                "sha256:ef7beb2a3582eb7a9f37beaf38a28acfd801988cde688760aea9e6cc4832b10b"
-            ],
-            "index": "pypi",
-            "version": "==0.950"
+                "sha256:006be38474216b833eca29ff6b73e143386f352e10e9c2fbe76aa8549e5554f5",
+                "sha256:03c6cc893e7563e7b2949b969e63f02c000b32502a1b4d1314cabe391aa87d66",
+                "sha256:0e9f70df36405c25cc530a86eeda1e0867863d9471fe76d1273c783df3d35c2e",
+                "sha256:1ece702f29270ec6af25db8cf6185c04c02311c6bb21a69f423d40e527b75c56",
+                "sha256:3e09f1f983a71d0672bbc97ae33ee3709d10c779beb613febc36805a6e28bb4e",
+                "sha256:439c726a3b3da7ca84a0199a8ab444cd8896d95012c4a6c4a0d808e3147abf5d",
+                "sha256:5a0b53747f713f490affdceef835d8f0cb7285187a6a44c33821b6d1f46ed813",
+                "sha256:5f1332964963d4832a94bebc10f13d3279be3ce8f6c64da563d6ee6e2eeda932",
+                "sha256:63e85a03770ebf403291ec50097954cc5caf2a9205c888ce3a61bd3f82e17569",
+                "sha256:64759a273d590040a592e0f4186539858c948302c653c2eac840c7a3cd29e51b",
+                "sha256:697540876638ce349b01b6786bc6094ccdaba88af446a9abb967293ce6eaa2b0",
+                "sha256:9940e6916ed9371809b35b2154baf1f684acba935cd09928952310fbddaba648",
+                "sha256:9f5f5a74085d9a81a1f9c78081d60a0040c3efb3f28e5c9912b900adf59a16e6",
+                "sha256:a5ea0875a049de1b63b972456542f04643daf320d27dc592d7c3d9cd5d9bf950",
+                "sha256:b117650592e1782819829605a193360a08aa99f1fc23d1d71e1a75a142dc7e15",
+                "sha256:b24be97351084b11582fef18d79004b3e4db572219deee0212078f7cf6352723",
+                "sha256:b88f784e9e35dcaa075519096dc947a388319cb86811b6af621e3523980f1c8a",
+                "sha256:bdd5ca340beffb8c44cb9dc26697628d1b88c6bddf5c2f6eb308c46f269bb6f3",
+                "sha256:d5aaf1edaa7692490f72bdb9fbd941fbf2e201713523bdb3f4038be0af8846c6",
+                "sha256:e999229b9f3198c0c880d5e269f9f8129c8862451ce53a011326cad38b9ccd24",
+                "sha256:f4a21d01fc0ba4e31d82f0fff195682e29f9401a8bdb7173891070eb260aeb3b",
+                "sha256:f4b794db44168a4fc886e3450201365c9526a522c46ba089b55e1f11c163750d",
+                "sha256:f730d56cb924d371c26b8eaddeea3cc07d78ff51c521c6d04899ac6904b75492"
+            ],
+            "index": "pypi",
+            "version": "==0.961"
         },
         "mypy-extensions": {
             "hashes": [
@@ -1963,11 +2060,11 @@
         },
         "myst-parser": {
             "hashes": [
-                "sha256:1635ce3c18965a528d6de980f989ff64d6a1effb482e1f611b1bfb79e38f3d98",
-                "sha256:4c076d649e066f9f5c7c661bae2658be1ca06e76b002bb97f02a09398707686c"
+                "sha256:4965e51918837c13bf1c6f6fe2c6bddddf193148360fbdaefe743a4981358f6a",
+                "sha256:739a4d96773a8e55a2cacd3941ce46a446ee23dcd6b37e06f73f551ad7821d86"
             ],
             "index": "pypi",
-            "version": "==0.17.2"
+            "version": "==0.18.0"
         },
         "natsort": {
             "hashes": [
@@ -2014,16 +2111,16 @@
         },
         "opencv-python-headless": {
             "hashes": [
-                "sha256:3f330468c29882dbbec5af25695c5e575572c6b855cb0f9fe53e14116fd46bfc",
-                "sha256:4bdf982574bf2fefc5f82c86df7cb42e56ad627874c7c0f4d94ecf4ae8885304",
-                "sha256:567a54c1919bcf5b3d20a9830e3c511e57134de8def286ce137c3544a892f98c",
-                "sha256:62e31878641a8f96e773118d1eea9f34bdda87c9990a0faab04ebaafb5ae015c",
-                "sha256:a60e9ff48854ec37be391e19dd634883cc26c2f0f814e5325b3deca33420912c",
-                "sha256:c3c2dda44d601757a508b07d628537c49f31223ad4edd0f747a70d4c852a7b98",
-                "sha256:ca4f013fa958f60fb2327fe87e6127c1ac0ab536890b1d4b00847f417b7af1ba"
+                "sha256:21e70f8b0c04098cdf466d27184fe6c3820aaef944a22548db95099959c95889",
+                "sha256:2c032c373e447c3fc2a670bca20e2918a1205a6e72854df60425fd3f82c78c32",
+                "sha256:3bacd806cce1f1988e58f3d6f761538e0215d6621d316de94c009dc0acbd6ad3",
+                "sha256:d5291d7e10aa2c19cab6fd86f0d61af8617290ecd2d7ffcb051e446868d04cc5",
+                "sha256:e6c069bc963d7e8fcec21b3e33e594d35948badd63eccb2e80f88b0a12102c03",
+                "sha256:eec6281054346103d6af93f173b7c6a206beb2663d3adc04aa3ddc66e85093df",
+                "sha256:ffbf26fcd697af996408440a93bc69c49c05a36845771f984156dfbeaa95d497"
             ],
             "index": "pypi",
-            "version": "==4.5.5.64"
+            "version": "==4.6.0.66"
         },
         "packaging": {
             "hashes": [
@@ -2329,11 +2426,11 @@
         },
         "requests": {
             "hashes": [
-                "sha256:68d7c56fd5a8999887728ef304a6d12edc7be74f1cfa47714fc8b414525c9a61",
-                "sha256:f22fa1e554c9ddfd16e6e41ac79759e17be9e492b3587efa038054674760e72d"
+                "sha256:bc7861137fbce630f17b03d3ad02ad0bf978c844f3536d0edda6499dafce2b6f",
+                "sha256:d568723a7ebd25875d8d1eaf5dfa068cd2fc8194b2e483d7b1f7c81918dbec6b"
             ],
             "index": "pypi",
-            "version": "==2.27.1"
+            "version": "==2.28.0"
         },
         "reverse-geocoder": {
             "hashes": [
diff --git a/README.md b/README.md
index 9d279fb84d..34b17625f9 100755
--- a/README.md
+++ b/README.md
@@ -35,16 +35,17 @@ What is openpilot?
 </table>
 
 
-Running in a car
+Running on a dedicated device in a car
 ------
 
 To use openpilot in a car, you need four things
-* This software. It's free and available right here.
+* A supported device to run this software: a [comma three](https://comma.ai/shop/products/three).
+* This software. The setup procedure of the comma three allows the user to enter a url for custom software.
+The url, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another github username can install a fork.
 * One of [the 150+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot.
-* A supported device to run this software: a [comma three](https://comma.ai/shop/products/three), or if you like to experiment, a [Ubuntu computer with webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
-* A way to connect to your car. With a comma three, you need only a [car harness](https://comma.ai/shop/products/car-harness). With a PC, you also need a [black panda](https://comma.ai/shop/products/panda).
+* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.
 
-We have detailed instructions for [how to install the device in a car](https://comma.ai/setup).
+We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
 
 Running on PC
 ------
@@ -55,6 +56,7 @@ With openpilot's tools you can plot logs, replay drives and watch the full-res c
 
 You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes, but does require a decent GPU.
 
+A PC running openpilot can also control your vehicle if it is connected to a [a webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and [a harness](https://comma.ai/shop/products/car-harness).
 
 Community and Contributing
 ------
@@ -119,6 +121,7 @@ Directory Structure
         ├── modeld          # Driving and monitoring model runners
         ├── proclogd        # Logs information from proc
         ├── sensord         # IMU interface code
+        ├── navd            # Turn-by-turn navigation
         ├── test            # Unit tests, system tests, and a car simulator
         └── ui              # The UI
 
diff --git a/RELEASES.md b/RELEASES.md
index de57d520d3..5b71fc3375 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,11 +1,24 @@
-Version 0.8.15 (2022-XX-XX)
+Version 0.8.15 (2022-07-XX)
 ========================
-* New driving model
 * New lateral controller based on physical wheel torque model
   * Much smoother control, consistent across the speed range
   * Effective feedforward that uses road roll
   * Simplified tuning, all car-specific parameters can be derived from data
+  * Significantly improved control on TSS-P Prius
+* New driver monitoring model
+  * takes a larger input frame
+  * outputs a driver state for both driver and passenger
+  * automatically determines which side the driver is on (soon)
+* Reduced power usage: device runs cooler and fan spins less
+* Minor UI updates
+  * New font
+  * Refreshed max speed design
+  * Speed limits shown while navigating
+  * More consistent camera view perspective across cars
 * AGNOS 5
+* Honda Civic 2022 support
+* Hyundai Tucson 2021 support thanks to bluesforte!
+* Lexus NX Hybrid 2020 support thanks to AlexandreSato!
 
 Version 0.8.14 (2022-06-01)
 ========================
diff --git a/SConstruct b/SConstruct
index 0aeb382c23..1209894ba4 100644
--- a/SConstruct
+++ b/SConstruct
@@ -94,7 +94,7 @@ if arch == "larch64":
     "/usr/lib/aarch64-linux-gnu"
   ]
   cpppath += [
-    "#selfdrive/camerad/include",
+    "#system/camerad/include",
   ]
   cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
   cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
@@ -356,22 +356,27 @@ Export('cereal', 'messaging', 'visionipc')
 
 # Build rednose library and ekf models
 
+rednose_deps = [
+  "#selfdrive/locationd/models/constants.py",
+  "#selfdrive/locationd/models/gnss_helpers.py",
+]
+
 rednose_config = {
   'generated_folder': '#selfdrive/locationd/models/generated',
   'to_build': {
-    'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h']),
-    'car': ('#selfdrive/locationd/models/car_kf.py', True, []),
+    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, [], rednose_deps),
+    'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h'], rednose_deps),
+    'car': ('#selfdrive/locationd/models/car_kf.py', True, [], rednose_deps),
   },
 }
 
 if arch != "larch64":
   rednose_config['to_build'].update({
-    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
-    'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),
-    'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, []),
-    'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, []),
-    'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, []),
-    'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, []),
+    'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, [], rednose_deps),
+    'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, [], []),
+    'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, [], []),
+    'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, [], []),
+    'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, [], rednose_deps),
   })
 
 Export('rednose_config')
@@ -379,6 +384,7 @@ SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
+  'system/camerad/SConscript',
   'system/clocksd/SConscript',
   'system/proclogd/SConscript',
 ])
@@ -396,7 +402,6 @@ SConscript(['third_party/SConscript'])
 SConscript(['common/kalman/SConscript'])
 SConscript(['common/transformations/SConscript'])
 
-SConscript(['selfdrive/camerad/SConscript'])
 SConscript(['selfdrive/modeld/SConscript'])
 
 SConscript(['selfdrive/controls/lib/cluster/SConscript'])
@@ -411,6 +416,8 @@ SConscript(['selfdrive/locationd/SConscript'])
 SConscript(['selfdrive/sensord/SConscript'])
 SConscript(['selfdrive/ui/SConscript'])
 
+SConscript(['tools/replay/SConscript'])
+
 if GetOption('test'):
   SConscript('panda/tests/safety/SConscript')
 
diff --git a/cereal b/cereal
index 7cbb4f1c8c..df08568318 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 7cbb4f1c8cb7cfc798a058c611801442b40feb52
+Subproject commit df08568318da97ed6f87747caee0a5b2c30086c4
diff --git a/common/api/__init__.py b/common/api/__init__.py
index fd2e70910e..c1fa635bd6 100644
--- a/common/api/__init__.py
+++ b/common/api/__init__.py
@@ -3,7 +3,7 @@ import os
 import requests
 from datetime import datetime, timedelta
 from common.basedir import PERSIST
-from selfdrive.version import get_version
+from system.version import get_version
 
 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
 
diff --git a/common/basedir.py b/common/basedir.py
index 8be1cf6afa..371b54d3ef 100644
--- a/common/basedir.py
+++ b/common/basedir.py
@@ -1,7 +1,7 @@
 import os
 from pathlib import Path
 
-from selfdrive.hardware import PC
+from system.hardware import PC
 
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
 
diff --git a/common/modeldata.h b/common/modeldata.h
index 06d9398031..b193841416 100644
--- a/common/modeldata.h
+++ b/common/modeldata.h
@@ -2,7 +2,7 @@
 
 #include <array>
 #include "common/mat.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 const int  TRAJECTORY_SIZE = 33;
 const int LAT_MPC_N = 16;
@@ -24,12 +24,6 @@ constexpr auto T_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(10.0);
 constexpr auto X_IDXS = build_idxs<double, TRAJECTORY_SIZE>(192.0);
 constexpr auto X_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(192.0);
 
-namespace tici_dm_crop {
-  const int x_offset = -72;
-  const int y_offset = -144;
-  const int width = 954;
-};
-
 const mat3 fcam_intrinsic_matrix = (mat3){{2648.0, 0.0, 1928.0 / 2,
                                            0.0, 2648.0, 1208.0 / 2,
                                            0.0, 0.0, 1.0}};
diff --git a/common/params.cc b/common/params.cc
index 330eddc1a9..f93c87cd98 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -8,7 +8,7 @@
 
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 namespace {
 
@@ -94,6 +94,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CompletedTrainingVersion", PERSISTENT},
     {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"DashcamOverride", PERSISTENT},
     {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"DisablePowerDown", PERSISTENT},
     {"DisableRadar_Allow", PERSISTENT},
@@ -127,6 +128,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
     {"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
     {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
+    {"LaikadEphemeris", PERSISTENT | DONT_LOG},
     {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
     {"LastGPSPosition", PERSISTENT},
     {"LastManagerExitReason", CLEAR_ON_MANAGER_START},
diff --git a/common/realtime.py b/common/realtime.py
index 03051c6f67..8a79d8d39f 100644
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -8,7 +8,7 @@ from typing import Optional, List, Union
 from setproctitle import getproctitle  # pylint: disable=no-name-in-module
 
 from common.clock import sec_since_boot  # pylint: disable=no-name-in-module, import-error
-from selfdrive.hardware import PC
+from system.hardware import PC
 
 
 # time step for each process
diff --git a/common/swaglog.cc b/common/swaglog.cc
index 75223854fe..22682dc54c 100644
--- a/common/swaglog.cc
+++ b/common/swaglog.cc
@@ -15,7 +15,7 @@
 
 #include "common/util.h"
 #include "common/version.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 class SwaglogState : public LogState {
  public:
@@ -66,8 +66,9 @@ static void log(int levelnum, const char* filename, int lineno, const char* func
   char levelnum_c = levelnum;
   zmq_send(s.sock, (levelnum_c + log_s).c_str(), log_s.length() + 1, ZMQ_NOBLOCK);
 }
+
 static void cloudlog_common(int levelnum, const char* filename, int lineno, const char* func,
-                            char* msg_buf, json11::Json::object msg_j={}) {
+                            char* msg_buf, const json11::Json::object &msg_j={}) {
   std::lock_guard lk(s.lock);
   if (!s.initialized) s.initialize();
 
diff --git a/common/tests/test_swaglog.cc b/common/tests/test_swaglog.cc
index b54d1d6338..20455ec74c 100644
--- a/common/tests/test_swaglog.cc
+++ b/common/tests/test_swaglog.cc
@@ -7,7 +7,7 @@
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "common/version.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 const char *SWAGLOG_ADDR = "ipc:///tmp/logmessage";
 std::string daemon_name = "testy";
diff --git a/docs/CARS.md b/docs/CARS.md
index 3c458575d3..25de6a2549 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -25,7 +25,8 @@ How We Rate The Cars
 - <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - No steering control below certain speeds.
 
 ### Steering Torque
-- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Car has enough steering torque for comfortable highway driving.
+- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Car has enough steering torque to take tighter turns.
+- <a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a> - Car has enough steering torque for comfortable highway driving.
 - <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Limited ability to make turns.
 
 ### Actively Maintained
@@ -34,7 +35,7 @@ How We Rate The Cars
 
 **All supported cars can move between the tiers as support changes.**
 
-## Gold Cars
+# Gold - 31 cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
@@ -51,10 +52,15 @@ How We Rate The Cars
 |Lexus|ES 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|ES Hybrid 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|NX 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|NX Hybrid 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|UX Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry Hybrid 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Corolla Cross 2020-21 (Non-US only)|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla Hatchback 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Highlander 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -65,11 +71,15 @@ How We Rate The Cars
 |Toyota|RAV4 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 
-## Silver Cars
+# Silver - 67 cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
-|Audi|Q2 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|A3 2014-19|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|RS3 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|S3 2015-17|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Genesis|G70 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Genesis|G80 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Elantra 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -87,7 +97,7 @@ How We Rate The Cars
 |Kia|Ceed 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Forte 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Forte 2019-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|K5 2021-22|SCC + LFA|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|K5 2021-22|SCC|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Niro Hybrid 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Niro Hybrid 2022|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Optima 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -95,63 +105,67 @@ How We Rate The Cars
 |Kia|Sorento 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Sorento 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Stinger 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|CT Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|ES Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|NX 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|NX Hybrid 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Mazda|CX-5 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Nissan|Altima 2019-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Nissan|Leaf 2018-22|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Nissan|Rogue 2018-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Nissan|X-Trail 2017|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |SEAT|Ateca 2018|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |SEAT|Leon 2014-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Forester 2019-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Kamiq 2021[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Karoq 2019|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Kodiaq 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Octavia 2015, 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Octavia RS 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Scala 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Superb 2015-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Alphard 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Ascent 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Crosstrek 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Forester 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Impreza 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Alphard 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry Hybrid 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Highlander Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Prius 2016-20|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Prius Prime 2017-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Arteon 2018, 2021[<sup>9</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Passat 2015-19[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Atlas 2018-19, 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf Alltrack 2017-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf GTE 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf GTI 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf R 2016-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf SportsVan 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf SportWagen 2015|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Passat 2015-19[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Polo 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|T-Cross 2021[<sup>9</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|T-Roc 2021[<sup>9</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Taos 2022[<sup>9</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Touran 2017|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 
-## Bronze Cars
+# Bronze - 78 cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-19|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Acura|RDX 2016-18|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Acura|RDX 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|A3 2014-19|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|Q3 2020-21|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|RS3 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|S3 2015-17|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica 2020|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica Hybrid 2019-21|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|Q2 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Audi|Q3 2020-21|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Genesis|G90 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
 |Honda|Accord 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Accord Hybrid 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Civic 2016-18|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Civic 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>[<sup>2</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Civic 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Civic Hatchback 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|CR-V 2015-16|Touring|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|CR-V 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|CR-V Hybrid 2017-19|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -165,61 +179,52 @@ How We Rate The Cars
 |Honda|Passport 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Pilot 2016-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Ridgeline 2017-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Elantra 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Elantra 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Genesis 2015-16|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Ioniq Electric 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Sonata 2018-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Veloster 2019-20|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Jeep|Grand Cherokee 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Sonata 2018-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Tucson 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Veloster 2019-20|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Jeep|Grand Cherokee 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Optima 2017|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|CT Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|IS 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RC 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX Hybrid 2016-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Mazda|CX-9 2021|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Nissan|Altima 2019-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Nissan|Leaf 2018-22|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Nissan|Rogue 2018-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Nissan|X-Trail 2017|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Ascent 2019-20|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|IS 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RC 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX Hybrid 2016-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Mazda|CX-5 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Mazda|CX-9 2021|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Crosstrek 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Impreza 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|C-HR 2017-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|C-HR Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Karoq 2019|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Kodiaq 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Octavia 2015, 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Octavia RS 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Scala 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Škoda|Superb 2015-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|C-HR 2017-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|C-HR Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Highlander Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius 2016-20|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius Prime 2017-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius v 2017|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Atlas 2018-19, 2022[<sup>9</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|California 2021[<sup>9</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Caravelle 2020[<sup>9</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf Alltrack 2017-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf GTE 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf GTI 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf R 2016-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf SportsVan 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf SportWagen 2015|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Jetta 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Jetta GLI 2021|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Passat 2017, 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Tiguan 2019-22[<sup>9</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Prius v 2017|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|RAV4 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Arteon 2018, 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Jetta 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Jetta GLI 2021|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Tiguan 2019-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Touran 2017|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 
 
 <a id="footnotes"></a>
@@ -227,11 +232,9 @@ How We Rate The Cars
 <sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
 <sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i> NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>5</sup>An inaccurate steering wheel angle sensor makes precise control difficult. <br />
-<sup>6</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>7</sup>European B8 Passat on MQB platform, not including USA/China/Mideast. <br />
-<sup>8</sup>USA/China/Mideast NMS Passat made on the PQ46 platform, not including Europe. <br />
-<sup>9</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard. <br />
+<sup>5</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>6</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
+<sup>7</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
\ No newline at end of file
diff --git a/docs/c_docs.rst b/docs/c_docs.rst
index 218cd5a7d9..5638b40bf0 100644
--- a/docs/c_docs.rst
+++ b/docs/c_docs.rst
@@ -28,11 +28,11 @@ selfdrive
 camerad
 ^^^^^^^
 .. autodoxygenindex::
-   :project: selfdrive_camerad_cameras
+   :project: system_camerad_cameras
 .. autodoxygenindex::
-   :project: selfdrive_camerad_transforms
+   :project: system_camerad_transforms
 .. autodoxygenindex::
-   :project: selfdrive_camerad_imgproc
+   :project: system_camerad_imgproc
 
 locationd
 ^^^^^^^^^
@@ -54,7 +54,7 @@ soundd
 replay
 """"""
 .. autodoxygenindex::
-   :project: selfdrive_ui_replay
+   :project: tools_replay
 
 qt
 ""
diff --git a/docs/conf.py b/docs/conf.py
index c11d17455d..fea921de1f 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -14,10 +14,12 @@
 # documentation root, use os.path.abspath to make it absolute, like shown here.
 #
 import os
-from os.path import exists
 import sys
-from selfdrive.version import get_version
+from os.path import exists
+
 from common.basedir import BASEDIR
+from system.version import get_version
+
 sys.path.insert(0, os.path.abspath('.'))
 sys.path.insert(0, os.path.abspath('..'))
 
diff --git a/laika_repo b/laika_repo
index ba6ed3277c..6e87f536db 160000
--- a/laika_repo
+++ b/laika_repo
@@ -1 +1 @@
-Subproject commit ba6ed3277cadfdc8697206784afbd7f9a223798b
+Subproject commit 6e87f536dbe8cf80040f724c89798e66ca17cf9d
diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index a37e27c4fe..911774a4eb 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -22,12 +22,12 @@ function agnos_init {
 
   # Check if AGNOS update is required
   if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
-    AGNOS_PY="$DIR/selfdrive/hardware/tici/agnos.py"
-    MANIFEST="$DIR/selfdrive/hardware/tici/agnos.json"
+    AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
+    MANIFEST="$DIR/system/hardware/tici/agnos.json"
     if $AGNOS_PY --verify $MANIFEST; then
       sudo reboot
     fi
-    $DIR/selfdrive/hardware/tici/updater $AGNOS_PY $MANIFEST
+    $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
   fi
 }
 
diff --git a/opendbc b/opendbc
index fac85f721b..02571d4500 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit fac85f721b8cee25aa9d256edd5274ba2d6df110
+Subproject commit 02571d450094e8ad52f5a67366cfc1b9d03134f1
diff --git a/panda b/panda
index c077fc2347..a2f199c587 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit c077fc2347514ca892cd996286caadb9d8bd68bb
+Subproject commit a2f199c5874b232d4281613626ccb9fbef2afadd
diff --git a/rednose_repo b/rednose_repo
index 7663289f1e..225dbacbaa 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit 7663289f1e68860f53dc34337ef080dde69a2586
+Subproject commit 225dbacbaac312f85eaaee0b97a3acc31f9c6b47
diff --git a/release/files_common b/release/files_common
index 259b61538f..59c9f4ea6a 100644
--- a/release/files_common
+++ b/release/files_common
@@ -60,18 +60,20 @@ release/*
 
 tools/lib/*
 tools/joystick/*
-
-selfdrive/version.py
+tools/replay/*.cc
+tools/replay/*.h
 
 selfdrive/__init__.py
 selfdrive/sentry.py
-selfdrive/swaglog.py
-selfdrive/logmessaged.py
 selfdrive/tombstoned.py
 selfdrive/updated.py
 selfdrive/rtshield.py
 selfdrive/statsd.py
 
+system/logmessaged.py
+system/swaglog.py
+system/version.py
+
 selfdrive/athena/__init__.py
 selfdrive/athena/athenad.py
 selfdrive/athena/manage_athenad.py
@@ -101,9 +103,13 @@ selfdrive/car/interfaces.py
 selfdrive/car/vin.py
 selfdrive/car/disable_ecu.py
 selfdrive/car/fw_versions.py
+selfdrive/car/ecu_addrs.py
 selfdrive/car/isotp_parallel_query.py
 selfdrive/car/tests/__init__.py
 selfdrive/car/tests/test_car_interfaces.py
+selfdrive/car/torque_data/params.yaml
+selfdrive/car/torque_data/substitute.yaml
+selfdrive/car/torque_data/override.yaml
 
 selfdrive/car/body/*.py
 selfdrive/car/chrysler/*.py
@@ -181,21 +187,22 @@ selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
 selfdrive/controls/lib/lateral_mpc_lib/*
 selfdrive/controls/lib/longitudinal_mpc_lib/*
 
-selfdrive/hardware/__init__.py
-selfdrive/hardware/base.h
-selfdrive/hardware/base.py
-selfdrive/hardware/hw.h
-selfdrive/hardware/tici/__init__.py
-selfdrive/hardware/tici/hardware.h
-selfdrive/hardware/tici/hardware.py
-selfdrive/hardware/tici/pins.py
-selfdrive/hardware/tici/agnos.py
-selfdrive/hardware/tici/agnos.json
-selfdrive/hardware/tici/amplifier.py
-selfdrive/hardware/tici/updater
-selfdrive/hardware/tici/iwlist.py
-selfdrive/hardware/pc/__init__.py
-selfdrive/hardware/pc/hardware.py
+selfdrive/hardware
+system/hardware/__init__.py
+system/hardware/base.h
+system/hardware/base.py
+system/hardware/hw.h
+system/hardware/tici/__init__.py
+system/hardware/tici/hardware.h
+system/hardware/tici/hardware.py
+system/hardware/tici/pins.py
+system/hardware/tici/agnos.py
+system/hardware/tici/agnos.json
+system/hardware/tici/amplifier.py
+system/hardware/tici/updater
+system/hardware/tici/iwlist.py
+system/hardware/pc/__init__.py
+system/hardware/pc/hardware.py
 
 selfdrive/locationd/__init__.py
 selfdrive/locationd/.gitignore
@@ -208,15 +215,20 @@ selfdrive/locationd/generated/ubx.h
 selfdrive/locationd/generated/gps.cpp
 selfdrive/locationd/generated/gps.h
 
+selfdrive/locationd/laikad.py
+selfdrive/locationd/laikad_helpers.py
+selfdrive/locationd/locationd.cc
 selfdrive/locationd/locationd.h
 selfdrive/locationd/locationd.cc
 selfdrive/locationd/paramsd.py
 selfdrive/locationd/models/.gitignore
-selfdrive/locationd/models/live_kf.py
 selfdrive/locationd/models/car_kf.py
-selfdrive/locationd/models/constants.py
+selfdrive/locationd/models/gnss_kf.py
+selfdrive/locationd/models/live_kf.py
 selfdrive/locationd/models/live_kf.h
 selfdrive/locationd/models/live_kf.cc
+selfdrive/locationd/models/constants.py
+selfdrive/locationd/models/gnss_helpers.py
 
 selfdrive/locationd/calibrationd.py
 
@@ -277,6 +289,7 @@ selfdrive/ui/soundd/*.cc
 selfdrive/ui/soundd/*.h
 selfdrive/ui/soundd/soundd
 selfdrive/ui/soundd/.gitignore
+selfdrive/ui/translations/*
 
 selfdrive/ui/qt/*.cc
 selfdrive/ui/qt/*.h
@@ -285,31 +298,27 @@ selfdrive/ui/qt/offroad/*.h
 selfdrive/ui/qt/offroad/*.qml
 selfdrive/ui/qt/widgets/*.cc
 selfdrive/ui/qt/widgets/*.h
-
-selfdrive/ui/replay/*.cc
-selfdrive/ui/replay/*.h
-
 selfdrive/ui/qt/maps/*.cc
 selfdrive/ui/qt/maps/*.h
 
-selfdrive/camerad/SConscript
-selfdrive/camerad/main.cc
+system/camerad/SConscript
+system/camerad/main.cc
 
-selfdrive/camerad/snapshot/*
-selfdrive/camerad/include/*
-selfdrive/camerad/cameras/camera_common.h
-selfdrive/camerad/cameras/camera_common.cc
-selfdrive/camerad/cameras/sensor2_i2c.h
+system/camerad/snapshot/*
+system/camerad/include/*
+system/camerad/cameras/camera_common.h
+system/camerad/cameras/camera_common.cc
+system/camerad/cameras/sensor2_i2c.h
 
-selfdrive/camerad/transforms/rgb_to_yuv.cc
-selfdrive/camerad/transforms/rgb_to_yuv.h
-selfdrive/camerad/transforms/rgb_to_yuv.cl
-selfdrive/camerad/transforms/rgb_to_yuv_test.cc
+system/camerad/transforms/rgb_to_yuv.cc
+system/camerad/transforms/rgb_to_yuv.h
+system/camerad/transforms/rgb_to_yuv.cl
+system/camerad/transforms/rgb_to_yuv_test.cc
 
-selfdrive/camerad/imgproc/conv.cl
-selfdrive/camerad/imgproc/pool.cl
-selfdrive/camerad/imgproc/utils.cc
-selfdrive/camerad/imgproc/utils.h
+system/camerad/imgproc/conv.cl
+system/camerad/imgproc/pool.cl
+system/camerad/imgproc/utils.cc
+system/camerad/imgproc/utils.h
 
 selfdrive/manager/__init__.py
 selfdrive/manager/build.py
@@ -407,6 +416,7 @@ pyextra/.gitignore
 pyextra/acados_template/**
 
 rednose/**
+laika/**
 
 cereal/.gitignore
 cereal/__init__.py
@@ -472,7 +482,6 @@ opendbc/gm_global_a_powertrain_generated.dbc
 opendbc/gm_global_a_object.dbc
 opendbc/gm_global_a_chassis.dbc
 
-opendbc/ford_fusion_2018_adas.dbc
 opendbc/ford_lincoln_base_pt.dbc
 
 opendbc/honda_accord_2018_can_generated.dbc
@@ -490,6 +499,7 @@ opendbc/honda_odyssey_exl_2018_generated.dbc
 opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc
 opendbc/honda_insight_ex_2019_can_generated.dbc
 opendbc/acura_ilx_2016_nidec.dbc
+opendbc/honda_civic_ex_2022_can_generated.dbc
 
 opendbc/kia_ev6.dbc
 opendbc/hyundai_kia_generic.dbc
diff --git a/release/files_tici b/release/files_tici
index ee1ac63c34..f8c0a27959 100644
--- a/release/files_tici
+++ b/release/files_tici
@@ -2,14 +2,14 @@ third_party/snpe/larch64**
 third_party/snpe/aarch64-ubuntu-gcc7.5/*
 third_party/mapbox-gl-native-qt/include/*
 
-selfdrive/timezoned.py
+system/timezoned.py
 
 selfdrive/assets/navigation/*
 selfdrive/assets/training_wide/*
 
-selfdrive/camerad/cameras/camera_qcom2.cc
-selfdrive/camerad/cameras/camera_qcom2.h
-selfdrive/camerad/cameras/real_debayer.cl
+system/camerad/cameras/camera_qcom2.cc
+system/camerad/cameras/camera_qcom2.h
+system/camerad/cameras/real_debayer.cl
 
 selfdrive/ui/qt/spinner_larch64
 selfdrive/ui/qt/text_larch64
diff --git a/scripts/disable-powersave.py b/scripts/disable-powersave.py
index f651bc87f1..93688504f3 100755
--- a/scripts/disable-powersave.py
+++ b/scripts/disable-powersave.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from selfdrive.hardware import HARDWARE
+from system.hardware import HARDWARE
 
 if __name__ == "__main__":
   HARDWARE.set_power_save(False)
diff --git a/selfdrive/assets/fonts/opensans_bold.ttf b/selfdrive/assets/fonts/opensans_bold.ttf
deleted file mode 100644
index 7b52945603..0000000000
Binary files a/selfdrive/assets/fonts/opensans_bold.ttf and /dev/null differ
diff --git a/selfdrive/assets/fonts/opensans_regular.ttf b/selfdrive/assets/fonts/opensans_regular.ttf
deleted file mode 100644
index 2e31d02424..0000000000
Binary files a/selfdrive/assets/fonts/opensans_regular.ttf and /dev/null differ
diff --git a/selfdrive/assets/fonts/opensans_semibold.ttf b/selfdrive/assets/fonts/opensans_semibold.ttf
deleted file mode 100644
index 99db86aa02..0000000000
Binary files a/selfdrive/assets/fonts/opensans_semibold.ttf and /dev/null differ
diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index ba86e02cc6..b0e138c495 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -32,12 +32,12 @@ from common.basedir import PERSIST
 from common.file_helpers import CallbackReader
 from common.params import Params
 from common.realtime import sec_since_boot, set_core_affinity
-from selfdrive.hardware import HARDWARE, PC, AGNOS
+from system.hardware import HARDWARE, PC, AGNOS
 from selfdrive.loggerd.config import ROOT
 from selfdrive.loggerd.xattr_cache import getxattr, setxattr
 from selfdrive.statsd import STATS_DIR
-from selfdrive.swaglog import SWAGLOG_DIR, cloudlog
-from selfdrive.version import get_commit, get_origin, get_short_branch, get_version
+from system.swaglog import SWAGLOG_DIR, cloudlog
+from system.version import get_commit, get_origin, get_short_branch, get_version
 
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
@@ -493,7 +493,7 @@ def getNetworks():
 
 @dispatcher.add_method
 def takeSnapshot():
-  from selfdrive.camerad.snapshot.snapshot import jpeg_write, snapshot
+  from system.camerad.snapshot.snapshot import jpeg_write, snapshot
   ret = snapshot()
   if ret is not None:
     def b64jpeg(x):
diff --git a/selfdrive/athena/manage_athenad.py b/selfdrive/athena/manage_athenad.py
index 58ad58310f..6bbb03a799 100755
--- a/selfdrive/athena/manage_athenad.py
+++ b/selfdrive/athena/manage_athenad.py
@@ -5,8 +5,8 @@ from multiprocessing import Process
 
 from common.params import Params
 from selfdrive.manager.process import launcher
-from selfdrive.swaglog import cloudlog
-from selfdrive.version import get_version, is_dirty
+from system.swaglog import cloudlog
+from system.version import get_version, is_dirty
 
 ATHENA_MGR_PID_PARAM = "AthenadPid"
 
diff --git a/selfdrive/athena/registration.py b/selfdrive/athena/registration.py
index 2748934361..32bc92059c 100755
--- a/selfdrive/athena/registration.py
+++ b/selfdrive/athena/registration.py
@@ -11,8 +11,8 @@ from common.params import Params
 from common.spinner import Spinner
 from common.basedir import PERSIST
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
-from selfdrive.hardware import HARDWARE, PC
-from selfdrive.swaglog import cloudlog
+from system.hardware import HARDWARE, PC
+from system.swaglog import cloudlog
 
 
 UNREGISTERED_DONGLE_ID = "UnregisteredDevice"
diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py
index b6457ca01d..382b549c1b 100755
--- a/selfdrive/athena/tests/test_athenad.py
+++ b/selfdrive/athena/tests/test_athenad.py
@@ -16,7 +16,7 @@ from unittest import mock
 from websocket import ABNF
 from websocket._exceptions import WebSocketConnectionClosedException
 
-from selfdrive import swaglog
+from system import swaglog
 from selfdrive.athena import athenad
 from selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher
 from selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server
@@ -120,6 +120,13 @@ class TestAthenadMethods(unittest.TestCase):
     self.assertTrue(resp, 'list empty!')
     self.assertCountEqual(resp, expected)
 
+  def test_strip_bz2_extension(self):
+    fn = os.path.join(athenad.ROOT, 'qlog.bz2')
+    Path(fn).touch()
+    if fn.endswith('.bz2'):
+      self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4]) 
+
+
   @with_http_server
   def test_do_upload(self, host):
     fn = os.path.join(athenad.ROOT, 'qlog.bz2')
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 2745c037b6..f47b5936be 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -27,7 +27,7 @@
 #include "common/swaglog.h"
 #include "common/timing.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 #include "selfdrive/boardd/pigeon.h"
 
diff --git a/selfdrive/boardd/main.cc b/selfdrive/boardd/main.cc
index 6f1f83685b..cb17a584bd 100644
--- a/selfdrive/boardd/main.cc
+++ b/selfdrive/boardd/main.cc
@@ -3,7 +3,7 @@
 #include "selfdrive/boardd/boardd.h"
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 int main(int argc, char *argv[]) {
   LOGW("starting boardd");
diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py
index 306d764e59..54a28a6782 100755
--- a/selfdrive/boardd/pandad.py
+++ b/selfdrive/boardd/pandad.py
@@ -10,8 +10,8 @@ from functools import cmp_to_key
 from panda import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, Panda, PandaDFU
 from common.basedir import BASEDIR
 from common.params import Params
-from selfdrive.hardware import HARDWARE
-from selfdrive.swaglog import cloudlog
+from system.hardware import HARDWARE
+from system.swaglog import cloudlog
 
 
 def get_expected_signature(panda: Panda) -> bytes:
diff --git a/selfdrive/boardd/tests/boardd_old.py b/selfdrive/boardd/tests/boardd_old.py
index 5e740fbcd8..fad29f6f34 100755
--- a/selfdrive/boardd/tests/boardd_old.py
+++ b/selfdrive/boardd/tests/boardd_old.py
@@ -13,7 +13,7 @@ import time
 
 import cereal.messaging as messaging
 from common.realtime import Ratekeeper
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.boardd.boardd import can_capnp_to_can_list
 from cereal import car
 
diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py
index 631b4c987f..e9bbcb4586 100755
--- a/selfdrive/boardd/tests/test_boardd_loopback.py
+++ b/selfdrive/boardd/tests/test_boardd_loopback.py
@@ -12,7 +12,7 @@ from common.spinner import Spinner
 from common.timeout import Timeout
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car import make_can_msg
-from selfdrive.hardware import TICI
+from system.hardware import TICI
 from selfdrive.test.helpers import phone_only, with_processes
 
 
diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md
index cd9b7bc6ee..891445a558 100644
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@@ -14,31 +14,19 @@ Cars are organized into three tiers:
 How We Rate The Cars
 ---
 
-### openpilot Adaptive Cruise Control (ACC)
-- {{star_icon.format(Star.FULL.value)}} - openpilot is able to control the gas and brakes.
-- {{star_icon.format(Star.HALF.value)}} - openpilot is able to control the gas and brakes with some restrictions.
-- {{star_icon.format(Star.EMPTY.value)}} - The gas and brakes are controlled by the car's stock Adaptive Cruise Control (ACC) system.
-
-### Stop and Go
-- {{star_icon.format(Star.FULL.value)}} - Adaptive Cruise Control (ACC) operates down to 0 mph.
-- {{star_icon.format(Star.EMPTY.value)}} - Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed.
-
-### Steer to 0
-- {{star_icon.format(Star.FULL.value)}} - openpilot can control the steering wheel down to 0 mph.
-- {{star_icon.format(Star.EMPTY.value)}} - No steering control below certain speeds.
-
-### Steering Torque
-- {{star_icon.format(Star.FULL.value)}} - Car has enough steering torque for comfortable highway driving.
-- {{star_icon.format(Star.EMPTY.value)}} - Limited ability to make turns.
-
-### Actively Maintained
-- {{star_icon.format(Star.FULL.value)}} - Mainline software support, harness hardware sold by comma, lots of users, primary development target.
-- {{star_icon.format(Star.EMPTY.value)}} - Low user count, community maintained, harness hardware not sold by comma.
+{% for star_row in star_descriptions.values() %}
+{% for name, stars in star_row.items() %}
+### {{name}}
+{% for star, description in stars %}
+- {{star_icon.format(star)}} - {{description}}
+{% endfor %}
 
+{% endfor %}
+{% endfor %}
 **All supported cars can move between the tiers as support changes.**
 
 {% for tier, cars in tiers.items() %}
-## {{tier.name.title()}} Cars
+# {{tier.name.title()}} - {{cars | length}} cars
 
 |{{Column | map(attribute='value') | join('|')}}|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py
index 5714445f67..c13acebacb 100644
--- a/selfdrive/car/body/carcontroller.py
+++ b/selfdrive/car/body/carcontroller.py
@@ -1,8 +1,8 @@
 import numpy as np
 
 from common.realtime import DT_CTRL
-from selfdrive.car.body import bodycan
 from opendbc.can.packer import CANPacker
+from selfdrive.car.body import bodycan
 from selfdrive.car.body.values import SPEED_FROM_RPM
 from selfdrive.controls.lib.pid import PIDController
 
@@ -14,7 +14,7 @@ MAX_POS_INTEGRATOR = 0.2   # meters
 MAX_TURN_INTEGRATOR = 0.1  # meters
 
 
-class CarController():
+class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.frame = 0
     self.packer = CANPacker(dbc_name)
diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py
index 3d6bd5e22a..e85735b1a6 100644
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@@ -19,7 +19,6 @@ class CarInterface(CarInterfaceBase):
     ret.minSteerSpeed = -math.inf
     ret.maxLateralAccel = math.inf  # TODO: set to a reasonable value
     ret.steerRatio = 0.5
-    ret.steerRateCost = 0.5
     ret.steerLimitTimer = 1.0
     ret.steerActuatorDelay = 0.
 
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 7863f0d882..7f83732153 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -4,12 +4,12 @@ from typing import Dict, List
 from cereal import car
 from common.params import Params
 from common.basedir import BASEDIR
-from selfdrive.version import is_comma_remote, is_tested_branch
+from system.version import is_comma_remote, is_tested_branch
 from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from selfdrive.car.vin import get_vin, VIN_UNKNOWN
-from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car
-from selfdrive.swaglog import cloudlog
+from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car, get_present_ecus
+from system.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint
 
@@ -79,6 +79,7 @@ interfaces = load_interfaces(interface_names)
 def fingerprint(logcan, sendcan):
   fixed_fingerprint = os.environ.get('FINGERPRINT', "")
   skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
+  ecu_responses = set()
 
   if not fixed_fingerprint and not skip_fw_query:
     # Vin query only reliably works thorugh OBDII
@@ -97,6 +98,7 @@ def fingerprint(logcan, sendcan):
     else:
       cloudlog.warning("Getting VIN & FW versions")
       _, vin = get_vin(logcan, sendcan, bus)
+      ecu_responses = get_present_ecus(logcan, sendcan)
       car_fw = get_fw_versions(logcan, sendcan)
 
     exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
@@ -113,7 +115,7 @@ def fingerprint(logcan, sendcan):
   finger = gen_empty_fingerprint()
   candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1
   frame = 0
-  frame_fingerprint = 25  # 0.25s
+  frame_fingerprint = 100  # 1s
   car_fingerprint = None
   done = False
 
@@ -163,8 +165,8 @@ def fingerprint(logcan, sendcan):
     car_fingerprint = fixed_fingerprint
     source = car.CarParams.FingerprintSource.fixed
 
-  cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint,
-                 source=source, fuzzy=not exact_match, fw_count=len(car_fw))
+  cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match,
+                 fw_count=len(car_fw), ecu_responses=ecu_responses, error=True)
   return car_fingerprint, finger, vin, car_fw, source, exact_match
 
 
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index 3d6295d77d..49525646ca 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -1,7 +1,7 @@
 from cereal import car
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_toyota_steer_torque_limits
-from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_wheel_buttons
+from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons
 from selfdrive.car.chrysler.values import CAR, CarControllerParams
 
 
@@ -49,7 +49,7 @@ class CarController:
     # *** control msgs ***
 
     if CC.cruiseControl.cancel:
-      can_sends.append(create_wheel_buttons(self.packer, CS.button_counter + 1, cancel=True))
+      can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, cancel=True))
 
     # LKAS_HEARTBIT is forwarded by Panda so no need to send it here.
     # frame is 100Hz (0.01s period)
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index 8ddf1c8684..444557191a 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -16,26 +16,29 @@ class CarState(CarStateBase):
 
     ret = car.CarState.new_message()
 
-    self.frame = int(cp.vl["EPS_STATUS"]["COUNTER"])
+    self.frame = int(cp.vl["EPS_2"]["COUNTER"])
 
-    ret.doorOpen = any([cp.vl["DOORS"]["DOOR_OPEN_FL"],
-                        cp.vl["DOORS"]["DOOR_OPEN_FR"],
-                        cp.vl["DOORS"]["DOOR_OPEN_RL"],
-                        cp.vl["DOORS"]["DOOR_OPEN_RR"]])
-    ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_UNLATCHED"] == 1
+    ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
+                        cp.vl["BCM_1"]["DOOR_OPEN_FR"],
+                        cp.vl["BCM_1"]["DOOR_OPEN_RL"],
+                        cp.vl["BCM_1"]["DOOR_OPEN_RR"]])
+    ret.seatbeltUnlatched = cp.vl["ORC_1"]["SEATBELT_DRIVER_UNLATCHED"] == 1
 
-    ret.brakePressed = cp.vl["BRAKE_2"]["BRAKE_PRESSED_2"] == 5  # human-only
+    # brake pedal
     ret.brake = 0
-    ret.gas = cp.vl["ACCEL_GAS_134"]["ACCEL_134"]
+    ret.brakePressed = cp.vl["ESP_1"]['Brake_Pedal_State'] == 1  # Physical brake pedal switch
+
+    # gas pedal
+    ret.gas = cp.vl["ECM_5"]["Accelerator_Position"]
     ret.gasPressed = ret.gas > 1e-5
 
     ret.espDisabled = (cp.vl["TRACTION_BUTTON"]["TRACTION_OFF"] == 1)
 
     ret.wheelSpeeds = self.get_wheel_speeds(
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"],
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"],
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"],
+      cp.vl["ESP_6"]["WHEEL_SPEED_FL"],
+      cp.vl["ESP_6"]["WHEEL_SPEED_FR"],
+      cp.vl["ESP_6"]["WHEEL_SPEED_RL"],
+      cp.vl["ESP_6"]["WHEEL_SPEED_RR"],
       unit=1,
     )
     ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2.
@@ -44,21 +47,21 @@ class CarState(CarStateBase):
 
     ret.leftBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1
     ret.rightBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2
-    ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"]
-    ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))
 
-    ret.cruiseState.enabled = cp.vl["ACC_2"]["ACC_STATUS_2"] == 7  # ACC is green.
-    ret.cruiseState.available = ret.cruiseState.enabled  # FIXME: for now same as enabled
-    ret.cruiseState.speed = cp.vl["DASHBOARD"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS
+    ret.cruiseState.available = cp.vl["DAS_3"]["ACC_AVAILABLE"] == 1  # ACC is white
+    ret.cruiseState.enabled = cp.vl["DAS_3"]["ACC_ACTIVE"] == 1  # ACC is green
+    ret.cruiseState.speed = cp.vl["DAS_4"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS
     # CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too
-    ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in (1, 2)
-    ret.accFaulted = cp.vl["ACC_2"]["ACC_FAULTED"] != 0
+    ret.cruiseState.nonAdaptive = cp.vl["DAS_4"]["CRUISE_STATE"] in (1, 2)
+    ret.accFaulted = cp.vl["DAS_3"]["ACC_FAULTED"] != 0
 
-    ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
-    ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
+    ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"]
+    ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
+    ret.steeringTorque = cp.vl["EPS_2"]["COLUMN_TORQUE"]
+    ret.steeringTorqueEps = cp.vl["EPS_2"]["EPS_TORQUE_MOTOR"]
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
-    steer_state = cp.vl["EPS_STATUS"]["LKAS_STATE"]
+    steer_state = cp.vl["EPS_2"]["LKAS_STATE"]
     ret.steerFaultPermanent = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed)
 
     ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]["HIGH_BEAM_FLASH"])
@@ -70,7 +73,7 @@ class CarState(CarStateBase):
     self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]["COUNTER"]
     self.lkas_car_model = cp_cam.vl["LKAS_HUD"]["CAR_MODEL"]
     self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_STATUS_OK"]
-    self.button_counter = cp.vl["WHEEL_BUTTONS"]["COUNTER"]
+    self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
 
     return ret
 
@@ -79,50 +82,51 @@ class CarState(CarStateBase):
     signals = [
       # sig_name, sig_address
       ("PRNDL", "GEAR"),
-      ("DOOR_OPEN_FL", "DOORS"),
-      ("DOOR_OPEN_FR", "DOORS"),
-      ("DOOR_OPEN_RL", "DOORS"),
-      ("DOOR_OPEN_RR", "DOORS"),
-      ("BRAKE_PRESSED_2", "BRAKE_2"),
-      ("ACCEL_134", "ACCEL_GAS_134"),
+      ("DOOR_OPEN_FL", "BCM_1"),
+      ("DOOR_OPEN_FR", "BCM_1"),
+      ("DOOR_OPEN_RL", "BCM_1"),
+      ("DOOR_OPEN_RR", "BCM_1"),
+      ("Brake_Pedal_State", "ESP_1"),
+      ("Accelerator_Position", "ECM_5"),
       ("SPEED_LEFT", "SPEED_1"),
       ("SPEED_RIGHT", "SPEED_1"),
-      ("WHEEL_SPEED_FL", "WHEEL_SPEEDS"),
-      ("WHEEL_SPEED_RR", "WHEEL_SPEEDS"),
-      ("WHEEL_SPEED_RL", "WHEEL_SPEEDS"),
-      ("WHEEL_SPEED_FR", "WHEEL_SPEEDS"),
+      ("WHEEL_SPEED_FL", "ESP_6"),
+      ("WHEEL_SPEED_RR", "ESP_6"),
+      ("WHEEL_SPEED_RL", "ESP_6"),
+      ("WHEEL_SPEED_FR", "ESP_6"),
       ("STEER_ANGLE", "STEERING"),
       ("STEERING_RATE", "STEERING"),
       ("TURN_SIGNALS", "STEERING_LEVERS"),
-      ("ACC_STATUS_2", "ACC_2"),
-      ("ACC_FAULTED", "ACC_2"),
+      ("ACC_AVAILABLE", "DAS_3"),
+      ("ACC_ACTIVE", "DAS_3"),
+      ("ACC_FAULTED", "DAS_3"),
       ("HIGH_BEAM_FLASH", "STEERING_LEVERS"),
-      ("ACC_SPEED_CONFIG_KPH", "DASHBOARD"),
-      ("CRUISE_STATE", "DASHBOARD"),
-      ("TORQUE_DRIVER", "EPS_STATUS"),
-      ("TORQUE_MOTOR", "EPS_STATUS"),
-      ("LKAS_STATE", "EPS_STATUS"),
-      ("COUNTER", "EPS_STATUS",),
+      ("ACC_SPEED_CONFIG_KPH", "DAS_4"),
+      ("CRUISE_STATE", "DAS_4"),
+      ("COLUMN_TORQUE", "EPS_2"),
+      ("EPS_TORQUE_MOTOR", "EPS_2"),
+      ("LKAS_STATE", "EPS_2"),
+      ("COUNTER", "EPS_2",),
       ("TRACTION_OFF", "TRACTION_BUTTON"),
-      ("SEATBELT_DRIVER_UNLATCHED", "SEATBELT_STATUS"),
-      ("COUNTER", "WHEEL_BUTTONS"),
+      ("SEATBELT_DRIVER_UNLATCHED", "ORC_1"),
+      ("COUNTER", "CRUISE_BUTTONS"),
     ]
 
     checks = [
       # sig_address, frequency
-      ("BRAKE_2", 50),
-      ("EPS_STATUS", 100),
+      ("ESP_1", 50),
+      ("EPS_2", 100),
       ("SPEED_1", 100),
-      ("WHEEL_SPEEDS", 50),
+      ("ESP_6", 50),
       ("STEERING", 100),
-      ("ACC_2", 50),
+      ("DAS_3", 50),
       ("GEAR", 50),
-      ("ACCEL_GAS_134", 50),
-      ("WHEEL_BUTTONS", 50),
-      ("DASHBOARD", 15),
+      ("ECM_5", 50),
+      ("CRUISE_BUTTONS", 50),
+      ("DAS_4", 15),
       ("STEERING_LEVERS", 10),
-      ("SEATBELT_STATUS", 2),
-      ("DOORS", 1),
+      ("ORC_1", 2),
+      ("BCM_1", 1),
       ("TRACTION_BUTTON", 1),
     ]
 
diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py
index 896a6b15da..53b79cab73 100644
--- a/selfdrive/car/chrysler/chryslercan.py
+++ b/selfdrive/car/chrysler/chryslercan.py
@@ -48,10 +48,9 @@ def create_lkas_command(packer, apply_steer, moving_fast, frame):
   return packer.make_can_msg("LKAS_COMMAND", 0, values)
 
 
-def create_wheel_buttons(packer, frame, cancel=False):
-  # WHEEL_BUTTONS (571) Message sent to cancel ACC.
+def create_cruise_buttons(packer, frame, cancel=False):
   values = {
-    "ACC_CANCEL": cancel,
-    "COUNTER": frame % 0x10
+    "ACC_Cancel": cancel,
+    "COUNTER": frame % 0x10,
   }
-  return packer.make_can_msg("WHEEL_BUTTONS", 0, values)
+  return packer.make_can_msg("CRUISE_BUTTONS", 0, values)
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index e47b085533..8ebcb6b126 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -12,37 +12,38 @@ class CarInterface(CarInterfaceBase):
     ret.carName = "chrysler"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)]
 
-    # Speed conversion:              20, 45 mph
-    ret.wheelbase = 3.089  # in meters for Pacifica Hybrid 2017
-    ret.steerRatio = 16.2  # Pacifica Hybrid 2017
-    ret.mass = 2242. + STD_CARGO_KG  # kg curb weight Pacifica Hybrid 2017
-    ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
-    ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
-    ret.lateralTuning.pid.kf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
     ret.steerActuatorDelay = 0.1
-    ret.steerRateCost = 0.7
     ret.steerLimitTimer = 0.4
 
-    # set max lateral acceleration
-    if candidate in (CAR.PACIFICA_2018, CAR.PACIFICA_2019_HYBRID, CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
-      ret.maxLateralAccel = 1.6
-    if candidate in (CAR.PACIFICA_2018_HYBRID,):
-      ret.maxLateralAccel = 1.4
-    if candidate in (CAR.PACIFICA_2017_HYBRID,):
-      ret.maxLateralAccel = 1.2
-
-    if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
-      ret.wheelbase = 2.91  # in meters
-      ret.steerRatio = 12.7
-      ret.steerActuatorDelay = 0.2  # in seconds
-
-    ret.centerToFront = ret.wheelbase * 0.44
-
     ret.minSteerSpeed = 3.8  # m/s
     if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
-      # TODO allow 2019 cars to steer down to 13 m/s if already engaged.
+      # TODO: allow 2019 cars to steer down to 13 m/s if already engaged.
       ret.minSteerSpeed = 17.5  # m/s 17 on the way up, 13 on the way down once engaged.
 
+    # Chrysler
+    if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020):
+      ret.mass = 2242. + STD_CARGO_KG
+      ret.wheelbase = 3.089
+      ret.steerRatio = 16.2  # Pacifica Hybrid 2017
+      ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
+      ret.lateralTuning.pid.kf = 0.00006
+
+    # Jeep
+    elif candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
+      ret.mass = 1778 + STD_CARGO_KG
+      ret.wheelbase = 2.71
+      ret.steerRatio = 16.7
+      ret.steerActuatorDelay = 0.2
+      ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
+      ret.lateralTuning.pid.kf = 0.00006
+
+    else:
+      raise ValueError(f"Unsupported car: {candidate}")
+
+    ret.centerToFront = ret.wheelbase * 0.44
+
     # starting with reasonable value for civic and scaling by mass and wheelbase
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
 
@@ -54,7 +55,6 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  # returns a car.CarState
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
@@ -63,14 +63,17 @@ class CarInterface(CarInterfaceBase):
     # events
     events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
 
-    if ret.vEgo < self.CP.minSteerSpeed:
+    # Low speed steer alert hysteresis logic
+    if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 1.):
+      self.low_speed_alert = True
+    elif ret.vEgo > (self.CP.minSteerSpeed + 2.):
+      self.low_speed_alert = False
+    if self.low_speed_alert:
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 
     ret.events = events.to_msg()
 
     return ret
 
-  # pass in a car.CarControl
-  # to be called @ 100hz
   def apply(self, c):
     return self.CC.update(c, self.CS)
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index b2757aafc2..d624bd2727 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -16,11 +16,14 @@ class CarControllerParams:
 
 
 class CAR:
+  # Chrysler
   PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
   PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018"
   PACIFICA_2019_HYBRID = "CHRYSLER PACIFICA HYBRID 2019"
   PACIFICA_2018 = "CHRYSLER PACIFICA 2018"  # includes 2017 Pacifica
   PACIFICA_2020 = "CHRYSLER PACIFICA 2020"
+
+  # Jeep
   JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018"  # includes 2017 Trailhawk
   JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019"  # includes 2020 Trailhawk
 
@@ -34,9 +37,9 @@ class ChryslerCarInfo(CarInfo):
 CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
   CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"),
   CAR.PACIFICA_2018_HYBRID: None,  # same platforms
-  CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-21"),
+  CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-22"),
   CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"),
-  CAR.PACIFICA_2020: ChryslerCarInfo("Chrysler Pacifica 2020"),
+  CAR.PACIFICA_2020: ChryslerCarInfo("Chrysler Pacifica 2019-20"),
   CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
   CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-20", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
 }
@@ -85,7 +88,7 @@ FINGERPRINTS = {
   },
     # Based on "8190c7275a24557b|2020-02-24--09-57-23"
   {
-    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2015: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8
+    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1536: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2015: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8
   }],
   CAR.JEEP_CHEROKEE: [{
     55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py
index 3a06cc06f1..ac5c6c9f8f 100644
--- a/selfdrive/car/disable_ecu.py
+++ b/selfdrive/car/disable_ecu.py
@@ -1,5 +1,5 @@
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 EXT_DIAG_REQUEST = b'\x10\x03'
 EXT_DIAG_RESPONSE = b'\x50\x03'
diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py
index 899f2c0878..860503dbdd 100755
--- a/selfdrive/car/docs.py
+++ b/selfdrive/car/docs.py
@@ -7,7 +7,7 @@ from natsort import natsorted
 from typing import Dict, List
 
 from common.basedir import BASEDIR
-from selfdrive.car.docs_definitions import CarInfo, Column, Star, Tier
+from selfdrive.car.docs_definitions import STAR_DESCRIPTIONS, CarInfo, Column, Star, Tier
 from selfdrive.car.car_helpers import interfaces, get_interface_attr
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR as HKG_RADAR_START_ADDR
 from selfdrive.car.tests.routes import non_tested_cars
@@ -65,7 +65,7 @@ def generate_cars_md(all_car_info: List[CarInfo], template_fn: str) -> str:
 
   footnotes = [fn.value.text for fn in ALL_FOOTNOTES]
   cars_md: str = template.render(tiers=sort_by_tier(all_car_info), all_car_info=all_car_info,
-                                 footnotes=footnotes, Star=Star, Column=Column)
+                                 footnotes=footnotes, Star=Star, Column=Column, star_descriptions=STAR_DESCRIPTIONS)
   return cars_md
 
 
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 381bcfa7f8..1efa23037f 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -6,7 +6,9 @@ from dataclasses import dataclass
 from enum import Enum
 from typing import Dict, List, Optional, Union, no_type_check
 
-STEERING_TORQUE_THRESHOLD = 2.0  # m/s^2
+TACO_TORQUE_THRESHOLD = 2.5  # m/s^2
+GREAT_TORQUE_THRESHOLD = 1.4  # m/s^2
+GOOD_TORQUE_THRESHOLD = 1.0  # m/s^2
 
 
 class Tier(Enum):
@@ -53,7 +55,6 @@ class CarInfo:
   footnotes: Optional[List[Enum]] = None
   min_steer_speed: Optional[float] = None
   min_enable_speed: Optional[float] = None
-  good_torque: bool = False
   harness: Optional[Enum] = None
 
   def init(self, CP: car.CarParams, non_tested_cars: List[str], all_footnotes: Dict[Enum, int]):
@@ -70,11 +71,6 @@ class CarInfo:
     if self.min_enable_speed is not None:
       min_enable_speed = self.min_enable_speed
 
-    # TODO: remove hardcoded good torque and just use maxLateralAccel
-    good_torque = self.good_torque
-    if not math.isnan(CP.maxLateralAccel):
-      good_torque = CP.maxLateralAccel >= STEERING_TORQUE_THRESHOLD
-
     self.car_name = CP.carName
     self.make, self.model = self.name.split(' ', 1)
     self.row = {
@@ -82,21 +78,28 @@ class CarInfo:
       Column.MODEL: self.model,
       Column.PACKAGE: self.package,
       # StarColumns
-      Column.LONGITUDINAL: CP.openpilotLongitudinalControl and not CP.radarOffCan,
-      Column.FSR_LONGITUDINAL: min_enable_speed <= 0.,
-      Column.FSR_STEERING: min_steer_speed <= 0.,
-      Column.STEERING_TORQUE: good_torque,
-      Column.MAINTAINED: CP.carFingerprint not in non_tested_cars and self.harness is not Harness.none,
+      Column.LONGITUDINAL: Star.FULL if CP.openpilotLongitudinalControl and not CP.radarOffCan else Star.EMPTY,
+      Column.FSR_LONGITUDINAL: Star.FULL if min_enable_speed <= 0. else Star.EMPTY,
+      Column.FSR_STEERING: Star.FULL if min_steer_speed <= 0. else Star.EMPTY,
+      # Column.STEERING_TORQUE set below
+      Column.MAINTAINED: Star.FULL if CP.carFingerprint not in non_tested_cars and self.harness is not Harness.none else Star.EMPTY,
     }
 
+    # Set steering torque star from max lateral acceleration
+    if not math.isnan(CP.maxLateralAccel):
+      if CP.maxLateralAccel >= GREAT_TORQUE_THRESHOLD:
+        self.row[Column.STEERING_TORQUE] = Star.FULL
+      elif CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD:
+        self.row[Column.STEERING_TORQUE] = Star.HALF
+      else:
+        self.row[Column.STEERING_TORQUE] = Star.EMPTY
+
     if CP.notCar:
       for col in StarColumns:
-        self.row[col] = True
+        self.row[col] = Star.FULL
 
     self.all_footnotes = all_footnotes
     for column in StarColumns:
-      self.row[column] = Star.FULL if self.row[column] else Star.EMPTY
-
       # Demote if footnote specifies a star
       footnote = get_footnote(self.footnotes, column)
       if footnote is not None and footnote.value.star is not None:
@@ -120,7 +123,8 @@ class CarInfo:
 
 class Harness(Enum):
   nidec = "Honda Nidec"
-  bosch = "Honda Bosch"
+  bosch_a = "Honda Bosch A"
+  bosch_b = "Honda Bosch B"
   toyota = "Toyota"
   subaru = "Subaru"
   fca = "FCA"
@@ -141,9 +145,42 @@ class Harness(Enum):
   hyundai_m = "Hyundai M"
   hyundai_n = "Hyundai N"
   hyundai_o = "Hyundai O"
+  hyundai_p = "Hyundai P"
   custom = "Developer"
   obd_ii = "OBD-II"
   nissan_a = "Nissan A"
   nissan_b = "Nissan B"
   mazda = "Mazda"
   none = "None"
+
+
+STAR_DESCRIPTIONS = {
+  "Gas & Brakes": {  # icon and row name
+    "openpilot Adaptive Cruise Control (ACC)": [  # star column
+      [Star.FULL.value, "openpilot is able to control the gas and brakes."],
+      [Star.HALF.value, "openpilot is able to control the gas and brakes with some restrictions."],
+      [Star.EMPTY.value, "The gas and brakes are controlled by the car's stock Adaptive Cruise Control (ACC) system."],
+    ],
+    Column.FSR_LONGITUDINAL.value: [
+      [Star.FULL.value, "Adaptive Cruise Control (ACC) operates down to 0 mph."],
+      [Star.EMPTY.value, "Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed."],
+    ],
+  },
+  "Steering": {
+    Column.FSR_STEERING.value: [
+      [Star.FULL.value, "openpilot can control the steering wheel down to 0 mph."],
+      [Star.EMPTY.value, "No steering control below certain speeds."],
+    ],
+    Column.STEERING_TORQUE.value: [
+      [Star.FULL.value, "Car has enough steering torque to take tighter turns."],
+      [Star.HALF.value, "Car has enough steering torque for comfortable highway driving."],
+      [Star.EMPTY.value, "Limited ability to make turns."],
+    ],
+  },
+  "Support": {
+    Column.MAINTAINED.value: [
+      [Star.FULL.value, "Mainline software support, harness hardware sold by comma, lots of users, primary development target."],
+      [Star.EMPTY.value, "Low user count, community maintained, harness hardware not sold by comma."],
+    ],
+  },
+}
diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py
new file mode 100755
index 0000000000..267701509a
--- /dev/null
+++ b/selfdrive/car/ecu_addrs.py
@@ -0,0 +1,90 @@
+#!/usr/bin/env python3
+import capnp
+import time
+import traceback
+from typing import Optional, Set, Tuple
+
+import cereal.messaging as messaging
+from panda.python.uds import SERVICE_TYPE
+from selfdrive.car import make_can_msg
+from selfdrive.boardd.boardd import can_list_to_can_capnp
+from system.swaglog import cloudlog
+
+
+def make_tester_present_msg(addr, bus, subaddr=None):
+  dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0]
+  if subaddr is not None:
+    dat.insert(0, subaddr)
+
+  dat.extend([0x0] * (8 - len(dat)))
+  return make_can_msg(addr, bytes(dat), bus)
+
+
+def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: Optional[int] = None) -> bool:
+  # ISO-TP messages are always padded to 8 bytes
+  # tester present response is always a single frame
+  dat_offset = 1 if subaddr is not None else 0
+  if len(msg.dat) == 8 and 1 <= msg.dat[dat_offset] <= 7:
+    # success response
+    if msg.dat[dat_offset + 1] == (SERVICE_TYPE.TESTER_PRESENT + 0x40):
+      return True
+    # error response
+    if msg.dat[dat_offset + 1] == 0x7F and msg.dat[dat_offset + 2] == SERVICE_TYPE.TESTER_PRESENT:
+      return True
+  return False
+
+
+def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[Tuple[int, Optional[int], int]]:
+  addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)]
+  queries: Set[Tuple[int, Optional[int], int]] = {(addr, None, bus) for addr in addr_list}
+  responses = queries
+  return get_ecu_addrs(logcan, sendcan, queries, responses, timeout=timeout, debug=debug)
+
+
+def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: Set[Tuple[int, Optional[int], int]],
+                  responses: Set[Tuple[int, Optional[int], int]], timeout: float = 1, debug: bool = False) -> Set[Tuple[int, Optional[int], int]]:
+  ecu_responses: Set[Tuple[int, Optional[int], int]] = set()  # set((addr, subaddr, bus),)
+  try:
+    msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
+
+    messaging.drain_sock_raw(logcan)
+    sendcan.send(can_list_to_can_capnp(msgs, msgtype='sendcan'))
+    start_time = time.monotonic()
+    while time.monotonic() - start_time < timeout:
+      can_packets = messaging.drain_sock(logcan, wait_for_one=True)
+      for packet in can_packets:
+        for msg in packet.can:
+          subaddr = None if (msg.address, None, msg.src) in responses else msg.dat[0]
+          if (msg.address, subaddr, msg.src) in responses and is_tester_present_response(msg, subaddr):
+            if debug:
+              print(f"CAN-RX: {hex(msg.address)} - 0x{bytes.hex(msg.dat)}")
+              if (msg.address, subaddr, msg.src) in ecu_responses:
+                print(f"Duplicate ECU address: {hex(msg.address)}")
+            ecu_responses.add((msg.address, subaddr, msg.src))
+  except Exception:
+    cloudlog.warning(f"ECU addr scan exception: {traceback.format_exc()}")
+  return ecu_responses
+
+
+if __name__ == "__main__":
+  import argparse
+
+  parser = argparse.ArgumentParser(description='Get addresses of all ECUs')
+  parser.add_argument('--debug', action='store_true')
+  args = parser.parse_args()
+
+  logcan = messaging.sub_sock('can')
+  sendcan = messaging.pub_sock('sendcan')
+
+  time.sleep(1.0)
+
+  print("Getting ECU addresses ...")
+  ecu_addrs = get_all_ecu_addrs(logcan, sendcan, 1, debug=args.debug)
+
+  print()
+  print("Found ECUs on addresses:")
+  for addr, subaddr, bus in ecu_addrs:
+    msg = f"  0x{hex(addr)}"
+    if subaddr is not None:
+      msg += f" (sub-address: 0x{hex(subaddr)})"
+    print(msg)
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index c2f87a4806..d7666c1d65 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -1,8 +1,8 @@
 from cereal import car
 from common.numpy_fast import clip, interp
+from opendbc.can.packer import CANPacker
 from selfdrive.car.ford import fordcan
 from selfdrive.car.ford.values import CarControllerParams
-from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
@@ -17,11 +17,12 @@ def apply_ford_steer_angle_limits(apply_steer, apply_steer_last, vEgo):
   return apply_steer
 
 
-class CarController():
+class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.VM = VM
     self.packer = CANPacker(dbc_name)
+    self.frame = 0
 
     self.apply_steer_last = 0
     self.steer_rate_limited = False
@@ -29,7 +30,7 @@ class CarController():
     self.lkas_enabled_last = False
     self.steer_alert_last = False
 
-  def update(self, CC, CS, frame):
+  def update(self, CC, CS):
     can_sends = []
 
     actuators = CC.actuators
@@ -48,7 +49,7 @@ class CarController():
     self.steer_rate_limited = new_steer != apply_steer
 
     # send steering commands at 20Hz
-    if (frame % CarControllerParams.LKAS_STEER_STEP) == 0:
+    if (self.frame % CarControllerParams.LKAS_STEER_STEP) == 0:
       lca_rq = 1 if CC.latActive else 0
 
       # use LatCtlPath_An_Actl to actuate steering for now until curvature control is implemented
@@ -69,15 +70,14 @@ class CarController():
       can_sends.append(fordcan.create_tja_command(self.packer, lca_rq, ramp_type, precision,
                                                   path_offset, path_angle, curvature_rate, curvature))
 
-
     send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
 
     # send lkas ui command at 1Hz or if ui state changes
-    if (frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
+    if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
       can_sends.append(fordcan.create_lkas_ui_command(self.packer, main_on, CC.latActive, steer_alert, CS.lkas_status_stock_values))
 
     # send acc ui command at 20Hz or if ui state changes
-    if (frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
+    if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
       can_sends.append(fordcan.create_acc_ui_command(self.packer, main_on, CC.latActive, CS.acc_tja_status_stock_values))
 
     self.main_on_last = main_on
@@ -87,4 +87,5 @@ class CarController():
     new_actuators = actuators.copy()
     new_actuators.steeringAngleDeg = apply_steer
 
+    self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index ec7c723669..1af04bee41 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -59,7 +59,6 @@ class CarInterface(CarInterfaceBase):
     # LCA can steer down to zero
     ret.minSteerSpeed = 0.
 
-    ret.steerRateCost = 1.0
     ret.centerToFront = ret.wheelbase * 0.44
 
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
@@ -79,6 +78,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    ret = self.CC.update(c, self.CS, self.frame)
-    self.frame += 1
-    return ret
+    return self.CC.update(c, self.CS)
diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py
index 1dfc27e672..866602cf09 100644
--- a/selfdrive/car/ford/radar_interface.py
+++ b/selfdrive/car/ford/radar_interface.py
@@ -9,6 +9,9 @@ RADAR_MSGS = list(range(0x500, 0x540))
 
 
 def _create_radar_can_parser(car_fingerprint):
+  if DBC[car_fingerprint]['radar'] is None:
+    return None
+
   msg_n = len(RADAR_MSGS)
   signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
                      RADAR_MSGS * 3))
@@ -27,6 +30,9 @@ class RadarInterface(RadarInterfaceBase):
     self.updated_messages = set()
 
   def update(self, can_strings):
+    if self.rcp is None:
+      return super().update(None)
+
     vls = self.rcp.update_strings(can_strings)
     self.updated_messages.update(vls)
 
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index 96ec87d757..aae011ad3d 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -79,6 +79,6 @@ FW_VERSIONS = {
 
 
 DBC = {
-  CAR.ESCAPE_MK4: dbc_dict('ford_lincoln_base_pt', 'ford_fusion_2018_adas'),
-  CAR.FOCUS_MK4: dbc_dict('ford_lincoln_base_pt', 'ford_fusion_2018_adas'),
+  CAR.ESCAPE_MK4: dbc_dict('ford_lincoln_base_pt', None),
+  CAR.FOCUS_MK4: dbc_dict('ford_lincoln_base_pt', None),
 }
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 69b7c5f452..758485c393 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -3,18 +3,20 @@ import struct
 import traceback
 from collections import defaultdict
 from dataclasses import dataclass, field
-from typing import Any, List
+from typing import Any, List, Optional, Set, Tuple
 from tqdm import tqdm
 
 import panda.python.uds as uds
 from cereal import car
+from selfdrive.car.ecu_addrs import get_ecu_addrs
 from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import FW_VERSIONS
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
 from selfdrive.car.toyota.values import CAR as TOYOTA
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 Ecu = car.CarParams.Ecu
+ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.esp, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
 
 
 def p16(val):
@@ -259,7 +261,6 @@ def match_fw_to_car_exact(fw_versions_dict):
       ecu_type = ecu[0]
       addr = ecu[1:]
       found_version = fw_versions_dict.get(addr, None)
-      ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.esp, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
       if ecu_type == Ecu.esp and candidate in (TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS) and found_version is None:
         continue
 
@@ -297,11 +298,46 @@ def match_fw_to_car(fw_versions, allow_fuzzy=True):
   return exact_match, matches
 
 
+def get_present_ecus(logcan, sendcan):
+  queries = list()
+  parallel_queries = list()
+  responses = set()
+  versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
+
+  for r in REQUESTS:
+    if r.brand not in versions:
+      continue
+
+    for brand_versions in versions[r.brand].values():
+      for ecu_type, addr, sub_addr in brand_versions:
+        # Only query ecus in whitelist if whitelist is not empty
+        if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus:
+          a = (addr, sub_addr, r.bus)
+          # Build set of queries
+          if sub_addr is None:
+            if a not in parallel_queries:
+              parallel_queries.append(a)
+          else:  # subaddresses must be queried one by one
+            if [a] not in queries:
+              queries.append([a])
+
+          # Build set of expected responses to filter
+          response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset)
+          responses.add((response_addr, sub_addr, r.bus))
+
+  queries.insert(0, parallel_queries)
+
+  ecu_responses: Set[Tuple[int, Optional[int], int]] = set()
+  for query in queries:
+    ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1))
+  return ecu_responses
+
+
 def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progress=False):
   ecu_types = {}
 
   # Extract ECU addresses to query from fingerprints
-  # ECUs using a subadress need be queried one by one, the rest can be done in parallel
+  # ECUs using a subaddress need be queried one by one, the rest can be done in parallel
   addrs = []
   parallel_addrs = []
 
@@ -348,7 +384,7 @@ def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progr
     f.ecu = ecu_types[addr]
     f.fwVersion = version
     f.address = addr[0]
-    f.responseAddress = addr[0] + rx_offset
+    f.responseAddress = uds.get_rx_addr_for_tx_addr(addr[0], rx_offset)
     f.request = request
 
     if addr[1] is not None:
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index ae2a188e3f..f763a58532 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -1,17 +1,19 @@
 from cereal import car
 from common.conversions import Conversions as CV
-from common.realtime import DT_CTRL
 from common.numpy_fast import interp
+from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.gm import gmcan
 from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
+NetworkLocation = car.CarParams.NetworkLocation
 
 
 class CarController:
   def __init__(self, dbc_name, CP, VM):
+    self.CP = CP
     self.start_time = 0.
     self.apply_steer_last = 0
     self.apply_gas = 0
@@ -24,9 +26,9 @@ class CarController:
 
     self.params = CarControllerParams()
 
-    self.packer_pt = CANPacker(DBC[CP.carFingerprint]['pt'])
-    self.packer_obj = CANPacker(DBC[CP.carFingerprint]['radar'])
-    self.packer_ch = CANPacker(DBC[CP.carFingerprint]['chassis'])
+    self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
+    self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
+    self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
 
   def update(self, CC, CS):
     actuators = CC.actuators
@@ -60,48 +62,48 @@ class CarController:
 
       can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
 
-    # Gas/regen and brakes - all at 25Hz
-    if (self.frame % 4) == 0:
-      if not CC.longActive:
-        # Stock ECU sends max regen when not enabled
-        self.apply_gas = self.params.MAX_ACC_REGEN
-        self.apply_brake = 0
-      else:
-        self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
-        self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
-
-      idx = (self.frame // 4) % 4
-
-      at_full_stop = CC.longActive and CS.out.standstill
-      near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
-      # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
-      can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
-      can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop))
-
-    # Send dashboard UI commands (ACC status), 25hz
-    if (self.frame % 4) == 0:
-      send_fcw = hud_alert == VisualAlert.fcw
-      can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
-                                                          hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw))
-
-    # Radar needs to know current speed and yaw rate (50hz),
-    # and that ADAS is alive (10hz)
-    time_and_headlights_step = 10
-    tt = self.frame * DT_CTRL
-
-    if self.frame % time_and_headlights_step == 0:
-      idx = (self.frame // time_and_headlights_step) % 4
-      can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
-      can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
-
-    speed_and_accelerometer_step = 2
-    if self.frame % speed_and_accelerometer_step == 0:
-      idx = (self.frame // speed_and_accelerometer_step) % 4
-      can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
-      can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
-
-    if self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
-      can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
+    if self.CP.openpilotLongitudinalControl:
+      # Gas/regen, brakes, and UI commands - all at 25Hz
+      if self.frame % 4 == 0:
+        if not CC.longActive:
+          # Stock ECU sends max regen when not enabled
+          self.apply_gas = self.params.MAX_ACC_REGEN
+          self.apply_brake = 0
+        else:
+          self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+          self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
+
+        idx = (self.frame // 4) % 4
+
+        at_full_stop = CC.longActive and CS.out.standstill
+        near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
+        # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
+        can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
+        can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop))
+
+        # Send dashboard UI commands (ACC status)
+        send_fcw = hud_alert == VisualAlert.fcw
+        can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
+                                                            hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw))
+
+      # Radar needs to know current speed and yaw rate (50hz),
+      # and that ADAS is alive (10hz)
+      if not self.CP.radarOffCan:
+        tt = self.frame * DT_CTRL
+        time_and_headlights_step = 10
+        if self.frame % time_and_headlights_step == 0:
+          idx = (self.frame // time_and_headlights_step) % 4
+          can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
+          can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
+
+        speed_and_accelerometer_step = 2
+        if self.frame % speed_and_accelerometer_step == 0:
+          idx = (self.frame // speed_and_accelerometer_step) % 4
+          can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
+          can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
+
+      if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
+        can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
 
     # Show green icon when LKA torque is applied, and
     # alarming orange icon when approaching torque limit.
@@ -110,7 +112,7 @@ class CarController:
     lka_active = CS.lkas_status == 1
     lka_critical = lka_active and abs(actuators.steer) > 0.9
     lka_icon_status = (lka_active, lka_critical)
-    if self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last:
+    if self.CP.networkLocation != NetworkLocation.fwdCamera and (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last):
       steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
       can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
       self.lka_icon_status_last = lka_icon_status
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index e6a1c08dda..c28abc6036 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -3,7 +3,9 @@ from common.numpy_fast import mean
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, STEER_THRESHOLD
+from selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
+
+TransmissionType = car.CarParams.TransmissionType
 
 
 class CarState(CarStateBase):
@@ -35,7 +37,7 @@ class CarState(CarStateBase):
     ret.brakePressed = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] >= 10
 
     # Regen braking is braking
-    if self.car_fingerprint == CAR.VOLT:
+    if self.CP.transmissionType == TransmissionType.direct:
       ret.brakePressed = ret.brakePressed or pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
 
     ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
@@ -64,7 +66,7 @@ class CarState(CarStateBase):
     ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
     ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
 
-    ret.parkingBrake = pt_cp.vl["EPBStatus"]["EPBClosed"] == 1
+    ret.parkingBrake = pt_cp.vl["VehicleIgnitionAlt"]["ParkBrake"] == 1
     ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
     ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
     ret.accFaulted = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED
@@ -100,7 +102,7 @@ class CarState(CarStateBase):
       ("LKATorqueDelivered", "PSCMStatus"),
       ("LKATorqueDeliveredStatus", "PSCMStatus"),
       ("TractionControlOn", "ESPStatus"),
-      ("EPBClosed", "EPBStatus"),
+      ("ParkBrake", "VehicleIgnitionAlt"),
       ("CruiseMainOn", "ECMEngineStatus"),
     ]
 
@@ -110,7 +112,7 @@ class CarState(CarStateBase):
       ("PSCMStatus", 10),
       ("ESPStatus", 10),
       ("BCMDoorBeltStatus", 10),
-      ("EPBStatus", 20),
+      ("VehicleIgnitionAlt", 10),
       ("EBCMWheelSpdFront", 20),
       ("EBCMWheelSpdRear", 20),
       ("AcceleratorPedal2", 33),
@@ -120,7 +122,7 @@ class CarState(CarStateBase):
       ("EBCMBrakePedalPosition", 100),
     ]
 
-    if CP.carFingerprint == CAR.VOLT:
+    if CP.transmissionType == TransmissionType.direct:
       signals.append(("RegenPaddle", "EBCMRegenPaddle"))
       checks.append(("EBCMRegenPaddle", 50))
 
@@ -133,7 +135,9 @@ class CarState(CarStateBase):
     ]
 
     checks = [
-      ("ASCMLKASteeringCmd", 50),
+      ("ASCMLKASteeringCmd", 10), # 10 Hz is the stock inactive rate (every 100ms). 
+      #                             While active 50 Hz (every 20 ms) is normal
+      #                             EPS will tolerate around 200ms when active before faulting 
     ]
 
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.LOOPBACK)
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index ce14faec5e..e0dd10d4a8 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -9,6 +9,8 @@ from selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
+TransmissionType = car.CarParams.TransmissionType
+NetworkLocation = car.CarParams.NetworkLocation
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                 CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
 
@@ -45,7 +47,11 @@ class CarInterface(CarInterfaceBase):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "gm"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
-    ret.pcmCruise = False  # stock cruise control is kept off
+    ret.pcmCruise = False  # For ASCM, stock non-adaptive cruise control is kept off
+    ret.radarOffCan = False  # For ASCM, radar exists
+    ret.transmissionType = TransmissionType.automatic
+    # NetworkLocation.gateway: OBD-II harness (typically ASCM), NetworkLocation.fwdCamera: non-ASCM
+    ret.networkLocation = NetworkLocation.gateway
 
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
@@ -58,39 +64,43 @@ class CarInterface(CarInterfaceBase):
     ret.openpilotLongitudinalControl = True
     tire_stiffness_factor = 0.444  # not optimized yet
 
-    # Start with a baseline lateral tuning for all GM vehicles. Override tuning as needed in each model section below.
+    # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
     ret.minSteerSpeed = 7 * CV.MPH_TO_MS
     ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
     ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
     ret.lateralTuning.pid.kf = 0.00004   # full torque for 20 deg at 80mph means 0.00007818594
-    ret.steerRateCost = 1.0
     ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
 
+    ret.longitudinalTuning.kpBP = [5., 35.]
+    ret.longitudinalTuning.kpV = [2.4, 1.5]
+    ret.longitudinalTuning.kiBP = [0.]
+    ret.longitudinalTuning.kiV = [0.36]
+
+    ret.steerLimitTimer = 0.4
+    ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
+
+    # supports stop and go, but initial engage must (conservatively) be above 18mph
+    ret.minEnableSpeed = 18 * CV.MPH_TO_MS
+
     if candidate == CAR.VOLT:
-      # supports stop and go, but initial engage must be above 18mph (which include conservatism)
-      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
+      ret.transmissionType = TransmissionType.direct
       ret.mass = 1607. + STD_CARGO_KG
       ret.wheelbase = 2.69
       ret.steerRatio = 17.7  # Stock 15.7, LiveParameters
-      tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
-      ret.steerRatioRear = 0.
-      ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh
-      ret.maxLateralAccel = 1.6
+      tire_stiffness_factor = 0.469  # Stock Michelin Energy Saver A/S, LiveParameters
+      ret.centerToFront = ret.wheelbase * 0.45  # Volt Gen 1, TODO corner weigh
 
       ret.lateralTuning.pid.kpBP = [0., 40.]
       ret.lateralTuning.pid.kpV = [0., 0.17]
       ret.lateralTuning.pid.kiBP = [0.]
       ret.lateralTuning.pid.kiV = [0.]
-      ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt()
+      ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_volt()
       ret.steerActuatorDelay = 0.2
 
     elif candidate == CAR.MALIBU:
-      # supports stop and go, but initial engage must be above 18mph (which include conservatism)
-      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
       ret.mass = 1496. + STD_CARGO_KG
       ret.wheelbase = 2.83
       ret.steerRatio = 15.8
-      ret.steerRatioRear = 0.
       ret.centerToFront = ret.wheelbase * 0.4  # wild guess
 
     elif candidate == CAR.HOLDEN_ASTRA:
@@ -98,34 +108,26 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.662
       # Remaining parameters copied from Volt for now
       ret.centerToFront = ret.wheelbase * 0.4
-      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
       ret.steerRatio = 15.7
-      ret.steerRatioRear = 0.
 
     elif candidate == CAR.ACADIA:
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
       ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.86
       ret.steerRatio = 14.4  # end to end is 13.46
-      ret.steerRatioRear = 0.
       ret.centerToFront = ret.wheelbase * 0.4
-      ret.maxLateralAccel = 1.4
-      ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia()
+      ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_acadia()
 
     elif candidate == CAR.BUICK_REGAL:
-      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
       ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG  # (3849+3708)/2
       ret.wheelbase = 2.83  # 111.4 inches in meters
       ret.steerRatio = 14.4  # guess for tourx
-      ret.steerRatioRear = 0.
       ret.centerToFront = ret.wheelbase * 0.4  # guess for tourx
 
     elif candidate == CAR.CADILLAC_ATS:
-      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
       ret.mass = 1601. + STD_CARGO_KG
       ret.wheelbase = 2.78
       ret.steerRatio = 15.3
-      ret.steerRatioRear = 0.
       ret.centerToFront = ret.wheelbase * 0.49
 
     elif candidate == CAR.ESCALADE_ESV:
@@ -148,14 +150,6 @@ class CarInterface(CarInterfaceBase):
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                          tire_stiffness_factor=tire_stiffness_factor)
 
-    ret.longitudinalTuning.kpBP = [5., 35.]
-    ret.longitudinalTuning.kpV = [2.4, 1.5]
-    ret.longitudinalTuning.kiBP = [0.]
-    ret.longitudinalTuning.kiV = [0.36]
-
-    ret.steerLimitTimer = 0.4
-    ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
-
     return ret
 
   # returns a car.CarState
@@ -173,7 +167,7 @@ class CarInterface(CarInterfaceBase):
 
       ret.buttonEvents = [be]
 
-    events = self.create_common_events(ret, pcm_enable=False)
+    events = self.create_common_events(ret, pcm_enable=self.CP.pcmCruise)
 
     if ret.vEgo < self.CP.minEnableSpeed:
       events.add(EventName.belowEngageSpeed)
@@ -183,12 +177,11 @@ class CarInterface(CarInterfaceBase):
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 
     # handle button presses
-    events.events.extend(create_button_enable_events(ret.buttonEvents))
+    events.events.extend(create_button_enable_events(ret.buttonEvents, pcm_cruise=self.CP.pcmCruise))
 
     ret.events = events.to_msg()
 
     return ret
 
   def apply(self, c):
-    ret = self.CC.update(c, self.CS)
-    return ret
+    return self.CC.update(c, self.CS)
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index 8ef33e8297..328ca7c286 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -1,4 +1,5 @@
-from dataclasses import dataclass
+from collections import defaultdict
+from dataclasses import dataclass, field
 from enum import Enum
 from typing import Dict, List, Union
 
@@ -9,9 +10,9 @@ Ecu = car.CarParams.Ecu
 
 
 class CarControllerParams:
-  STEER_MAX = 300  # Safety limit, not LKA max. Trucks use 600.
-  STEER_STEP = 2  # control frames per command
-  STEER_DELTA_UP = 7
+  STEER_MAX = 300  # GM limit is 3Nm. Used by carcontroller to generate LKA output
+  STEER_STEP = 2  # Control frames per command (50hz)
+  STEER_DELTA_UP = 7  # Delta rates require review due to observed EPS weakness
   STEER_DELTA_DOWN = 17
   MIN_STEER_SPEED = 3.  # m/s
   STEER_DRIVER_ALLOWANCE = 50
@@ -24,19 +25,20 @@ class CarControllerParams:
   CAMERA_KEEPALIVE_STEP = 100
 
   # Volt gasbrake lookups
-  MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill.
-  ZERO_GAS = 2048 # Coasting
-  MAX_BRAKE = 350 # ~ -3.5 m/s^2 with regen
+  # TODO: These values should be confirmed on non-Volt vehicles
+  MAX_GAS = 3072  # Safety limit, not ACC max. Stock ACC >4096 from standstill.
+  ZERO_GAS = 2048  # Coasting
+  MAX_BRAKE = 350  # ~ -3.5 m/s^2 with regen
+  MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
 
   # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
   # perform the closed loop control, and might need some
   # to apply some more braking if we're on a downhill slope.
   # Our controller should still keep the 2 second average above
   # -3.5 m/s^2 as per planner limits
-  ACCEL_MAX = 2. # m/s^2
-  ACCEL_MIN = -4. # m/s^2
+  ACCEL_MAX = 2.  # m/s^2
+  ACCEL_MIN = -4.  # m/s^2
 
-  MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
   GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX]
   GAS_LOOKUP_V = [MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
   BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.]
@@ -67,16 +69,17 @@ class Footnote(Enum):
 class GMCarInfo(CarInfo):
   package: str = "Adaptive Cruise"
   harness: Enum = Harness.none
+  footnotes: List[Enum] = field(default_factory=lambda: [Footnote.OBD_II])
 
 
 CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
   CAR.HOLDEN_ASTRA: GMCarInfo("Holden Astra 2017", harness=Harness.custom),
-  CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", footnotes=[Footnote.OBD_II], min_enable_speed=0, harness=Harness.custom),
+  CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, harness=Harness.custom),
   CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"),
   CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017", harness=Harness.custom),
-  CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo", footnotes=[Footnote.OBD_II]),
+  CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
   CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
-  CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "ACC + LKAS", footnotes=[Footnote.OBD_II]),
+  CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "ACC + LKAS"),
 }
 
 
@@ -100,10 +103,12 @@ class CanBus:
   CHASSIS = 2
   SW_GMLAN = 3
   LOOPBACK = 128
+  DROPPED = 192
 
 FINGERPRINTS = {
+  CAR.HOLDEN_ASTRA: [
   # Astra BK MY17, ASCM unplugged
-  CAR.HOLDEN_ASTRA: [{
+  {
     190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 715: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7,
   }],
   CAR.VOLT: [
@@ -145,12 +150,4 @@ FINGERPRINTS = {
   }],
 }
 
-DBC = {
-  CAR.HOLDEN_ASTRA: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-  CAR.VOLT: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-  CAR.MALIBU: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-  CAR.ACADIA: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-  CAR.CADILLAC_ATS: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-  CAR.BUICK_REGAL: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-  CAR.ESCALADE_ESV: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-}
+DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index cf01fa2aaa..14049c9997 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -7,7 +7,7 @@ from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from selfdrive.car import create_gas_interceptor_command
 from selfdrive.car.honda import hondacan
-from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
+from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from selfdrive.controls.lib.drive_helpers import rate_limit
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -95,8 +95,8 @@ def process_hud_alert(hud_alert):
 
 
 HUDData = namedtuple("HUDData",
-                     ["pcm_accel", "v_cruise", "car",
-                      "lanes", "fcw", "acc_alert", "steer_required"])
+                     ["pcm_accel", "v_cruise", "lead_visible",
+                      "lanes_visible", "fcw", "acc_alert", "steer_required"])
 
 
 class CarController:
@@ -138,19 +138,6 @@ class CarController:
     self.brake_last = rate_limit(pre_limit_brake, self.brake_last, -2., DT_CTRL)
 
     # vehicle hud display, wait for one update from 10Hz 0x304 msg
-    if hud_control.lanesVisible:
-      hud_lanes = 1
-    else:
-      hud_lanes = 0
-
-    if CC.enabled:
-      if hud_control.leadVisible:
-        hud_car = 2
-      else:
-        hud_car = 1
-    else:
-      hud_car = 0
-
     fcw_display, steer_required, acc_alert = process_hud_alert(hud_control.visualAlert)
 
     # **** process the car messages ****
@@ -172,8 +159,6 @@ class CarController:
     can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, CC.latActive, self.CP.carFingerprint,
                                                       idx, CS.CP.openpilotLongitudinalControl))
 
-    stopping = actuators.longControlState == LongCtrlState.stopping
-
     # wind brake from air resistance decel at high speed
     wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])
     # all of this is only relevant for HONDA NIDEC
@@ -204,7 +189,7 @@ class CarController:
       pcm_accel = int(clip((accel / 1.44) / max_accel, 0.0, 1.0) * 0xc6)
 
     if not self.CP.openpilotLongitudinalControl:
-      if self.frame % 2 == 0:
+      if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:  # radarless cars don't have supplemental message
         idx = self.frame // 2
         can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CP.carFingerprint, idx))
       # If using stock ACC, spam cancel command to kill gas when OP disengages.
@@ -222,6 +207,8 @@ class CarController:
         if self.CP.carFingerprint in HONDA_BOSCH:
           self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX)
           self.gas = interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V)
+
+          stopping = actuators.longControlState == LongCtrlState.stopping
           can_sends.extend(hondacan.create_acc_commands(self.packer, CC.enabled, CC.longActive, self.accel, self.gas,
                                                         idx, stopping, self.CP.carFingerprint))
         else:
@@ -252,9 +239,9 @@ class CarController:
     # Send dashboard UI commands.
     if self.frame % 10 == 0:
       idx = (self.frame // 10) % 4
-      hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_car,
-                    hud_lanes, fcw_display, acc_alert, steer_required)
-      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud))
+      hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
+                    hud_control.lanesVisible, fcw_display, acc_alert, steer_required)
+      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud))
 
       if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
         self.speed = pcm_speed
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 5314fe375e..5358ce249a 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -5,8 +5,9 @@ from common.conversions import Conversions as CV
 from common.numpy_fast import interp
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from selfdrive.car.honda.hondacan import get_pt_bus
+from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
 from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL
 
 TransmissionType = car.CarParams.TransmissionType
 
@@ -22,9 +23,9 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
     ("STEER_ANGLE_RATE", "STEERING_SENSORS"),
     ("MOTOR_TORQUE", "STEER_MOTOR_TORQUE"),
     ("STEER_TORQUE_SENSOR", "STEER_STATUS"),
+    ("IMPERIAL_UNIT", "CAR_SPEED"),
     ("LEFT_BLINKER", "SCM_FEEDBACK"),
     ("RIGHT_BLINKER", "SCM_FEEDBACK"),
-    ("GEAR", gearbox_msg),
     ("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS"),
     ("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS"),
     ("BRAKE_PRESSED", "POWERTRAIN_DATA"),
@@ -35,6 +36,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
     ("BRAKE_HOLD_ACTIVE", "VSA_STATUS"),
     ("STEER_STATUS", "STEER_STATUS"),
     ("GEAR_SHIFTER", gearbox_msg),
+    ("GEAR", gearbox_msg),
     ("PEDAL_GAS", "POWERTRAIN_DATA"),
     ("CRUISE_SETTING", "SCM_BUTTONS"),
     ("ACC_STATUS", "POWERTRAIN_DATA"),
@@ -48,9 +50,10 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
     ("SEATBELT_STATUS", 10),
     ("CRUISE", 10),
     ("POWERTRAIN_DATA", 100),
+    ("CAR_SPEED", 10),
     ("VSA_STATUS", 50),
     ("STEER_STATUS", 100),
-    ("STEER_MOTOR_TORQUE", 0), # TODO: not on every car
+    ("STEER_MOTOR_TORQUE", 0),  # TODO: not on every car
   ]
 
   if CP.carFingerprint == CAR.ODYSSEY_CHN:
@@ -73,17 +76,13 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
     signals.append(("BRAKE_PRESSED", "BRAKE_MODULE"))
     checks.append(("BRAKE_MODULE", 50))
 
-  if CP.carFingerprint in HONDA_BOSCH:
-    signals += [
-      ("EPB_STATE", "EPB_STATUS"),
-      ("IMPERIAL_UNIT", "CAR_SPEED"),
-    ]
-    checks += [
-      ("EPB_STATUS", 50),
-      ("CAR_SPEED", 10),
-    ]
+  if CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}):
+    signals.append(("EPB_STATE", "EPB_STATUS"))
+    checks.append(("EPB_STATUS", 50))
 
-    if not CP.openpilotLongitudinalControl:
+  if CP.carFingerprint in HONDA_BOSCH:
+    # these messages are on camera bus on radarless cars
+    if not CP.openpilotLongitudinalControl and CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
       signals += [
         ("CRUISE_CONTROL_LABEL", "ACC_HUD"),
         ("CRUISE_SPEED", "ACC_HUD"),
@@ -103,34 +102,16 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
     else:
       checks.append(("CRUISE_PARAMS", 50))
 
-  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):
+  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022):
     signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK"))
-  elif CP.carFingerprint == CAR.ODYSSEY_CHN:
+  elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
     signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS"))
-  elif CP.carFingerprint in (CAR.FREED, CAR.HRV):
-    signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS"),
-                ("WHEELS_MOVING", "STANDSTILL")]
   else:
     signals += [("DOOR_OPEN_FL", "DOORS_STATUS"),
                 ("DOOR_OPEN_FR", "DOORS_STATUS"),
                 ("DOOR_OPEN_RL", "DOORS_STATUS"),
-                ("DOOR_OPEN_RR", "DOORS_STATUS"),
-                ("WHEELS_MOVING", "STANDSTILL")]
-    checks += [
-      ("DOORS_STATUS", 3),
-      ("STANDSTILL", 50),
-    ]
-
-  if CP.carFingerprint == CAR.CIVIC:
-    signals += [("IMPERIAL_UNIT", "HUD_SETTING"),
-                ("EPB_STATE", "EPB_STATUS")]
-    checks += [
-      ("HUD_SETTING", 50),
-      ("EPB_STATUS", 50),
-    ]
-  elif CP.carFingerprint in (CAR.ODYSSEY, CAR.ODYSSEY_CHN):
-    signals.append(("EPB_STATE", "EPB_STATUS"))
-    checks.append(("EPB_STATUS", 50))
+                ("DOOR_OPEN_RR", "DOORS_STATUS")]
+    checks.append(("DOORS_STATUS", 3))
 
   # add gas interceptor reading if we are using it
   if CP.enableGasInterceptor:
@@ -179,12 +160,18 @@ class CarState(CarStateBase):
     # update prevs, update must run once per loop
     self.prev_cruise_buttons = self.cruise_buttons
     self.prev_cruise_setting = self.cruise_setting
+    self.cruise_setting = cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"]
+    self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"]
+
+    # used for car hud message
+    self.is_metric = not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"]
 
     # ******************* parse out can *******************
     # STANDSTILL->WHEELS_MOVING bit can be noisy around zero, so use XMISSION_SPEED
     # panda checks if the signal is non-zero
     ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
-    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):
+    # TODO: find a common signal across all cars
+    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022):
       ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
     elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
       ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
@@ -219,16 +206,12 @@ class CarState(CarStateBase):
     ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE"]
     ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE_RATE"]
 
-    self.cruise_setting = cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"]
-    self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"]
-
     ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(
       250, cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"], cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"])
     ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1
 
     # TODO: set for all cars
-    if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH,
-                                  CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):
+    if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}):
       ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
 
     gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
@@ -248,11 +231,15 @@ class CarState(CarStateBase):
 
     if self.CP.carFingerprint in HONDA_BOSCH:
       if not self.CP.openpilotLongitudinalControl:
-        ret.cruiseState.nonAdaptive = cp.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0
-        ret.cruiseState.standstill = cp.vl["ACC_HUD"]["CRUISE_SPEED"] == 252.
+        # ACC_HUD is on camera bus on radarless cars
+        acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"]
+        ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0
+        ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252.
 
+        # on certain cars, CRUISE_SPEED changes to imperial with car's unit setting
+        conversion_factor = CV.MPH_TO_MS if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and not self.is_metric else CV.KPH_TO_MS
         # On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this.
-        ret.cruiseState.speed = self.v_cruise_pcm_prev if cp.vl["ACC_HUD"]["CRUISE_SPEED"] > 160.0 else cp.vl["ACC_HUD"]["CRUISE_SPEED"] * CV.KPH_TO_MS
+        ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion_factor
         self.v_cruise_pcm_prev = ret.cruiseState.speed
     else:
       ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS
@@ -281,23 +268,15 @@ class CarState(CarStateBase):
       if ret.brake > 0.1:
         ret.brakePressed = True
 
-    # TODO: discover the CAN msg that has the imperial unit bit for all other cars
-    if self.CP.carFingerprint in (CAR.CIVIC, ):
-      self.is_metric = not cp.vl["HUD_SETTING"]["IMPERIAL_UNIT"]
-    elif self.CP.carFingerprint in HONDA_BOSCH:
-      self.is_metric = not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"]
-    else:
-      self.is_metric = False
-
     if self.CP.carFingerprint in HONDA_BOSCH:
-      ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
+      # TODO: find the radarless AEB_STATUS bit and make sure ACCEL_COMMAND is correct to enable AEB alerts
+      if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
+        ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
     else:
       ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE"] > 1e-5)
 
-    if self.CP.carFingerprint in HONDA_BOSCH:
-      self.stock_hud = False
-      ret.stockFcw = False
-    else:
+    self.stock_hud = False
+    if self.CP.carFingerprint not in HONDA_BOSCH:
       ret.stockFcw = cp_cam.vl["BRAKE_COMMAND"]["FCW"] != 0
       self.stock_hud = cp_cam.vl["ACC_HUD"]
       self.stock_brake = cp_cam.vl["BRAKE_COMMAND"]
@@ -312,8 +291,7 @@ class CarState(CarStateBase):
 
   def get_can_parser(self, CP):
     signals, checks = get_can_signals(CP, self.gearbox_msg, self.main_on_sig_msg)
-    bus_pt = 1 if CP.carFingerprint in HONDA_BOSCH else 0
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus_pt)
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, get_pt_bus(CP.carFingerprint))
 
   @staticmethod
   def get_cam_can_parser(CP):
@@ -322,7 +300,14 @@ class CarState(CarStateBase):
       ("STEERING_CONTROL", 100),
     ]
 
-    if CP.carFingerprint not in HONDA_BOSCH:
+    if CP.carFingerprint in HONDA_BOSCH_RADARLESS and not CP.openpilotLongitudinalControl:
+      signals += [
+        ("CRUISE_SPEED", "ACC_HUD"),
+        ("CRUISE_CONTROL_LABEL", "ACC_HUD"),
+      ]
+      checks.append(("ACC_HUD", 10))
+
+    elif CP.carFingerprint not in HONDA_BOSCH:
       signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND"),
                   ("AEB_REQ_1", "BRAKE_COMMAND"),
                   ("FCW", "BRAKE_COMMAND"),
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index dcdc0e5f94..7246b98686 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -1,5 +1,5 @@
 from common.conversions import Conversions as CV
-from selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, CAR, CarControllerParams
+from selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams
 
 # CAN bus layout with relay
 # 0 = ACC-CAN - radar side
@@ -7,8 +7,9 @@ from selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, CAR, CarControll
 # 2 = ACC-CAN - camera side
 # 3 = F-CAN A - OBDII port
 
+
 def get_pt_bus(car_fingerprint):
-  return 1 if car_fingerprint in HONDA_BOSCH else 0
+  return 1 if car_fingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) else 0
 
 
 def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False):
@@ -18,6 +19,7 @@ def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False):
   # normally steering commands are sent to radar, which forwards them to powertrain bus
   return 0
 
+
 def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, stock_brake):
   # TODO: do we loose pressure if we keep pump off for long?
   brakelights = apply_brake > 0
@@ -78,6 +80,7 @@ def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, car_
 
   return commands
 
+
 def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, idx, radar_disabled):
   values = {
     "STEER_TORQUE": apply_steer if lkas_active else 0,
@@ -98,50 +101,47 @@ def create_bosch_supplemental_1(packer, car_fingerprint, idx):
   return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values, idx)
 
 
-def create_ui_commands(packer, CP, pcm_speed, hud, is_metric, idx, stock_hud):
+def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stock_hud):
   commands = []
   bus_pt = get_pt_bus(CP.carFingerprint)
   radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl
   bus_lkas = get_lkas_cmd_bus(CP.carFingerprint, radar_disabled)
 
   if CP.openpilotLongitudinalControl:
+    acc_hud_values = {
+      'CRUISE_SPEED': hud.v_cruise,
+      'ENABLE_MINI_CAR': 1,
+      'HUD_DISTANCE': 0,  # max distance setting on display
+      'IMPERIAL_UNIT': int(not is_metric),
+      'HUD_LEAD': 2 if enabled and hud.lead_visible else 1 if enabled else 0,
+      'SET_ME_X01_2': 1,
+    }
+
     if CP.carFingerprint in HONDA_BOSCH:
-      acc_hud_values = {
-        'CRUISE_SPEED': hud.v_cruise,
-        'ENABLE_MINI_CAR': 1,
-        'SET_TO_1': 1,
-        'HUD_LEAD': hud.car,
-        'HUD_DISTANCE': 3,
-        'ACC_ON': hud.car != 0,
-        'SET_TO_X1': 1,
-        'IMPERIAL_UNIT': int(not is_metric),
-        'FCM_OFF': 1,
-      }
+      acc_hud_values['ACC_ON'] = int(enabled)
+      acc_hud_values['FCM_OFF'] = 1
+      acc_hud_values['FCM_OFF_2'] = 1
     else:
-      acc_hud_values = {
-        'PCM_SPEED': pcm_speed * CV.MS_TO_KPH,
-        'PCM_GAS': hud.pcm_accel,
-        'CRUISE_SPEED': hud.v_cruise,
-        'ENABLE_MINI_CAR': 1,
-        'HUD_LEAD': hud.car,
-        'HUD_DISTANCE': 3,    # max distance setting on display
-        'IMPERIAL_UNIT': int(not is_metric),
-        'SET_ME_X01_2': 1,
-        'SET_ME_X01': 1,
-        "FCM_OFF": stock_hud["FCM_OFF"],
-        "FCM_OFF_2": stock_hud["FCM_OFF_2"],
-        "FCM_PROBLEM": stock_hud["FCM_PROBLEM"],
-        "ICONS": stock_hud["ICONS"],
-      }
+      acc_hud_values['PCM_SPEED'] = pcm_speed * CV.MS_TO_KPH
+      acc_hud_values['PCM_GAS'] = hud.pcm_accel
+      acc_hud_values['SET_ME_X01'] = 1
+      acc_hud_values['FCM_OFF'] = stock_hud['FCM_OFF']
+      acc_hud_values['FCM_OFF_2'] = stock_hud['FCM_OFF_2']
+      acc_hud_values['FCM_PROBLEM'] = stock_hud['FCM_PROBLEM']
+      acc_hud_values['ICONS'] = stock_hud['ICONS']
     commands.append(packer.make_can_msg("ACC_HUD", bus_pt, acc_hud_values, idx))
 
   lkas_hud_values = {
     'SET_ME_X41': 0x41,
     'STEERING_REQUIRED': hud.steer_required,
-    'SOLID_LANES': hud.lanes,
+    'SOLID_LANES': hud.lanes_visible,
     'BEEP': 0,
   }
 
+  if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
+    lkas_hud_values['LANE_LINES'] = 3
+    lkas_hud_values['DASHED_LANES'] = hud.lanes_visible
+
   if not (CP.flags & HondaFlags.BOSCH_EXT_HUD):
     lkas_hud_values['SET_ME_X48'] = 0x48
 
@@ -169,5 +169,6 @@ def spam_buttons_command(packer, button_val, idx, car_fingerprint):
     'CRUISE_BUTTONS': button_val,
     'CRUISE_SETTING': 0,
   }
-  bus = get_pt_bus(car_fingerprint)
+  # send buttons to camera on radarless cars
+  bus = 2 if car_fingerprint in HONDA_BOSCH_RADARLESS else get_pt_bus(car_fingerprint)
   return packer.make_can_msg("SCM_BUTTONS", bus, values, idx)
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index ad98f8863f..a78189b697 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -3,7 +3,7 @@ from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
 from common.numpy_fast import interp
-from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL
+from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
 from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.disable_ecu import disable_ecu
@@ -37,9 +37,10 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)]
       ret.radarOffCan = True
 
-      # Disable the radar and let openpilot control longitudinal
-      # WARNING: THIS DISABLES AEB!
-      ret.openpilotLongitudinalControl = disable_radar
+      if candidate not in HONDA_BOSCH_RADARLESS:
+        # Disable the radar and let openpilot control longitudinal
+        # WARNING: THIS DISABLES AEB!
+        ret.openpilotLongitudinalControl = disable_radar
 
       ret.pcmCruise = not ret.openpilotLongitudinalControl
     else:
@@ -100,12 +101,11 @@ class CarInterface(CarInterfaceBase):
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
       else:
-        ret.maxLateralAccel = 1.7
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
       tire_stiffness_factor = 1.
 
-    elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL):
+    elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022):
       stop_and_go = True
       ret.mass = CivicParams.MASS
       ret.wheelbase = CivicParams.WHEELBASE
@@ -113,7 +113,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 15.38  # 10.93 is end-to-end spec
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 1.
-      ret.maxLateralAccel = 1.6
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
     elif candidate in (CAR.ACCORD, CAR.ACCORDH):
@@ -128,7 +127,6 @@ class CarInterface(CarInterfaceBase):
       if eps_modified:
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
       else:
-        ret.maxLateralAccel = 1.6
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
 
     elif candidate == CAR.ACURA_ILX:
@@ -165,7 +163,6 @@ class CarInterface(CarInterfaceBase):
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
       else:
-        ret.maxLateralAccel = 1.7
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
       tire_stiffness_factor = 0.677
@@ -190,7 +187,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 13.06
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.75
-      ret.maxLateralAccel = 1.7
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
 
     elif candidate == CAR.FREED:
@@ -222,7 +218,6 @@ class CarInterface(CarInterfaceBase):
       ret.centerToFront = ret.wheelbase * 0.38
       ret.steerRatio = 15.0  # as spec
       tire_stiffness_factor = 0.444
-      ret.maxLateralAccel = 0.9
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
@@ -232,7 +227,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.75
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 11.95  # as spec
-      ret.maxLateralAccel = 1.2
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
       tire_stiffness_factor = 0.677
@@ -245,7 +239,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.35  # as spec
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.82
-      ret.maxLateralAccel = 1.5
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
 
     elif candidate == CAR.ODYSSEY_CHN:
@@ -266,7 +259,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 17.25  # as spec
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.444
-      ret.maxLateralAccel = 1.5
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
 
     elif candidate == CAR.RIDGELINE:
@@ -277,7 +269,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 15.59  # as spec
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.444
-      ret.maxLateralAccel = 1.3
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
 
     elif candidate == CAR.INSIGHT:
@@ -288,7 +279,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 15.0  # 12.58 is spec end-to-end
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.82
-      ret.maxLateralAccel = 1.4
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
 
     elif candidate == CAR.HONDA_E:
@@ -315,6 +305,9 @@ class CarInterface(CarInterfaceBase):
     if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG
 
+    if candidate in HONDA_BOSCH_RADARLESS:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS
+
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
     # conflict with PCM acc
@@ -330,14 +323,13 @@ class CarInterface(CarInterfaceBase):
                                                                          tire_stiffness_factor=tire_stiffness_factor)
 
     ret.steerActuatorDelay = 0.1
-    ret.steerRateCost = 0.5
     ret.steerLimitTimer = 0.8
 
     return ret
 
   @staticmethod
   def init(CP, logcan, sendcan):
-    if CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl:
+    if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl:
       disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')
 
   # returns a car.CarState
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 152f71e98a..c6e20f2d83 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -75,6 +75,7 @@ class CAR:
   CIVIC = "HONDA CIVIC 2016"
   CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019"
   CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019"
+  CIVIC_2022 = "HONDA CIVIC 2022"
   ACURA_ILX = "ACURA ILX 2016"
   CRV = "HONDA CR-V 2016"
   CRV_5G = "HONDA CR-V 2017"
@@ -108,33 +109,37 @@ class HondaCarInfo(CarInfo):
 
 CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
   CAR.ACCORD: [
-    HondaCarInfo("Honda Accord 2018-21", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
-    HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
+    HondaCarInfo("Honda Accord 2018-21", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+    HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
   ],
-  CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
+  CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
   CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", harness=Harness.nidec),
   CAR.CIVIC_BOSCH: [
-    HondaCarInfo("Honda Civic 2019-20", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch),
-    HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch),
+    HondaCarInfo("Honda Civic 2019-20", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+    HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch_a),
   ],
   CAR.CIVIC_BOSCH_DIESEL: None,  # same platform
+  CAR.CIVIC_2022: [
+    HondaCarInfo("Honda Civic 2022", "All", min_steer_speed=0., harness=Harness.bosch_b),
+    HondaCarInfo("Honda Civic Hatchback 2022", "All", min_steer_speed=0., harness=Harness.bosch_b),
+  ],
   CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS, harness=Harness.nidec),
   CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring", harness=Harness.nidec),
-  CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-21", harness=Harness.bosch),
+  CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-21", harness=Harness.bosch_a),
   CAR.CRV_EU: None,  # HondaCarInfo("Honda CR-V EU", "Touring"),  # Euro version of CRV Touring
-  CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", harness=Harness.bosch),
+  CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", harness=Harness.bosch_a),
   CAR.FIT: HondaCarInfo("Honda Fit 2018-19", harness=Harness.nidec),
   CAR.FREED: HondaCarInfo("Honda Freed 2020", harness=Harness.nidec),
   CAR.HRV: HondaCarInfo("Honda HR-V 2019-20", harness=Harness.nidec),
   CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", min_steer_speed=0., harness=Harness.nidec),
   CAR.ODYSSEY_CHN: None,  # Chinese version of Odyssey
   CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", harness=Harness.nidec),
-  CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
+  CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
   CAR.PILOT: HondaCarInfo("Honda Pilot 2016-21", harness=Harness.nidec),
   CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", harness=Harness.nidec),
   CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", harness=Harness.nidec),
-  CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
-  CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch),
+  CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+  CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
 }
 
 
@@ -1392,6 +1397,40 @@ FW_VERSIONS = {
       b'57114-TYF-E030\x00\x00'
     ],
   },
+  CAR.CIVIC_2022: {
+    (Ecu.eps, 0x18DA30F1, None): [
+      b'39990-T39-A130\x00\x00',
+      b'39990-T43-J020\x00\x00',
+    ],
+    (Ecu.gateway, 0x18DAEFF1, None): [
+      b'38897-T20-A020\x00\x00',
+      b'38897-T20-A510\x00\x00',
+      b'38897-T21-A010\x00\x00',
+    ],
+    (Ecu.srs, 0x18DA53F1, None): [
+      b'77959-T20-A970\x00\x00',
+      b'77959-T47-A940\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18DA60F1, None): [
+      b'78108-T21-A220\x00\x00',
+      b'78108-T21-A620\x00\x00',
+      b'78108-T23-A110\x00\x00',
+    ],
+    (Ecu.vsa, 0x18DA28F1, None): [
+      b'57114-T20-AB40\x00\x00',
+      b'57114-T43-JB30\x00\x00',
+    ],
+    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28101-65D-A020\x00\x00',
+      b'28101-65D-A120\x00\x00',
+      b'28101-65H-A020\x00\x00',
+    ],
+    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
+      b'37805-64L-A540\x00\x00',
+      b'37805-64S-A540\x00\x00',
+      b'37805-64S-A720\x00\x00',
+    ],
+  },
 }
 
 DBC = {
@@ -1417,6 +1456,7 @@ DBC = {
   CAR.RIDGELINE: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
   CAR.INSIGHT: dbc_dict('honda_insight_ex_2019_can_generated', None),
   CAR.HONDA_E: dbc_dict('acura_rdx_2020_can_generated', None),
+  CAR.CIVIC_2022: dbc_dict('honda_civic_ex_2022_can_generated', None),
 }
 
 STEER_THRESHOLD = {
@@ -1429,5 +1469,6 @@ HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY}
 HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
                                 CAR.PILOT, CAR.PASSPORT, CAR.RIDGELINE}
 HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
-               CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E}
+               CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022}
 HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G}
+HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022}
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index fb3579464a..4fbb5ce0e1 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -1,11 +1,11 @@
 from cereal import car
-from common.realtime import DT_CTRL
-from common.numpy_fast import clip, interp
 from common.conversions import Conversions as CV
+from common.numpy_fast import clip, interp
+from common.realtime import DT_CTRL
+from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.hyundai import hda2can, hyundaican
 from selfdrive.car.hyundai.values import Buttons, CarControllerParams, HDA2_CAR, CAR
-from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 9d864faac4..6c82c33856 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -5,7 +5,7 @@ from cereal import car
 from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons
+from selfdrive.car.hyundai.values import DBC, FEATURES, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
 from selfdrive.car.interfaces import CarStateBase
 
 PREV_BUTTON_SAMPLES = 4
@@ -32,6 +32,8 @@ class CarState(CarStateBase):
     self.park_brake = False
     self.buttons_counter = 0
 
+    self.params = CarControllerParams(CP)
+
   def update(self, cp, cp_cam):
     if self.CP.carFingerprint in HDA2_CAR:
       return self.update_hda2(cp, cp_cam)
@@ -61,7 +63,7 @@ class CarState(CarStateBase):
       50, cp.vl["CGW1"]["CF_Gway_TurnSigLh"], cp.vl["CGW1"]["CF_Gway_TurnSigRh"])
     ret.steeringTorque = cp.vl["MDPS12"]["CR_Mdps_StrColTq"]
     ret.steeringTorqueEps = cp.vl["MDPS12"]["CR_Mdps_OutTq"]
-    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
+    ret.steeringPressed = abs(ret.steeringTorque) > self.params.STEER_THRESHOLD
     ret.steerFaultTemporary = cp.vl["MDPS12"]["CF_Mdps_ToiUnavail"] != 0 or cp.vl["MDPS12"]["CF_Mdps_ToiFlt"] != 0
 
     # cruise state
@@ -157,7 +159,7 @@ class CarState(CarStateBase):
     ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1
     ret.steeringTorque = cp.vl["MDPS"]["STEERING_COL_TORQUE"]
     ret.steeringTorqueEps = cp.vl["MDPS"]["STEERING_OUT_TORQUE"]
-    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
+    ret.steeringPressed = abs(ret.steeringTorque) > self.params.STEER_THRESHOLD
 
     ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"]["LEFT_LAMP"],
                                                                       cp.vl["BLINKERS"]["RIGHT_LAMP"])
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index e051079dc4..97119c77b7 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -7,7 +7,6 @@ from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.disable_ecu import disable_ecu
-from selfdrive.controls.lib.latcontrol_torque import set_torque_tune
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
@@ -40,7 +39,6 @@ class CarInterface(CarInterfaceBase):
     ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30} or candidate in HDA2_CAR
 
     ret.steerActuatorDelay = 0.1  # Default delay
-    ret.steerRateCost = 0.5
     ret.steerLimitTimer = 0.4
     tire_stiffness_factor = 1.
 
@@ -52,7 +50,6 @@ class CarInterface(CarInterfaceBase):
     ret.stopAccel = 0.0
 
     ret.longitudinalActuatorDelayUpperBound = 1.0  # s
-
     if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
@@ -60,24 +57,19 @@ class CarInterface(CarInterfaceBase):
       # Values from optimizer
       ret.steerRatio = 16.55  # 13.8 is spec end-to-end
       tire_stiffness_factor = 0.82
-      ret.maxLateralAccel = 3.2
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
     elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID):
-      ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 1513. + STD_CARGO_KG
       ret.wheelbase = 2.84
       ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
       tire_stiffness_factor = 0.65
-      ret.maxLateralAccel = 2.5
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     elif candidate == CAR.SONATA_LF:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 4497. * CV.LB_TO_KG
       ret.wheelbase = 2.804
       ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
-      ret.maxLateralAccel = 1.8
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
     elif candidate == CAR.PALISADE:
@@ -86,7 +78,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.90
       ret.steerRatio = 15.6 * 1.15
       tire_stiffness_factor = 0.63
-      ret.maxLateralAccel = 2.5
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
     elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
@@ -99,21 +90,17 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
       ret.minSteerSpeed = 32 * CV.MPH_TO_MS
     elif candidate == CAR.ELANTRA_2021:
-      ret.lateralTuning.pid.kf = 0.00005
       ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG
       ret.wheelbase = 2.72
       ret.steerRatio = 12.9
       tire_stiffness_factor = 0.65
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     elif candidate == CAR.ELANTRA_HEV_2021:
-      ret.lateralTuning.pid.kf = 0.00005
       ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG
       ret.wheelbase = 2.72
       ret.steerRatio = 12.9
       tire_stiffness_factor = 0.65
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     elif candidate == CAR.HYUNDAI_GENESIS:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 2060. + STD_CARGO_KG
@@ -143,7 +130,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.7
       ret.steerRatio = 13.73  # Spec
       tire_stiffness_factor = 0.385
-      ret.maxLateralAccel = 3.0
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
       if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
@@ -170,9 +156,9 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 0.5
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
-    elif candidate == CAR.TUCSON_DIESEL_2019:
+    elif candidate == CAR.TUCSON:
       ret.lateralTuning.pid.kf = 0.00005
-      ret.mass = 3633. * CV.LB_TO_KG
+      ret.mass = 3520. * CV.LB_TO_KG
       ret.wheelbase = 2.67
       ret.steerRatio = 14.00 * 1.15
       tire_stiffness_factor = 0.385
@@ -193,7 +179,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.7
       ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73  # Spec
       tire_stiffness_factor = 0.385
-      ret.maxLateralAccel = 2.9
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
       if candidate == CAR.KIA_NIRO_HEV:
@@ -213,19 +198,16 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
       ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
     elif candidate in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H):
-      ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3558. * CV.LB_TO_KG
       ret.wheelbase = 2.80
       ret.steerRatio = 13.75
       tire_stiffness_factor = 0.5
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     elif candidate == CAR.KIA_STINGER:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 1825. + STD_CARGO_KG
       ret.wheelbase = 2.78
       ret.steerRatio = 14.4 * 1.15   # 15% higher at the center seems reasonable
-      ret.maxLateralAccel = 2.4
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
     elif candidate == CAR.KIA_FORTE:
@@ -251,7 +233,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.85
       ret.steerRatio = 13.27  # 2021 Kia K5 Steering Ratio (all trims)
       tire_stiffness_factor = 0.5
-      ret.maxLateralAccel = 2.1
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
     elif candidate == CAR.KIA_EV6:
@@ -261,9 +242,7 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
                            get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2)]
       tire_stiffness_factor = 0.65
-
-      ret.maxLateralAccel = 2.
-      set_torque_tune(ret.lateralTuning, ret.maxLateralAccel, 0.01)
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     # Genesis
     elif candidate == CAR.GENESIS_G70:
@@ -370,5 +349,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    ret = self.CC.update(c, self.CS)
-    return ret
+    return self.CC.update(c, self.CS)
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 1cd2acabeb..0717ed1fbe 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -13,21 +13,27 @@ class CarControllerParams:
   ACCEL_MAX = 2.0 # m/s
 
   def __init__(self, CP):
+    self.STEER_DELTA_UP = 3
+    self.STEER_DELTA_DOWN = 7
+    self.STEER_DRIVER_ALLOWANCE = 50
+    self.STEER_DRIVER_MULTIPLIER = 2
+    self.STEER_DRIVER_FACTOR = 1
+    self.STEER_THRESHOLD = 150
+
+    if CP.carFingerprint in HDA2_CAR:
+      self.STEER_MAX = 270
+      self.STEER_DRIVER_ALLOWANCE = 250
+      self.STEER_DRIVER_MULTIPLIER = 2
+      self.STEER_THRESHOLD = 250
+
     # To determine the limit for your car, find the maximum value that the stock LKAS will request.
     # If the max stock LKAS request is <384, add your car to this list.
-    if CP.carFingerprint in HDA2_CAR:
-      self.STEER_MAX = 150
     elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ,
-                             CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV,
-                             CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER):
+                               CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV,
+                               CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER):
       self.STEER_MAX = 255
     else:
       self.STEER_MAX = 384
-    self.STEER_DELTA_UP = 3
-    self.STEER_DELTA_DOWN = 7
-    self.STEER_DRIVER_ALLOWANCE = 50
-    self.STEER_DRIVER_MULTIPLIER = 2
-    self.STEER_DRIVER_FACTOR = 1
 
 
 class CAR:
@@ -52,7 +58,7 @@ class CAR:
   SANTA_FE_PHEV_2022 = "HYUNDAI SANTA FE PlUG-IN HYBRID 2022"
   SONATA = "HYUNDAI SONATA 2020"
   SONATA_LF = "HYUNDAI SONATA 2019"
-  TUCSON_DIESEL_2019 = "HYUNDAI TUCSON DIESEL 2019"
+  TUCSON = "HYUNDAI TUCSON 2019"
   PALISADE = "HYUNDAI PALISADE 2020"
   VELOSTER = "HYUNDAI VELOSTER 2019"
   SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
@@ -80,8 +86,9 @@ class CAR:
 
 @dataclass
 class HyundaiCarInfo(CarInfo):
+  # TODO: we can probably remove LKAS. LKAS is standard on many
+  # HKG and for others, it's likely packaged together with SCC
   package: str = "SCC + LKAS"
-  good_torque: bool = True
 
 
 CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
@@ -105,7 +112,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness=Harness.hyundai_l),
   CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-22", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a),
   CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness=Harness.hyundai_e),
-  CAR.TUCSON_DIESEL_2019: HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l),
+  CAR.TUCSON: [
+    HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l),
+    HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l),
+  ],
   CAR.PALISADE: [
     HyundaiCarInfo("Hyundai Palisade 2020-21", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h),
     HyundaiCarInfo("Kia Telluride 2020", harness=Harness.hyundai_h),
@@ -118,7 +128,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia Forte 2018", harness=Harness.hyundai_b),
     HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g),
   ],
-  CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "SCC + LFA", harness=Harness.hyundai_a),
+  CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "SCC", harness=Harness.hyundai_a),
   CAR.KIA_NIRO_EV: [
     HyundaiCarInfo("Kia Niro Electric 2019-20", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f),
     HyundaiCarInfo("Kia Niro Electric 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c),
@@ -141,7 +151,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   ],
   CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
   CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e),
-  CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.none),
+  CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.hyundai_p),
 
   # Genesis
   CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018", "All", harness=Harness.hyundai_f),
@@ -498,6 +508,7 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00LFF LKAS AT USA LHD 1.00 1.01 95740-C1000 E51',
+      b'\xf1\x00LFF LKAS AT USA LHD 1.01 1.02 95740-C1000 E52',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5',
@@ -506,20 +517,25 @@ FW_VERSIONS = {
       b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24SL2n\x8d\xbe\xd8',
       b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2\x00\x00\x00\x00',
       b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm',
+      b'\xf1\x87LAJSG49645724HF0\x87x\x87\x88\x87www\x88\x99\xa8\x89\x88\x99\xa8\x89\x88\x99\xa8\x89S_\xfb\xff\x87f\x7f\xff^2\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm',
     ],
   },
-  CAR.TUCSON_DIESEL_2019: {
+  CAR.TUCSON: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00TL__ FCA F-CUP      1.00 1.01 99110-D3500         ',
+      b'\xf1\x00TL__ FCA F-CUP      1.00 1.02 99110-D3510         ',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8971TLC2NAIDDIR002\xf1\x8271TLC2NAIDDIR002',
+      b'\xf1\x81606G3051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00TL  MFC  AT KOR LHD 1.00 1.02 95895-D3800 180719',
+      b'\xf1\x00TL  MFC  AT USA LHD 1.00 1.06 95895-D3800 190107',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x87LBJXAN202299KF22\x87x\x87\x88ww\x87xx\x88\x97\x88\x87\x88\x98x\x88\x99\x98\x89\x87o\xf6\xff\x87w\x7f\xff\x12\x9a\xf1\x81U083\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U083\x00\x00\x00\x00\x00\x00TTL2V20KL1\x8fRn\x8a',
+      b'\xf1\x87KMLDCU585233TJ20wx\x87\x88x\x88\x98\x89vfwfwwww\x87f\x9f\xff\x98\xff\x7f\xf9\xf7s\xf1\x816T6G4051\x00\x00\xf1\x006T6J0_C2\x00\x006T6G4051\x00\x00TTL4G24NH2\x00\x00\x00\x00',
     ],
   },
   CAR.SANTA_FE: {
@@ -845,7 +861,7 @@ FW_VERSIONS = {
   },
   CAR.KIA_CEED:  {
     (Ecu.fwdRadar, 0x7D0, None): [b'\xf1\000CD__ SCC F-CUP      1.00 1.02 99110-J7000         ', ],
-    (Ecu.esp, 0x7D4, None): [b'\xf1\000CD  MDPS C 1.00 1.06 56310-XX000 4CDEC106', ],
+    (Ecu.eps, 0x7D4, None): [b'\xf1\000CD  MDPS C 1.00 1.06 56310-XX000 4CDEC106', ],
     (Ecu.fwdCamera, 0x7C4, None): [b'\xf1\000CD  LKAS AT EUR LHD 1.00 1.01 99211-J7000 B40', ],
     (Ecu.engine, 0x7E0, None): [b'\001TCD-JECU4F202H0K', ],
     (Ecu.transmission, 0x7E1, None): [
@@ -1129,9 +1145,6 @@ FW_VERSIONS = {
       b'\xf1\000DNhe SCC F-CUP      1.00 1.02 99110-L5000         ',
       b'\xf1\x8799110L5000\xf1\000DNhe SCC F-CUP      1.00 1.02 99110-L5000         ',
     ],
-    (Ecu.esp, 0x7b0, None): [
-      b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x8756310-L5500\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102',
       b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102',
@@ -1198,11 +1211,11 @@ CHECKSUM = {
 FEATURES = {
   # which message has the gear
   "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
-  "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON_DIESEL_2019},
+  "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
   "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019},
 
   # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
-  "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON_DIESEL_2019},
+  "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON},
 }
 
 HDA2_CAR = {CAR.KIA_EV6, }
@@ -1250,12 +1263,10 @@ DBC = {
   CAR.SANTA_FE_PHEV_2022: dbc_dict('hyundai_kia_generic', None),
   CAR.SONATA: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
   CAR.SONATA_LF: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
-  CAR.TUCSON_DIESEL_2019: dbc_dict('hyundai_kia_generic', None),
+  CAR.TUCSON: dbc_dict('hyundai_kia_generic', None),
   CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
   CAR.VELOSTER: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_EV6: dbc_dict('kia_ev6', None),
   CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
 }
-
-STEER_THRESHOLD = 150
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index a2c11bf023..136337c5a4 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -1,3 +1,4 @@
+import yaml
 import os
 import time
 from abc import abstractmethod, ABC
@@ -20,6 +21,34 @@ MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
 ACCEL_MAX = 2.0
 ACCEL_MIN = -3.5
 
+TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.yaml')
+TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.yaml')
+TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.yaml')
+
+
+def get_torque_params(candidate):
+  with open(TORQUE_SUBSTITUTE_PATH) as f:
+    sub = yaml.load(f, Loader=yaml.CSafeLoader)
+  if candidate in sub:
+    candidate = sub[candidate]
+
+  with open(TORQUE_PARAMS_PATH) as f:
+    params = yaml.load(f, Loader=yaml.CSafeLoader)
+  with open(TORQUE_OVERRIDE_PATH) as f:
+    override = yaml.load(f, Loader=yaml.CSafeLoader)
+
+  # Ensure no overlap
+  if sum([candidate in x for x in [sub, params, override]]) > 1:
+    raise RuntimeError(f'{candidate} is defined twice in torque config')
+
+  if candidate in override:
+    out = override[candidate]
+  elif candidate in params:
+    out = params[candidate]
+  else:
+    raise NotImplementedError(f"Did not find torque params for {candidate}")
+  return {key: out[i] for i, key in enumerate(params['legend'])}
+
 
 # generic car and radar interfaces
 
@@ -81,7 +110,7 @@ class CarInterfaceBase(ABC):
     ret.steerControlType = car.CarParams.SteerControlType.torque
     ret.minSteerSpeed = 0.
     ret.wheelSpeedFactor = 1.0
-    ret.maxLateralAccel = float('nan')
+    ret.maxLateralAccel = get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED']
 
     ret.pcmCruise = True     # openpilot's state is tied to the PCM's cruise state on most cars
     ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
@@ -105,6 +134,18 @@ class CarInterfaceBase(ABC):
     ret.steerLimitTimer = 1.0
     return ret
 
+  @staticmethod
+  def configure_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0):
+    params = get_torque_params(candidate)
+
+    tune.init('torque')
+    tune.torque.useSteeringAngle = True
+    tune.torque.kp = 1.0 / params['LAT_ACCEL_FACTOR']
+    tune.torque.kf = 1.0 / params['LAT_ACCEL_FACTOR']
+    tune.torque.ki = 0.1 / params['LAT_ACCEL_FACTOR']
+    tune.torque.friction = params['FRICTION']
+    tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg
+
   @abstractmethod
   def _update(self, c: car.CarControl) -> car.CarState:
     pass
diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index becd66ba1f..0e807512cf 100644
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@@ -4,13 +4,13 @@ from functools import partial
 from typing import Optional
 
 import cereal.messaging as messaging
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr
 
 
 class IsoTpParallelQuery:
-  def __init__(self, sendcan, logcan, bus, addrs, request, response, response_offset=0x8, functional_addr=False, debug=False):
+  def __init__(self, sendcan, logcan, bus, addrs, request, response, response_offset=0x8, functional_addr=False, debug=False, response_pending_timeout=10):
     self.sendcan = sendcan
     self.logcan = logcan
     self.bus = bus
@@ -18,6 +18,7 @@ class IsoTpParallelQuery:
     self.response = response
     self.debug = debug
     self.functional_addr = functional_addr
+    self.response_pending_timeout = response_pending_timeout
 
     self.real_addrs = []
     for a in addrs:
@@ -71,10 +72,7 @@ class IsoTpParallelQuery:
     messaging.drain_sock(self.logcan)
     self.msg_buffer = defaultdict(list)
 
-  def get_data(self, timeout, total_timeout=None):
-    if total_timeout is None:
-      total_timeout = 10 * timeout
-
+  def get_data(self, timeout, total_timeout=60.):
     self._drain_rx()
 
     # Create message objects
@@ -100,7 +98,7 @@ class IsoTpParallelQuery:
 
     results = {}
     start_time = time.monotonic()
-    last_response_time = start_time
+    response_timeouts = {tx_addr: start_time + timeout for tx_addr in self.msg_addrs}
     while True:
       self.rx()
 
@@ -123,7 +121,7 @@ class IsoTpParallelQuery:
         response_valid = dat[:len(expected_response)] == expected_response
 
         if response_valid:
-          last_response_time = time.monotonic()
+          response_timeouts[tx_addr] = time.monotonic() + timeout
           if counter + 1 < len(self.request):
             msg.send(self.request[counter + 1])
             request_counter[tx_addr] += 1
@@ -131,13 +129,19 @@ class IsoTpParallelQuery:
             results[tx_addr] = dat[len(expected_response):]
             request_done[tx_addr] = True
         else:
-          request_done[tx_addr] = True
-          cloudlog.warning(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
+          error_code = dat[2] if len(dat) > 2 else -1
+          if error_code == 0x78:
+            response_timeouts[tx_addr] = time.monotonic() + self.response_pending_timeout
+            if self.debug:
+              cloudlog.warning(f"iso-tp query response pending: {tx_addr}")
+          else:
+            request_done[tx_addr] = True
+            cloudlog.warning(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
 
       cur_time = time.monotonic()
-      if cur_time - last_response_time > timeout:
+      if cur_time - max(response_timeouts.values()) > 0:
         for tx_addr in msgs:
-          if (request_counter[tx_addr] > 0) and (not request_done[tx_addr]):
+          if request_counter[tx_addr] > 0 and not request_done[tx_addr]:
             cloudlog.warning(f"iso-tp query timeout after receiving response: {tx_addr}")
         break
 
diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index 68eebeaf71..0e43a11ceb 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -1,45 +1,48 @@
 from cereal import car
 from opendbc.can.packer import CANPacker
+from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.mazda import mazdacan
 from selfdrive.car.mazda.values import CarControllerParams, Buttons
-from selfdrive.car import apply_std_steer_torque_limits
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-class CarController():
+
+class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.apply_steer_last = 0
     self.packer = CANPacker(dbc_name)
     self.steer_rate_limited = False
     self.brake_counter = 0
+    self.frame = 0
 
-  def update(self, c, CS, frame):
+  def update(self, CC, CS):
     can_sends = []
 
     apply_steer = 0
     self.steer_rate_limited = False
 
-    if c.latActive:
+    if CC.latActive:
       # calculate steer and also set limits due to driver torque
-      new_steer = int(round(c.actuators.steer * CarControllerParams.STEER_MAX))
+      new_steer = int(round(CC.actuators.steer * CarControllerParams.STEER_MAX))
       apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last,
                                                   CS.out.steeringTorque, CarControllerParams)
       self.steer_rate_limited = new_steer != apply_steer
 
-      if CS.out.standstill and frame % 5 == 0:
+    if CC.enabled:
+      if CS.out.standstill and self.frame % 5 == 0:
         # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
         # Send Resume button at 20hz if we're engaged at standstill to support full stop and go!
         # TODO: improve the resume trigger logic by looking at actual radar data
         can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME))
 
-    if c.cruiseControl.cancel:
+    if CC.cruiseControl.cancel:
       # If brake is pressed, let us wait >70ms before trying to disable crz to avoid
       # a race condition with the stock system, where the second cancel from openpilot
       # will disable the crz 'main on'. crz ctrl msg runs at 50hz. 70ms allows us to
       # read 3 messages and most likely sync state before we attempt cancel.
       self.brake_counter = self.brake_counter + 1
-      if frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7):
+      if self.frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7):
         # Cancel Stock ACC if it's enabled while OP is disengaged
         # Send at a rate of 10hz until we sync with stock ACC state
         can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.CANCEL))
@@ -49,18 +52,19 @@ class CarController():
     self.apply_steer_last = apply_steer
 
     # send HUD alerts
-    if frame % 50 == 0:
-      ldw = c.hudControl.visualAlert == VisualAlert.ldw
-      steer_required = c.hudControl.visualAlert == VisualAlert.steerRequired
+    if self.frame % 50 == 0:
+      ldw = CC.hudControl.visualAlert == VisualAlert.ldw
+      steer_required = CC.hudControl.visualAlert == VisualAlert.steerRequired
       # TODO: find a way to silence audible warnings so we can add more hud alerts
       steer_required = steer_required and CS.lkas_allowed_speed
       can_sends.append(mazdacan.create_alert_command(self.packer, CS.cam_laneinfo, ldw, steer_required))
 
     # send steering command
     can_sends.append(mazdacan.create_steering_control(self.packer, self.CP.carFingerprint,
-                                                      frame, apply_steer, CS.cam_lkas))
+                                                      self.frame, apply_steer, CS.cam_lkas))
 
-    new_actuators = c.actuators.copy()
+    new_actuators = CC.actuators.copy()
     new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
 
+    self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index 6e1ad3e481..944d79809b 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -79,6 +79,7 @@ class CarState(CarStateBase):
     #       it should be used for carState.cruiseState.nonAdaptive instead
     ret.cruiseState.available = cp.vl["CRZ_CTRL"]["CRZ_AVAILABLE"] == 1
     ret.cruiseState.enabled = cp.vl["CRZ_CTRL"]["CRZ_ACTIVE"] == 1
+    ret.cruiseState.standstill = cp.vl["PEDALS"]["STANDSTILL"] == 1
     ret.cruiseState.speed = cp.vl["CRZ_EVENTS"]["CRZ_SPEED"] * CV.KPH_TO_MS
 
     if ret.cruiseState.enabled:
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index 0ef573c6b6..35e3c1bb01 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -25,7 +25,6 @@ class CarInterface(CarInterfaceBase):
     ret.dashcamOnly = candidate not in (CAR.CX5_2022, CAR.CX9_2021)
 
     ret.steerActuatorDelay = 0.1
-    ret.steerRateCost = 1.0
     ret.steerLimitTimer = 0.8
     tire_stiffness_factor = 0.70   # not optimized yet
 
@@ -91,6 +90,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    ret = self.CC.update(c, self.CS, self.frame)
-    self.frame += 1
-    return ret
+    return self.CC.update(c, self.CS)
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index 5c80303dbc..09b9b7732b 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -40,8 +40,8 @@ CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
   CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-17"),
   CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017"),
   CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017"),
-  CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021", good_torque=True),
-  CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022", good_torque=True),
+  CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021"),
+  CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022"),
 }
 
 
@@ -65,6 +65,7 @@ FW_VERSIONS = {
     ],
     (Ecu.engine, 0x7e0, None): [
       b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
       b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -77,6 +78,7 @@ FW_VERSIONS = {
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
   CAR.CX5: {
diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py
index 65e886751d..715850c227 100755
--- a/selfdrive/car/mock/interface.py
+++ b/selfdrive/car/mock/interface.py
@@ -2,7 +2,7 @@
 import math
 from cereal import car
 from common.conversions import Conversions as CV
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py
index 4ceb142d45..7d9dad6693 100644
--- a/selfdrive/car/nissan/carcontroller.py
+++ b/selfdrive/car/nissan/carcontroller.py
@@ -1,25 +1,27 @@
 from cereal import car
 from common.numpy_fast import clip, interp
-from selfdrive.car.nissan import nissancan
 from opendbc.can.packer import CANPacker
+from selfdrive.car.nissan import nissancan
 from selfdrive.car.nissan.values import CAR, CarControllerParams
 
-
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 
-class CarController():
+class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.car_fingerprint = CP.carFingerprint
+    self.frame = 0
 
     self.lkas_max_torque = 0
     self.last_angle = 0
 
     self.packer = CANPacker(dbc_name)
 
-  def update(self, c, CS, frame, actuators, cruise_cancel, hud_alert,
-             left_line, right_line, left_lane_depart, right_lane_depart):
+  def update(self, CC, CS):
+    actuators = CC.actuators
+    hud_control = CC.hudControl
+    pcm_cancel_cmd = CC.cruiseControl.cancel
 
     can_sends = []
 
@@ -28,9 +30,9 @@ class CarController():
     lkas_hud_info_msg = CS.lkas_hud_info_msg
     apply_angle = actuators.steeringAngleDeg
 
-    steer_hud_alert = 1 if hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
+    steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
 
-    if c.latActive:
+    if CC.latActive:
       # # windup slower
       if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle):
         angle_rate_lim = interp(CS.out.vEgo, CarControllerParams.ANGLE_DELTA_BP, CarControllerParams.ANGLE_DELTA_V)
@@ -57,25 +59,25 @@ class CarController():
 
     self.last_angle = apply_angle
 
-    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and cruise_cancel:
-      can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg, frame))
+    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and pcm_cancel_cmd:
+      can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg, self.frame))
 
     # TODO: Find better way to cancel!
     # For some reason spamming the cancel button is unreliable on the Leaf
     # We now cancel by making propilot think the seatbelt is unlatched,
     # this generates a beep and a warning message every time you disengage
-    if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC) and frame % 2 == 0:
-      can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, cruise_cancel))
+    if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC) and self.frame % 2 == 0:
+      can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, pcm_cancel_cmd))
 
     can_sends.append(nissancan.create_steering_control(
-        self.packer, apply_angle, frame, c.enabled, self.lkas_max_torque))
+      self.packer, apply_angle, self.frame, CC.enabled, self.lkas_max_torque))
 
     if lkas_hud_msg and lkas_hud_info_msg:
-      if frame % 2 == 0:
+      if self.frame % 2 == 0:
         can_sends.append(nissancan.create_lkas_hud_msg(
-          self.packer, lkas_hud_msg, c.enabled, left_line, right_line, left_lane_depart, right_lane_depart))
+          self.packer, lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart))
 
-      if frame % 50 == 0:
+      if self.frame % 50 == 0:
         can_sends.append(nissancan.create_lkas_hud_info_msg(
           self.packer, lkas_hud_info_msg, steer_hud_alert
         ))
@@ -83,4 +85,5 @@ class CarController():
     new_actuators = actuators.copy()
     new_actuators.steeringAngleDeg = apply_angle
 
+    self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index 3bf34e8266..9c04d975f9 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -1,8 +1,9 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.car.nissan.values import CAR
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
+from selfdrive.car.nissan.values import CAR
+
 
 class CarInterface(CarInterfaceBase):
 
@@ -14,7 +15,6 @@ class CarInterface(CarInterfaceBase):
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
 
     ret.steerLimitTimer = 1.0
-    ret.steerRateCost = 0.5
 
     ret.steerActuatorDelay = 0.1
 
@@ -68,10 +68,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    hud_control = c.hudControl
-    ret = self.CC.update(c, self.CS, self.frame, c.actuators,
-                         c.cruiseControl.cancel, hud_control.visualAlert,
-                         hud_control.leftLaneVisible, hud_control.rightLaneVisible,
-                         hud_control.leftLaneDepart, hud_control.rightLaneDepart)
-    self.frame += 1
-    return ret
+    return self.CC.update(c, self.CS)
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index d37b82eed7..dca86c30a6 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -1,10 +1,10 @@
+from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.subaru import subarucan
 from selfdrive.car.subaru.values import DBC, PREGLOBAL_CARS, CarControllerParams
-from opendbc.can.packer import CANPacker
 
 
-class CarController():
+class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.apply_steer_last = 0
@@ -12,16 +12,20 @@ class CarController():
     self.es_lkas_cnt = -1
     self.cruise_button_prev = 0
     self.steer_rate_limited = False
+    self.frame = 0
 
     self.p = CarControllerParams(CP)
     self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
 
-  def update(self, c, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
+  def update(self, CC, CS):
+    actuators = CC.actuators
+    hud_control = CC.hudControl
+    pcm_cancel_cmd = CC.cruiseControl.cancel
 
     can_sends = []
 
     # *** steering ***
-    if (frame % self.p.STEER_STEP) == 0:
+    if (self.frame % self.p.STEER_STEP) == 0:
 
       apply_steer = int(round(actuators.steer * self.p.STEER_MAX))
 
@@ -31,13 +35,13 @@ class CarController():
       apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
       self.steer_rate_limited = new_steer != apply_steer
 
-      if not c.latActive:
+      if not CC.latActive:
         apply_steer = 0
 
       if self.CP.carFingerprint in PREGLOBAL_CARS:
-        can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, frame, self.p.STEER_STEP))
+        can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, self.frame, self.p.STEER_STEP))
       else:
-        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, self.p.STEER_STEP))
+        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, self.frame, self.p.STEER_STEP))
 
       self.apply_steer_last = apply_steer
 
@@ -70,10 +74,11 @@ class CarController():
         self.es_distance_cnt = CS.es_distance_msg["Counter"]
 
       if self.es_lkas_cnt != CS.es_lkas_msg["Counter"]:
-        can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, c.enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart))
+        can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, CC.enabled, hud_control.visualAlert, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart))
         self.es_lkas_cnt = CS.es_lkas_msg["Counter"]
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
 
+    self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index edd26a4449..952885a751 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -1,8 +1,9 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
+from selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS
+
 
 class CarInterface(CarInterfaceBase):
 
@@ -22,7 +23,6 @@ class CarInterface(CarInterfaceBase):
 
     ret.dashcamOnly = candidate in PREGLOBAL_CARS
 
-    ret.steerRateCost = 0.7
     ret.steerLimitTimer = 0.4
 
     if candidate == CAR.ASCENT:
@@ -51,7 +51,6 @@ class CarInterface(CarInterfaceBase):
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 17           # learned, 14 stock
       ret.steerActuatorDelay = 0.1
-      ret.maxLateralAccel = 1.3
       ret.lateralTuning.pid.kf = 0.00005
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
@@ -62,7 +61,6 @@ class CarInterface(CarInterfaceBase):
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 17           # learned, 14 stock
       ret.steerActuatorDelay = 0.1
-      ret.maxLateralAccel = 3.2
       ret.lateralTuning.pid.kf = 0.000038
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
@@ -120,9 +118,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    hud_control = c.hudControl
-    ret = self.CC.update(c, self.CS, self.frame, c.actuators,
-                         c.cruiseControl.cancel, hud_control.visualAlert,
-                         hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)
-    self.frame += 1
-    return ret
+    return self.CC.update(c, self.CS)
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 412333edcd..45358eb3a4 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -41,7 +41,7 @@ class SubaruCarInfo(CarInfo):
 
 
 CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
-  CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20"),
+  CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20", "All"),
   CAR.IMPREZA: [
     SubaruCarInfo("Subaru Impreza 2017-19"),
     SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
@@ -50,7 +50,7 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
     SubaruCarInfo("Subaru Impreza 2020-21"),
     SubaruCarInfo("Subaru Crosstrek 2020-21"),
   ],
-  CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21"),
+  CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"),
   CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"),
   CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"),
   CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"),
diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
index 71594cecb6..5e78c72b60 100755
--- a/selfdrive/car/tesla/interface.py
+++ b/selfdrive/car/tesla/interface.py
@@ -42,7 +42,6 @@ class CarInterface(CarInterfaceBase):
 
     ret.steerLimitTimer = 1.0
     ret.steerActuatorDelay = 0.25
-    ret.steerRateCost = 0.5
 
     if candidate in (CAR.AP2_MODELS, CAR.AP1_MODELS):
       ret.mass = 2100. + STD_CARGO_KG
@@ -65,5 +64,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    ret = self.CC.update(c, self.CS)
-    return ret
+    return self.CC.update(c, self.CS)
diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py
index 2ed4c963ee..296169587a 100644
--- a/selfdrive/car/tesla/values.py
+++ b/selfdrive/car/tesla/values.py
@@ -22,7 +22,7 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
 FINGERPRINTS = {
   CAR.AP2_MODELS: [
     {
-      1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 277: 6, 280: 6, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 518: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 538: 8, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 576: 3, 577: 8, 582: 5, 583: 8, 584: 4, 585: 8, 590: 8, 601: 8, 606: 8, 608: 1, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 692: 8, 693: 8, 695: 8, 696: 8, 697: 8, 699: 8, 700: 8, 701: 8, 702: 8, 703: 8, 704: 8, 708: 8, 709: 8, 710: 8, 711: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 811: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 845: 8, 846: 5, 848: 8, 852: 8, 853: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 876: 8, 877: 8, 879: 8, 880: 8, 882: 8, 884: 8, 888: 8, 893: 8, 894: 8, 901: 6, 904: 3, 905: 8, 906: 8, 908: 2, 909: 8, 910: 8, 912: 8, 920: 8, 921: 8, 925: 4, 926: 6, 936: 8, 941: 8, 949: 8, 952: 8, 953: 6, 968: 8, 969: 6, 970: 8, 971: 8, 977: 8, 984: 8, 987: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1007: 8, 1008: 8, 1010: 6, 1014: 1, 1015: 8, 1016: 8, 1017: 8, 1018: 8, 1020: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1049: 8, 1061: 8, 1064: 8, 1065: 8, 1070: 8, 1080: 8, 1081: 8, 1097: 8, 1113: 8, 1129: 8, 1145: 8, 1160: 4, 1177: 8, 1281: 8, 1328: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1353: 8, 1368: 8, 1412: 8, 1436: 8, 1476: 8, 1481: 8, 1497: 8, 1513: 8, 1519: 8, 1601: 8, 1605: 8, 1617: 8, 1621: 8, 1625: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1824: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2015: 8, 2043: 5, 2045: 4
+      1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 277: 6, 280: 6, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 518: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 538: 8, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 576: 3, 577: 8, 582: 5, 583: 8, 584: 4, 585: 8, 590: 8, 601: 8, 606: 8, 608: 1, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 692: 8, 693: 8, 695: 8, 696: 8, 697: 8, 699: 8, 700: 8, 701: 8, 702: 8, 703: 8, 704: 8, 708: 8, 709: 8, 710: 8, 711: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 811: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 845: 8, 846: 5, 848: 8, 852: 8, 853: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 876: 8, 877: 8, 879: 8, 880: 8, 882: 8, 884: 8, 888: 8, 893: 8, 894: 8, 901: 6, 904: 3, 905: 8, 906: 8, 908: 2, 909: 8, 910: 8, 912: 8, 920: 8, 921: 8, 925: 4, 926: 6, 936: 8, 941: 8, 949: 8, 952: 8, 953: 6, 968: 8, 969: 6, 970: 8, 971: 8, 977: 8, 984: 8, 987: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1007: 8, 1008: 8, 1010: 6, 1014: 1, 1015: 8, 1016: 8, 1017: 8, 1018: 8, 1020: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1049: 8, 1061: 8, 1064: 8, 1065: 8, 1070: 8, 1080: 8, 1081: 8, 1097: 8, 1113: 8, 1129: 8, 1145: 8, 1160: 4, 1177: 8, 1281: 8, 1328: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1353: 8, 1368: 8, 1412: 8, 1436: 8, 1476: 8, 1481: 8, 1497: 8, 1513: 8, 1519: 8, 1601: 8, 1605: 8, 1617: 8, 1621: 8, 1625: 8, 1665: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1824: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2015: 8, 2043: 5, 2045: 4
     },
   ],
   CAR.AP1_MODELS: [
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index d2ec6b68d7..19b1a05c23 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -71,6 +71,7 @@ routes = [
   TestRoute("f34a60d68d83b1e5|2020-10-06--14-35-55", HONDA.ACURA_RDX),
   TestRoute("54fd8451b3974762|2021-04-01--14-50-10", HONDA.RIDGELINE),
   TestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E),
+  TestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022),
 
   TestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS),
   TestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70),
@@ -84,7 +85,7 @@ routes = [
   TestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
   TestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA),
   TestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF),
-  TestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON_DIESEL_2019),
+  TestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON),
   TestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
   TestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
   TestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019),
@@ -144,6 +145,7 @@ routes = [
   TestRoute("ec429c0f37564e3c|2020-02-01--17-28-12", TOYOTA.LEXUS_NXH),
   TestRoute("964c09eb11ca8089|2020-11-03--22-04-00", TOYOTA.LEXUS_NX),
   TestRoute("3fd5305f8b6ca765|2021-04-28--19-26-49", TOYOTA.LEXUS_NX_TSS2),
+  TestRoute("09ae96064ed85a14|2022-06-09--12-22-31", TOYOTA.LEXUS_NXH_TSS2),
   TestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2),
   TestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDERH_TSS2),
   TestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER),
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 92024ab0c2..412874c813 100755
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import math
 import unittest
 import importlib
 from parameterized import parameterized
@@ -32,14 +33,16 @@ class TestCarInterfaces(unittest.TestCase):
     assert car_interface
 
     self.assertGreater(car_params.mass, 1)
-    self.assertGreater(car_params.steerRateCost, 1e-3)
+    self.assertGreater(car_params.maxLateralAccel, 0)
 
     if car_params.steerControlType != car.CarParams.SteerControlType.angle:
       tuning = car_params.lateralTuning.which()
       if tuning == 'pid':
         self.assertTrue(len(car_params.lateralTuning.pid.kpV))
       elif tuning == 'torque':
-        self.assertTrue(car_params.lateralTuning.torque.kf > 0)
+        kf = car_params.lateralTuning.torque.kf
+        self.assertTrue(not math.isnan(kf) and kf > 0)
+        self.assertTrue(not math.isnan(car_params.lateralTuning.torque.friction))
       elif tuning == 'indi':
         self.assertTrue(len(car_params.lateralTuning.indi.outerLoopGainV))
 
diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py
index fed6989d40..98c909a9be 100755
--- a/selfdrive/car/tests/test_docs.py
+++ b/selfdrive/car/tests/test_docs.py
@@ -3,6 +3,7 @@ import unittest
 
 from selfdrive.car.car_helpers import interfaces, get_interface_attr
 from selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info
+from selfdrive.car.docs_definitions import Column, Star
 
 
 class TestCarDocs(unittest.TestCase):
@@ -15,27 +16,37 @@ class TestCarDocs(unittest.TestCase):
       current_cars_md = f.read()
 
     self.assertEqual(generated_cars_md, current_cars_md,
-                     "Run selfdrive/car/docs.py to generate new supported cars documentation")
+                     "Run selfdrive/car/docs.py to update the compatibility documentation")
 
   def test_missing_car_info(self):
     all_car_info_platforms = get_interface_attr("CAR_INFO", combine_brands=True).keys()
     for platform in sorted(interfaces.keys()):
-      if platform not in all_car_info_platforms:
-        self.fail("Platform: {} doesn't exist in CarInfo".format(platform))
+      with self.subTest(platform=platform):
+        self.assertTrue(platform in all_car_info_platforms, "Platform: {} doesn't exist in CarInfo".format(platform))
 
   def test_naming_conventions(self):
-    # Asserts market-standard car naming conventions by make
+    # Asserts market-standard car naming conventions by brand
     for car in self.all_cars:
-      tokens = car.model.lower().split(" ")
-      if car.car_name == "hyundai":
-        self.assertNotIn("phev", tokens, "Use `Plug-in Hybrid`")
-        self.assertNotIn("hev", tokens, "Use `Hybrid`")
-        self.assertNotIn("ev", tokens, "Use `Electric`")
-        if "plug-in hybrid" in car.model.lower():
-          self.assertIn("Plug-in Hybrid", car.model, "Use correct capitalization")
-      elif car.car_name == "toyota":
-        if "rav4" in tokens:
-          self.assertIn("RAV4", car.model, "Use correct capitalization")
+      with self.subTest(car=car):
+        tokens = car.model.lower().split(" ")
+        if car.car_name == "hyundai":
+          self.assertNotIn("phev", tokens, "Use `Plug-in Hybrid`")
+          self.assertNotIn("hev", tokens, "Use `Hybrid`")
+          self.assertNotIn("ev", tokens, "Use `Electric`")
+          if "plug-in hybrid" in car.model.lower():
+            self.assertIn("Plug-in Hybrid", car.model, "Use correct capitalization")
+        elif car.car_name == "toyota":
+          if "rav4" in tokens:
+            self.assertIn("RAV4", car.model, "Use correct capitalization")
+
+  def test_torque_star(self):
+    # Asserts brand-specific assumptions around steering torque star
+    for car in self.all_cars:
+      with self.subTest(car=car):
+        if car.car_name == "honda":
+          self.assertIn(car.row[Column.STEERING_TORQUE], (Star.EMPTY, Star.HALF), f"{car.name} has full torque star")
+        elif car.car_name in ("toyota", "hyundai"):
+          self.assertNotEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has no torque star")
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 9ab881279b..cb4b868582 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -121,7 +121,6 @@ class TestCarModelBase(unittest.TestCase):
 
     # make sure car params are within a valid range
     self.assertGreater(self.CP.mass, 1)
-    self.assertGreater(self.CP.steerRateCost, 1e-3)
 
     if self.CP.steerControlType != car.CarParams.SteerControlType.angle:
       tuning = self.CP.lateralTuning.which()
@@ -222,6 +221,7 @@ class TestCarModelBase(unittest.TestCase):
       # TODO: check rest of panda's carstate (steering, ACC main on, etc.)
 
       checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
+      checks['cruiseState'] += CS.cruiseState.enabled and not CS.cruiseState.available
 
       # TODO: remove this exception once this mismatch is resolved
       brake_pressed = CS.brakePressed
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
new file mode 100644
index 0000000000..a2200926c0
--- /dev/null
+++ b/selfdrive/car/torque_data/override.yaml
@@ -0,0 +1,29 @@
+legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION]
+### angle control
+# Nissan appears to have torque
+NISSAN X-TRAIL 2017: [.nan, 1.5, .nan]
+NISSAN ALTIMA 2020: [.nan, 1.5, .nan]
+NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan]
+NISSAN LEAF 2018: [.nan, 1.5, .nan]
+NISSAN ROGUE 2019: [.nan, 1.5, .nan]
+
+# Tesla has high torque
+TESLA AP1 MODEL S: [.nan, 2.5, .nan]
+TESLA AP2 MODEL S: [.nan, 2.5, .nan]
+
+# Guess
+FORD ESCAPE 4TH GEN: [.nan, 1.5, .nan]
+FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]
+###
+
+# No steering wheel
+COMMA BODY: [.nan, 1000, .nan]
+
+# Totally new car
+KIA EV6 2022: [3.0, 2.5, 0.0]
+
+# Dashcam or fallback configured as ideal car
+mock: [10.0, 10, 0.0]
+
+# Manually checked
+HONDA CIVIC 2022: [2.5, 1.2, 0.15]
diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml
new file mode 100644
index 0000000000..160f605488
--- /dev/null
+++ b/selfdrive/car/torque_data/params.yaml
@@ -0,0 +1,96 @@
+ACURA ILX 2016: [1.524988973896102, 0.519011053086259, 0.34236219253028]
+ACURA RDX 2018: [0.9987728568686902, 0.5323765166196301, 0.303218805715844]
+ACURA RDX 2020: [1.4314459806646749, 0.33874701282109954, 0.18048847083897598]
+AUDI A3 3RD GEN: [1.5122414863077502, 1.7443517531719404, 0.15194151892450905]
+AUDI Q3 2ND GEN: [1.4439223359448605, 1.2254955789112076, 0.1413798895978097]
+CHEVROLET VOLT PREMIER 2017: [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
+CHRYSLER PACIFICA 2018: [1.593387270257916, 1.3366521181047952, 0.13776367250652022]
+CHRYSLER PACIFICA 2020: [1.4323553627965695, 1.509076559398423, 0.14328246159386085]
+CHRYSLER PACIFICA HYBRID 2017: [1.3032470208409048, 1.06831764583744, 0.13287170990024627]
+CHRYSLER PACIFICA HYBRID 2018: [1.6068280248761635, 1.2943025830995154, 0.1358557824293823]
+CHRYSLER PACIFICA HYBRID 2019: [1.4624643614072217, 1.1958788168371808, 0.15748488008472716]
+GENESIS G70 2018: [3.8520195946707947, 2.354697063349854, 0.06830285485626221]
+GMC ACADIA DENALI 2018: [1.3181430320331884, 1.1853735340610179, 0.3450592280031644]
+HONDA ACCORD 2018: [1.7135052593468778, 0.3461280068322071, 0.21579936052863807]
+HONDA ACCORD HYBRID 2018: [1.6651615004829625, 0.30322180951193245, 0.2083000440586149]
+HONDA CIVIC (BOSCH) 2019: [1.691708637466905, 0.40132900729454185, 0.25460295304024094]
+HONDA CIVIC 2016: [1.6528895627785531, 0.4018518740819229, 0.25458812851328544]
+HONDA CR-V 2016: [0.7667141440182675, 0.5927571534745969, 0.40909087636157127]
+HONDA CR-V 2017: [2.01323205142022, 0.2700612209345081, 0.2238412881331528]
+HONDA CR-V HYBRID 2019: [2.072034634644233, 0.7152085160516978, 0.20237105008376083]
+HONDA FIT 2018: [1.5719981427109775, 0.5712761407108976, 0.110773383324281]
+HONDA HRV 2019: [2.0661212805710205, 0.7521343418694775, 0.17760375789242094]
+HONDA INSIGHT 2019: [1.5201671214069354, 0.5660229120683284, 0.25808042580281876]
+HONDA ODYSSEY 2018: [1.8774809275211801, 0.8394431662987996, 0.2096978613792822]
+HONDA PASSPORT 2021: [1.5305538930036766, 0.7956063674638759, 0.19599407381531284]
+HONDA PILOT 2017: [1.7262026201812795, 0.9470005614967523, 0.21351430733218763]
+HONDA RIDGELINE 2017: [1.4146525028237624, 0.7356572861629564, 0.23307177552211328]
+HYUNDAI GENESIS 2015-2016: [1.8466226943929824, 1.5552063647830634, 0.0984484465421171]
+HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276]
+HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778]
+HYUNDAI IONIQ PLUG-IN HYBRID 2019: [2.970807902012267, 1.6312321830002083, 0.1088964990357482]
+HYUNDAI KONA ELECTRIC 2019: [4.398306735170212, 3.2961956260770484, 0.08651833437845884]
+HYUNDAI PALISADE 2020: [2.544642494803999, 1.8721703683337008, 0.1301424599248651]
+HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.1207019341823945]
+HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963]
+HYUNDAI SANTA FE PlUG-IN HYBRID 2022: [1.6953050513611045, 1.5837614296206861, 0.12672855941458458]
+HYUNDAI SONATA 2019: [2.2200457811703953, 1.2967330275895228, 0.14039920986586393]
+HYUNDAI SONATA 2020: [3.284505627881726, 2.1259108157250735, 0.08452048323586728]
+HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488717382]
+JEEP GRAND CHEROKEE 2019: [1.7321233388827006, 1.289689569171081, 0.15046331002097185]
+JEEP GRAND CHEROKEE V6 2018: [1.8776598027756923, 1.4057367824262523, 0.11725947414922003]
+KIA K5 2021: [2.405339728085138, 1.460032270828705, 0.11650989850813716]
+KIA NIRO EV 2020: [2.9215954981365337, 2.1500583840260044, 0.09236802474810267]
+KIA SORENTO GT LINE 2018: [2.464854685101844, 1.5335274218367956, 0.12056170567599558]
+KIA STINGER GT2 2018: [2.7499043387418967, 1.849652021986449, 0.12048334239559202]
+LEXUS ES 2019: [2.0203086922726112, 2.134803912579666, 0.12757526789308554]
+LEXUS ES HYBRID 2019: [2.392442298703042, 1.863360677810788, 0.17690002108856212]
+LEXUS NX 2018: [2.302625600642627, 2.1382378491466625, 0.14986840878892838]
+LEXUS NX 2020: [2.4331999786982936, 2.1045680431705414, 0.14099899317761067]
+LEXUS NX HYBRID 2018: [2.4025593501080955, 1.8080446063815507, 0.15349361249519017]
+LEXUS RX 2016: [1.5876816543130423, 1.0427699298523752, 0.21334066732397142]
+LEXUS RX 2020: [1.5228812994274734, 1.431102486563665, 0.2093316728710659]
+LEXUS RX HYBRID 2017: [1.6984261557042386, 1.3211501880159107, 0.1820354534928893]
+LEXUS RX HYBRID 2020: [1.5522309889823778, 1.255230465866663, 0.2220954003055114]
+MAZDA CX-9 2021: [1.7601682915983443, 1.0889677335154337, 0.17713792194297195]
+SKODA SUPERB 3RD GEN: [1.166437404652981, 1.1686163012668165, 0.12194533036948708]
+SUBARU FORESTER 2019: [3.6617001649776793, 2.342197172531713, 0.11075960785398745]
+SUBARU IMPREZA LIMITED 2019: [1.0670704910352047, 0.8234374840709592, 0.20986563268614938]
+SUBARU IMPREZA SPORT 2020: [2.6068223389108303, 2.134872342760203, 0.15261513193561627]
+TOYOTA AVALON 2016: [2.5185770183845646, 1.7153346784214922, 0.10603968787111022]
+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, 0.13519250664782062]
+TOYOTA CAMRY 2021: [2.6922769557433055, 2.3476510120007434, 0.1450430192989234]
+TOYOTA CAMRY HYBRID 2018: [2.0974120828287774, 1.7996193116697359, 0.13823613467632756]
+TOYOTA CAMRY HYBRID 2021: [2.6426668350384457, 2.3901492458927986, 0.16103875108816076]
+TOYOTA COROLLA 2017: [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
+TOYOTA COROLLA HYBRID TSS2 2019: [2.3287672277252005, 1.8118712531729109, 0.2215868445753317]
+TOYOTA COROLLA TSS2 2019: [2.4204464833010175, 1.9258612322678952, 0.20670411068012526]
+TOYOTA HIGHLANDER 2017: [1.8696367437248915, 1.626293990451463, 0.17485372210240796]
+TOYOTA HIGHLANDER 2020: [2.022340166827233, 1.6183134804881791, 0.14592306380054457]
+TOYOTA HIGHLANDER HYBRID 2018: [1.9421825202382728, 1.6433903296845025, 0.16928956792275918]
+TOYOTA HIGHLANDER HYBRID 2020: [2.103373061114133, 2.104015182965606, 0.14447040132184993]
+TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
+TOYOTA PRIUS 2017: [2.0183401513314294, 1.5023147650693636, 0.20856908464957724]
+TOYOTA PRIUS TSS2 2021: [2.327639738920072, 1.9104337425537743, 0.2030762265549664]
+TOYOTA RAV4 2017: [2.085695074355425, 2.2142832316984733, 0.13339165270103975]
+TOYOTA RAV4 2019: [2.5038362866776835, 2.0993589721530252, 0.1552425356342368]
+TOYOTA RAV4 2019 8965: [2.5084506298290377, 2.4216520504763475, 0.11992835265067918]
+TOYOTA RAV4 2019 x02: [2.7209621987605024, 2.2148637653781593, 0.10862567142268198]
+TOYOTA RAV4 HYBRID 2017: [1.9796257271652042, 1.7503987331707576, 0.14628860048885406]
+TOYOTA RAV4 HYBRID 2019: [2.2271858492309153, 2.074844961405639, 0.14382216826893632]
+TOYOTA RAV4 HYBRID 2019 8965: [2.1077397198131336, 1.8162215166877735, 0.13891369391200137]
+TOYOTA RAV4 HYBRID 2019 x02: [2.803624333289342, 2.272367966572498, 0.11364569214387774]
+TOYOTA RAV4 HYBRID 2022: [2.241883248393209, 1.9304407208090029, 0.1565442715453653]
+TOYOTA RAV4 HYBRID 2022 x02: [3.044930631831037, 2.3979189796380918, 0.14023209146703736]
+TOYOTA SIENNA 2018: [1.8660896232147548, 1.3208264576110418, 0.18799149615227198]
+VOLKSWAGEN ARTEON 1ST GEN: [1.45136518053819, 1.3639364049316804, 0.23806361745695032]
+VOLKSWAGEN ATLAS 1ST GEN: [1.4677006726964945, 1.6733266634075656, 0.12959584092073367]
+VOLKSWAGEN GOLF 7TH GEN: [1.3750394140491293, 1.5814743077200641, 0.2018321939386586]
+VOLKSWAGEN JETTA 7TH GEN: [1.2271623034089392, 1.216955117387, 0.19437384688370712]
+VOLKSWAGEN PASSAT 8TH GEN: [1.3432120736752917, 1.7087275587362314, 0.19444383787326647]
+VOLKSWAGEN TIGUAN 2ND GEN: [0.9711965500094828, 1.0001565939459098, 0.1465626137072916]
+legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION]
diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml
new file mode 100644
index 0000000000..d368b2c672
--- /dev/null
+++ b/selfdrive/car/torque_data/substitute.yaml
@@ -0,0 +1,75 @@
+MAZDA 3: MAZDA CX-9 2021
+MAZDA 6: MAZDA CX-9 2021
+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 2018: TOYOTA C-HR 2018
+LEXUS IS 2018: LEXUS NX 2018
+LEXUS CT HYBRID 2018 : LEXUS NX 2018
+LEXUS ES HYBRID 2018: TOYOTA CAMRY HYBRID 2018
+LEXUS NX HYBRID 2020: LEXUS NX 2020
+LEXUS RC 2020: LEXUS NX 2020
+TOYOTA AVALON HYBRID 2019: TOYOTA AVALON 2019
+TOYOTA AVALON HYBRID 2022: TOYOTA AVALON 2022
+
+KIA OPTIMA SX 2019 & 2016: HYUNDAI SONATA 2020
+KIA OPTIMA HYBRID 2017 & SPORTS 2019: HYUNDAI SONATA 2020
+KIA FORTE E 2018 & GT 2021: HYUNDAI SONATA 2020
+KIA CEED INTRO ED 2019: HYUNDAI SONATA 2020
+KIA SELTOS 2021: HYUNDAI SONATA 2020
+KIA NIRO HYBRID 2019: KIA NIRO EV 2020
+KIA NIRO HYBRID 2021: KIA NIRO EV 2020
+HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019
+HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019
+HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019
+HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019
+HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019
+HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019
+HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019
+HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019
+HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020
+HYUNDAI ELANTRA 2021: HYUNDAI SONATA 2020
+HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019
+HYUNDAI SANTA FE 2022: HYUNDAI SANTA FE HYBRID 2022
+GENESIS G90 2017: GENESIS G70 2018
+GENESIS G80 2017: GENESIS G70 2018
+GENESIS G70 2020: HYUNDAI SONATA 2020
+
+HONDA FREED 2020: HONDA ODYSSEY 2018
+HONDA CR-V EU 2016: HONDA CR-V 2016
+HONDA CIVIC SEDAN 1.6 DIESEL 2019: HONDA CIVIC (BOSCH) 2019
+HONDA E 2020: HONDA CIVIC (BOSCH) 2019
+HONDA ODYSSEY CHN 2019: HONDA ODYSSEY 2018
+
+BUICK REGAL ESSENCE 2018: CHEVROLET VOLT PREMIER 2017
+CADILLAC ESCALADE ESV 2016: CHEVROLET VOLT PREMIER 2017
+CADILLAC ATS Premium Performance 2018: CHEVROLET VOLT PREMIER 2017
+CHEVROLET MALIBU PREMIER 2017: CHEVROLET VOLT PREMIER 2017
+HOLDEN ASTRA RS-V BK 2017: CHEVROLET VOLT PREMIER 2017
+
+SKODA OCTAVIA 3RD GEN: SKODA SUPERB 3RD GEN
+SKODA SCALA 1ST GEN: SKODA SUPERB 3RD GEN
+SKODA KODIAQ 1ST GEN: SKODA SUPERB 3RD GEN
+SKODA KAROQ 1ST GEN: SKODA SUPERB 3RD GEN
+SKODA KAMIQ 1ST GEN: SKODA SUPERB 3RD GEN
+VOLKSWAGEN T-ROC 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
+VOLKSWAGEN T-CROSS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
+VOLKSWAGEN TOURAN 2ND GEN: VOLKSWAGEN TIGUAN 2ND GEN
+VOLKSWAGEN TRANSPORTER T6.1: VOLKSWAGEN TIGUAN 2ND GEN
+AUDI Q2 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
+VOLKSWAGEN TAOS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
+VOLKSWAGEN POLO 6TH GEN: VOLKSWAGEN GOLF 7TH GEN
+SEAT LEON 3RD GEN: VOLKSWAGEN GOLF 7TH GEN
+SEAT ATECA 1ST GEN: VOLKSWAGEN GOLF 7TH GEN
+
+# Old subarus don't have much data guessing it's like low torque impreza
+SUBARU OUTBACK 2018 - 2019: SUBARU IMPREZA LIMITED 2019
+SUBARU OUTBACK 2015 - 2017: SUBARU IMPREZA LIMITED 2019
+SUBARU FORESTER 2017 - 2018: SUBARU IMPREZA LIMITED 2019
+SUBARU LEGACY 2015 - 2018: SUBARU IMPREZA LIMITED 2019
+SUBARU ASCENT LIMITED 2019: SUBARU FORESTER 2019
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index a1ce8c4980..337c039565 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -31,6 +31,8 @@ class CarInterface(CarInterfaceBase):
     ret.stoppingControl = False  # Toyota starts braking more when it thinks you want to stop
 
     stop_and_go = False
+    steering_angle_deadzone_deg = 0.0
+    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
 
     if candidate == CAR.PRIUS:
       stop_and_go = True
@@ -38,8 +40,11 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 15.74   # unknown end-to-end spec
       tire_stiffness_factor = 0.6371   # hand-tune
       ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.maxLateralAccel = 1.7
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.06)
+      # Only give steer angle deadzone to for bad angle sensor prius
+      for fw in car_fw:
+        if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00':
+          steering_angle_deadzone_deg = 1.0
+          CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
 
     elif candidate == CAR.PRIUS_V:
       stop_and_go = True
@@ -47,8 +52,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 17.4
       tire_stiffness_factor = 0.5533
       ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.maxLateralAccel = 1.8
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.06)
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
 
     elif candidate in (CAR.RAV4, CAR.RAV4H):
       stop_and_go = True if (candidate in CAR.RAV4H) else False
@@ -56,16 +60,12 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 16.88   # 14.5 is spec end-to-end
       tire_stiffness_factor = 0.5533
       ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      ret.maxLateralAccel = 1.8
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.06)
 
     elif candidate == CAR.COROLLA:
       ret.wheelbase = 2.70
       ret.steerRatio = 18.27
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      ret.maxLateralAccel = 2.8
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.024)
 
     elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2):
       stop_and_go = True
@@ -74,7 +74,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelSpeedFactor = 1.035
       tire_stiffness_factor = 0.5533
       ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
-      ret.maxLateralAccel = 1.4
       set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
 
     elif candidate in (CAR.CHR, CAR.CHRH):
@@ -83,7 +82,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 13.6
       tire_stiffness_factor = 0.7933
       ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.maxLateralAccel = 1.3
       set_lat_tune(ret.lateralTuning, LatTunes.PID_F)
 
     elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
@@ -92,11 +90,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 13.7
       tire_stiffness_factor = 0.7933
       ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      if candidate in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
-        ret.maxLateralAccel = 2.4
-        set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.05)
-      else:
-        ret.maxLateralAccel = 2.0
+      if candidate not in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
         set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
 
     elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
@@ -105,7 +99,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 16.0
       tire_stiffness_factor = 0.8
       ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG  # 4260 + 4-5 people
-      ret.maxLateralAccel = 2.0
       set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
 
     elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH):
@@ -114,7 +107,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 16.0
       tire_stiffness_factor = 0.8
       ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid limited
-      ret.maxLateralAccel = 1.8
       set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
 
     elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2):
@@ -125,7 +117,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.8  # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
       tire_stiffness_factor = 0.7983
       ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      ret.maxLateralAccel = 1.6
       set_lat_tune(ret.lateralTuning, LatTunes.PID_H)
 
     elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022):
@@ -134,7 +125,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.3
       tire_stiffness_factor = 0.7933
       ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG  # Average between ICE and Hybrid
-      ret.maxLateralAccel = 2.5
       set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
 
       # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
@@ -150,8 +140,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 13.9
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.maxLateralAccel = 2.0
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.07)
 
     elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH):
       stop_and_go = True
@@ -159,7 +147,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 16.0  # not optimized
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 3677. * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
-      ret.maxLateralAccel = 2.2
       set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
 
     elif candidate == CAR.SIENNA:
@@ -168,7 +155,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 15.5
       tire_stiffness_factor = 0.444
       ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.maxLateralAccel = 1.6
       set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
 
     elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_RC):
@@ -186,13 +172,12 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
       set_lat_tune(ret.lateralTuning, LatTunes.PID_M)
 
-    elif candidate in (CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2):
+    elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NXH, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2):
       stop_and_go = True
       ret.wheelbase = 2.66
       ret.steerRatio = 14.7
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
-      ret.maxLateralAccel = 2.0
       set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
 
     elif candidate == CAR.PRIUS_TSS2:
@@ -201,7 +186,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 13.4   # True steerRatio from older prius
       tire_stiffness_factor = 0.6371   # hand-tune
       ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.maxLateralAccel = 2.0
       set_lat_tune(ret.lateralTuning, LatTunes.PID_N)
 
     elif candidate == CAR.MIRAI:
@@ -210,7 +194,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.8
       tire_stiffness_factor = 0.8
       ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.maxLateralAccel = 2.4
       set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
 
     elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2):
@@ -221,7 +204,6 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG
       set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
 
-    ret.steerRateCost = 1.
     ret.centerToFront = ret.wheelbase * 0.44
 
     # TODO: get actual value, for now starting with reasonable value for
@@ -292,5 +274,4 @@ class CarInterface(CarInterfaceBase):
   # pass in a car.CarControl
   # to be called @ 100hz
   def apply(self, c):
-    ret = self.CC.update(c, self.CS)
-    return ret
+    return self.CC.update(c, self.CS)
diff --git a/selfdrive/car/toyota/tunes.py b/selfdrive/car/toyota/tunes.py
index e97ed6b056..a8b8758d89 100644
--- a/selfdrive/car/toyota/tunes.py
+++ b/selfdrive/car/toyota/tunes.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 from enum import Enum
-from selfdrive.controls.lib.latcontrol_torque import set_torque_tune
 
 class LongTunes(Enum):
   PEDAL = 0
@@ -24,7 +23,6 @@ class LatTunes(Enum):
   PID_L = 13
   PID_M = 14
   PID_N = 15
-  TORQUE = 16
 
 
 ###### LONG ######
@@ -50,10 +48,8 @@ def set_long_tune(tune, name):
 
 
 ###### LAT ######
-def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=0.01, use_steering_angle=True):
-  if name == LatTunes.TORQUE:
-    set_torque_tune(tune, MAX_LAT_ACCEL, FRICTION)
-  elif 'PID' in str(name):
+def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0, use_steering_angle=True):
+  if 'PID' in str(name):
     tune.init('pid')
     tune.pid.kiBP = [0.0]
     tune.pid.kpBP = [0.0]
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 3204d36b5a..43d923338e 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -77,6 +77,7 @@ class CAR:
   LEXUS_NX = "LEXUS NX 2018"
   LEXUS_NXH = "LEXUS NX HYBRID 2018"
   LEXUS_NX_TSS2 = "LEXUS NX 2020"
+  LEXUS_NXH_TSS2 = "LEXUS NX HYBRID 2020"
   LEXUS_RC = "LEXUS RC 2020"
   LEXUS_RX = "LEXUS RX 2016"
   LEXUS_RXH = "LEXUS RX HYBRID 2017"
@@ -92,9 +93,6 @@ class Footnote(Enum):
   CAMRY = CarFootnote(
     "28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.",
     Column.FSR_LONGITUDINAL)
-  ANGLE_SENSOR = CarFootnote(
-    "An inaccurate steering wheel angle sensor makes precise control difficult.",
-    Column.STEERING_TORQUE, star=Star.HALF)
 
 
 @dataclass
@@ -121,6 +119,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19", footnotes=[Footnote.DSU]),
   CAR.COROLLA_TSS2: [
     ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
+    ToyotaCarInfo("Toyota Corolla Cross 2020-21 (Non-US only)"),
     ToyotaCarInfo("Toyota Corolla Hatchback 2019-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
   ],
   CAR.COROLLAH_TSS2: [
@@ -132,10 +131,10 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19", footnotes=[Footnote.DSU]),
   CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-22"),
   CAR.PRIUS: [
-    ToyotaCarInfo("Toyota Prius 2016-20", "TSS-P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU, Footnote.ANGLE_SENSOR]),
-    ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU, Footnote.ANGLE_SENSOR]),
+    ToyotaCarInfo("Toyota Prius 2016-20", "TSS-P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
+    ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
   ],
-  CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "TSS-P", min_enable_speed=MIN_ACC_SPEED, footnotes=[Footnote.DSU, Footnote.ANGLE_SENSOR]),
+  CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "TSS-P", min_enable_speed=MIN_ACC_SPEED, footnotes=[Footnote.DSU]),
   CAR.PRIUS_TSS2: [
     ToyotaCarInfo("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
     ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
@@ -158,6 +157,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19", footnotes=[Footnote.DSU]),
   CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19", footnotes=[Footnote.DSU]),
   CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020"),
+  CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020"),
   CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2020"),
   CAR.LEXUS_RX: ToyotaCarInfo("Lexus RX 2016-18", footnotes=[Footnote.DSU]),
   CAR.LEXUS_RXH: ToyotaCarInfo("Lexus RX Hybrid 2016-19", footnotes=[Footnote.DSU]),
@@ -558,6 +558,7 @@ FW_VERSIONS = {
       b'\x033F401100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203102\x00\x00\x00\x00',
       b'\x033F401200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
       b'\x033F424000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
+      b'\x033F424000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'8821F0W01000    ',
@@ -1251,6 +1252,7 @@ FW_VERSIONS = {
       b'\x01F15260R220\x00\x00\x00\x00\x00\x00',
       b'\x01F15260R290\x00\x00\x00\x00\x00\x00',
       b'\x01F15260R300\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260R302\x00\x00\x00\x00\x00\x00',
       b'\x01F152642551\x00\x00\x00\x00\x00\x00',
       b'\x01F152642561\x00\x00\x00\x00\x00\x00',
       b'\x01F152642700\x00\x00\x00\x00\x00\x00',
@@ -1259,6 +1261,7 @@ FW_VERSIONS = {
       b'\x01F152642711\x00\x00\x00\x00\x00\x00',
       b'\x01F152642750\x00\x00\x00\x00\x00\x00',
       b'\x01F152642751\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260R292\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B42170\x00\x00\x00\x00\x00\x00',
@@ -1293,6 +1296,7 @@ FW_VERSIONS = {
       b'\x028965B0R01500\x00\x00\x00\x008965B0R02500\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x700, None): [
+      b'\x01896634AA0000\x00\x00\x00\x00',
       b'\x01896634AA1000\x00\x00\x00\x00',
       b'\x01896634A88000\x00\x00\x00\x00',
     ],
@@ -1583,6 +1587,23 @@ FW_VERSIONS = {
       b'\x028646F7803100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
     ],
   },
+  CAR.LEXUS_NXH_TSS2: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0237887000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.esp, 0x7b0, None): [
+      b'F152678210\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B78120\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301400\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F78030A0\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+    ],
+  },
   CAR.LEXUS_NXH: {
     (Ecu.engine, 0x7e0, None): [
       b'\x0237841000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -1825,7 +1846,10 @@ FW_VERSIONS = {
   },
   CAR.MIRAI: {
     (Ecu.esp, 0x7D1, None): [b'\x01898A36203000\x00\x00\x00\x00',],
-    (Ecu.esp, 0x7B0, None): [b'\x01F15266203200\x00\x00\x00\x00',], # a second ESP ECU
+    (Ecu.esp, 0x7B0, None): [  # a second ESP ECU
+      b'\x01F15266203200\x00\x00\x00\x00',
+      b'\x01F15266203500\x00\x00\x00\x00',
+    ],
     (Ecu.eps, 0x7A1, None): [b'\x028965B6204100\x00\x00\x00\x008965B6203100\x00\x00\x00\x00',],
     (Ecu.fwdRadar, 0x750, 0xf): [b'\x018821F6201200\x00\x00\x00\x00',],
     (Ecu.fwdCamera, 0x750, 0x6d): [b'\x028646F6201400\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',],
@@ -1910,6 +1934,7 @@ DBC = {
   CAR.LEXUS_NXH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   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.LEXUS_NXH_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'),
@@ -1922,7 +1947,7 @@ 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.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
             CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2,
-            CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2}
+            CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2}
 
 NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
 
@@ -1931,7 +1956,7 @@ RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022}
 
 EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.COROLLAH_TSS2, CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS,
                  CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH,
-                 CAR.LEXUS_RXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2}
+                 CAR.LEXUS_RXH_TSS2, CAR.LEXUS_NXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2}
 
 # 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}
diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py
index 2c5b623b06..7413c3f235 100755
--- a/selfdrive/car/vin.py
+++ b/selfdrive/car/vin.py
@@ -6,7 +6,7 @@ import cereal.messaging as messaging
 import panda.python.uds as uds
 from panda.python.uds import FUNCTIONAL_ADDRS
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 OBD_VIN_REQUEST = b'\x09\x02'
 OBD_VIN_RESPONSE = b'\x49\x02\x01'
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 6222be14bb..f5353b0930 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -1,15 +1,17 @@
 from cereal import car
+from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.volkswagen import volkswagencan, pqcan
 from selfdrive.car.volkswagen.values import PQ_CARS, DBC_FILES, CANBUS, MQB_LDW_MESSAGES, PQ_LDW_MESSAGES, BUTTON_STATES, CarControllerParams as P
-from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-class CarController():
+
+class CarController:
   def __init__(self, dbc_name, CP, VM):
-    self.apply_steer_last = 0
     self.CP = CP
+    self.apply_steer_last = 0
+    self.frame = 0
 
     if CP.carFingerprint in PQ_CARS:
       self.packer_pt = CANPacker(DBC_FILES.pq)
@@ -27,14 +29,15 @@ class CarController():
 
     self.steer_rate_limited = False
 
-  def update(self, c, CS, frame, ext_bus, actuators, visual_alert, left_lane_visible, right_lane_visible, left_lane_depart, right_lane_depart):
-    """ Controls thread """
+  def update(self, CC, CS, ext_bus):
+    actuators = CC.actuators
+    hud_control = CC.hudControl
 
     can_sends = []
 
     # **** Steering Controls ************************************************ #
 
-    if frame % P.HCA_STEP == 0:
+    if self.frame % P.HCA_STEP == 0:
       # Logic to avoid HCA state 4 "refused":
       #   * Don't steer unless HCA is in state 3 "ready" or 5 "active"
       #   * Don't steer at standstill
@@ -45,7 +48,7 @@ class CarController():
       # torque value. Do that anytime we happen to have 0 torque, or failing that,
       # when exceeding ~1/3 the 360 second timer.
 
-      if c.latActive:
+      if CC.latActive:
         new_steer = int(round(actuators.steer * P.STEER_MAX))
         apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P)
         self.steer_rate_limited = new_steer != apply_steer
@@ -71,7 +74,7 @@ class CarController():
         apply_steer = 0
 
       self.apply_steer_last = apply_steer
-      idx = (frame / P.HCA_STEP) % 16
+      idx = (self.frame / P.HCA_STEP) % 16
       if self.CP.carFingerprint in PQ_CARS:
         can_sends.append(pqcan.create_pq_steering_control(self.packer_pt, CANBUS.pt, apply_steer, idx, hcaEnabled))
       else:
@@ -79,33 +82,33 @@ class CarController():
 
     # **** HUD Controls ***************************************************** #
 
-    if frame % self.ldw_step == 0:
+    if self.frame % self.ldw_step == 0:
       hud_alert = 0
-      if visual_alert in (VisualAlert.steerRequired, VisualAlert.ldw):
+      if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw):
         hud_alert = PQ_LDW_MESSAGES["laneAssistTakeOver"] if self.CP.carFingerprint in PQ_CARS else MQB_LDW_MESSAGES["laneAssistTakeOver"]
 
       if self.CP.carFingerprint in PQ_CARS:
-        can_sends.append(pqcan.create_pq_hud_control(self.packer_pt, CANBUS.pt, c.enabled,
-                                                              CS.out.steeringPressed, hud_alert, left_lane_visible,
-                                                              right_lane_visible, CS.ldw_stock_values,
-                                                              left_lane_depart, right_lane_depart))
+        can_sends.append(pqcan.create_pq_hud_control(self.packer_pt, CANBUS.pt, CC.enabled,
+                                                              CS.out.steeringPressed, hud_alert, hud_control.leftLaneVisible,
+                                                              hud_control.rightLaneVisible, CS.ldw_stock_values,
+                                                              hud_control.leftLaneDepart, hud_control.rightLaneDepart))
       else:
-        can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, c.enabled,
-                                                              CS.out.steeringPressed, hud_alert, left_lane_visible,
-                                                              right_lane_visible, CS.ldw_stock_values,
-                                                              left_lane_depart, right_lane_depart))
+        can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, CC.enabled,
+                                                              CS.out.steeringPressed, hud_alert, hud_control.leftLaneVisible,
+                                                              hud_control.rightLaneVisible, CS.ldw_stock_values,
+                                                              hud_control.leftLaneDepart, hud_control.rightLaneDepart))
 
     # **** ACC Button Controls ********************************************** #
 
     # FIXME: this entire section is in desperate need of refactoring
 
     if self.CP.pcmCruise:
-      if frame > self.graMsgStartFramePrev + P.GRA_VBP_STEP:
-        if c.cruiseControl.cancel:
+      if self.frame > self.graMsgStartFramePrev + P.GRA_VBP_STEP:
+        if CC.cruiseControl.cancel:
           # Cancel ACC if it's engaged with OP disengaged.
           self.graButtonStatesToSend = BUTTON_STATES.copy()
           self.graButtonStatesToSend["cancel"] = True
-        elif c.enabled and CS.esp_hold_confirmation:
+        elif CC.enabled and CS.out.cruiseState.standstill:
           # Blip the Resume button if we're engaged at standstill.
           # FIXME: This is a naive implementation, improve with visiond or radar input.
           self.graButtonStatesToSend = BUTTON_STATES.copy()
@@ -115,7 +118,7 @@ class CarController():
         self.graMsgBusCounterPrev = CS.graMsgBusCounter
         if self.graButtonStatesToSend is not None:
           if self.graMsgSentCount == 0:
-            self.graMsgStartFramePrev = frame
+            self.graMsgStartFramePrev = self.frame
           idx = (CS.graMsgBusCounter + 1) % 16
           if self.CP.carFingerprint in PQ_CARS:
             can_sends.append(pqcan.create_pq_acc_buttons_control(self.packer_pt, ext_bus, self.graButtonStatesToSend, CS, idx))
@@ -129,4 +132,5 @@ class CarController():
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / P.STEER_MAX
 
+    self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index a046d3a74e..9e7d0af2a7 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -60,7 +60,6 @@ class CarState(CarStateBase):
     ret.brake = pt_cp.vl["ESP_05"]["ESP_Bremsdruck"] / 250.0  # FIXME: this is pressure in Bar, not sure what OP expects
     ret.brakePressed = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"])
     ret.parkingBrake = bool(pt_cp.vl["Kombi_01"]["KBI_Handbremse"])  # FIXME: need to include an EPB check as well
-    self.esp_hold_confirmation = pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"]
 
     # Update gear and/or clutch position data.
     if trans_type == TransmissionType.automatic:
@@ -115,6 +114,7 @@ class CarState(CarStateBase):
       # ACC okay but disabled (1), or a radar visibility or other fault/disruption (6 or 7)
       ret.cruiseState.available = False
       ret.cruiseState.enabled = False
+    ret.cruiseState.standstill = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"])
     ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7)
 
     # Update ACC setpoint. When the setpoint is zero or there's an error, the
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index b2356efc07..3b3493db59 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -61,7 +61,6 @@ class CarInterface(CarInterfaceBase):
     # Global lateral tuning defaults, can be overridden per-vehicle
 
     ret.steerActuatorDelay = 0.1
-    ret.steerRateCost = 1.0
     ret.steerLimitTimer = 0.4
     ret.steerRatio = 15.6  # Let the params learner figure this out
     tire_stiffness_factor = 1.0  # Let the params learner figure this out
@@ -80,17 +79,14 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.ATLAS_MK1:
       ret.mass = 2011 + STD_CARGO_KG
       ret.wheelbase = 2.98
-      ret.maxLateralAccel = 1.4
 
     elif candidate == CAR.GOLF_MK7:
       ret.mass = 1397 + STD_CARGO_KG
       ret.wheelbase = 2.62
-      ret.maxLateralAccel = 1.5
 
     elif candidate == CAR.JETTA_MK7:
       ret.mass = 1328 + STD_CARGO_KG
       ret.wheelbase = 2.71
-      ret.maxLateralAccel = 1.2
 
     elif candidate == CAR.PASSAT_MK8:
       ret.mass = 1551 + STD_CARGO_KG
@@ -116,7 +112,6 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.TIGUAN_MK2:
       ret.mass = 1715 + STD_CARGO_KG
       ret.wheelbase = 2.74
-      ret.maxLateralAccel = 1.1
 
     elif candidate == CAR.TOURAN_MK2:
       ret.mass = 1516 + STD_CARGO_KG
@@ -134,7 +129,6 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.AUDI_A3_MK3:
       ret.mass = 1335 + STD_CARGO_KG
       ret.wheelbase = 2.61
-      ret.maxLateralAccel = 1.7
 
     elif candidate == CAR.AUDI_Q2_MK1:
       ret.mass = 1205 + STD_CARGO_KG
@@ -143,7 +137,6 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.AUDI_Q3_MK2:
       ret.mass = 1623 + STD_CARGO_KG
       ret.wheelbase = 2.68
-      ret.maxLateralAccel = 1.6
 
     elif candidate == CAR.SEAT_ATECA_MK1:
       ret.mass = 1900 + STD_CARGO_KG
@@ -221,12 +214,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    hud_control = c.hudControl
-    ret = self.CC.update(c, self.CS, self.frame, self.ext_bus, c.actuators,
-                         hud_control.visualAlert,
-                         hud_control.leftLaneVisible,
-                         hud_control.rightLaneVisible,
-                         hud_control.leftLaneDepart,
-                         hud_control.rightLaneDepart)
-    self.frame += 1
-    return ret
+    return self.CC.update(c, self.CS, self.ext_bus)
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 5951d1460d..0f96acb536 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -128,7 +128,6 @@ class Footnote(Enum):
 @dataclass
 class VWCarInfo(CarInfo):
   package: str = "Driver Assistance"
-  good_torque: bool = True
   harness: Enum = Harness.vw
 
 
@@ -453,6 +452,7 @@ FW_VERSIONS = {
   },
   CAR.PASSAT_MK8: {
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8703N906026E \xf1\x892114',
       b'\xf1\x8704E906023AH\xf1\x893379',
       b'\xf1\x8704L906026ET\xf1\x891990',
       b'\xf1\x8704L906026GA\xf1\x892013',
@@ -465,17 +465,20 @@ FW_VERSIONS = {
       b'\xf1\x870D9300014L \xf1\x895002',
       b'\xf1\x870D9300041A \xf1\x894801',
       b'\xf1\x870DD300045T \xf1\x891601',
+      b'\xf1\x870DL300011H \xf1\x895201',
       b'\xf1\x870GC300042H \xf1\x891404',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111',
       b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r58160058140013036914110311',
+      b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012516612125111',
       b'\xf1\x873Q0959655BB\xf1\x890195\xf1\x82\r56140056130012026612120211',
       b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\0165915005914001344701311442900',
       b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e5915005914001305701311052900',
       b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02315120011111200631145171716121691132111',
     ],
     (Ecu.eps, 0x712, None): [
+      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00611A1',
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803',
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803',
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1',
@@ -566,6 +569,7 @@ FW_VERSIONS = {
   },
   CAR.TIGUAN_MK2: {
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704E906027NB\xf1\x899504',
       b'\xf1\x8704L906026EJ\xf1\x893661',
       b'\xf1\x8704L906027G \xf1\x899893',
       b'\xf1\x875N0906259  \xf1\x890002',
@@ -577,6 +581,7 @@ FW_VERSIONS = {
       b'\xf1\x8709G927158DT\xf1\x893698',
       b'\xf1\x8709G927158GC\xf1\x893821',
       b'\xf1\x8709G927158GD\xf1\x893820',
+      b'\xf1\x870D9300043  \xf1\x895202',
       b'\xf1\x870DL300011N \xf1\x892001',
       b'\xf1\x870DL300011N \xf1\x892012',
       b'\xf1\x870DL300013A \xf1\x893005',
@@ -588,11 +593,14 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02316143231313500314641011750179333423100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02312110031333300314240583752379333423100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02331310031333336313140013950399333423100',
+      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140013750379333423100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140573752379333423100',
       b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1316143231313500314647021750179333613100',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603',
+      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600',
       b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\00571A60634A1',
       b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60604A1',
       b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A60604A1',
diff --git a/selfdrive/common/tests/.gitignore b/selfdrive/common/tests/.gitignore
deleted file mode 100644
index 1350b3b825..0000000000
--- a/selfdrive/common/tests/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-test_util
-test_swaglog
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index edb1538c31..3ee47c620b 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -11,7 +11,7 @@ from common.params import Params, put_nonblocking
 import cereal.messaging as messaging
 from common.conversions import Conversions as CV
 from panda import ALTERNATIVE_EXPERIENCE
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
 from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET
@@ -27,7 +27,7 @@ from selfdrive.controls.lib.events import Events, ET
 from selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.locationd.calibrationd import Calibration
-from selfdrive.hardware import HARDWARE
+from system.hardware import HARDWARE
 from selfdrive.manager.process_config import managed_processes
 
 SOFT_DISABLE_TIME = 3  # seconds
@@ -38,7 +38,7 @@ REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 NOSENSOR = "NOSENSOR" in os.environ
 IGNORE_PROCESSES = {"uploader", "deleter", "loggerd", "logmessaged", "tombstoned", "statsd",
-                    "logcatd", "proclogd", "clocksd", "updated", "timezoned", "manage_athenad"} | \
+                    "logcatd", "proclogd", "clocksd", "updated", "timezoned", "manage_athenad", "laikad"} | \
                    {k for k, v in managed_processes.items() if not v.enabled}
 
 ThermalStatus = log.DeviceState.ThermalStatus
@@ -104,6 +104,9 @@ class Controls:
     if not self.disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
+    if self.CP.dashcamOnly and params.get_bool("DashcamOverride"):
+      self.CP.dashcamOnly = False
+
     # read params
     self.is_metric = params.get_bool("IsMetric")
     self.is_ldw_enabled = params.get_bool("IsLdwEnabled")
@@ -314,7 +317,7 @@ class Controls:
         self.events.add(EventName.commIssue)
       elif not self.sm.all_freq_ok():
         self.events.add(EventName.commIssueAvgFreq)
-      else: # invalid or can_rcv_error.
+      else:  # invalid or can_rcv_error.
         self.events.add(EventName.commIssue)
 
       logs = {
@@ -595,7 +598,14 @@ class Controls:
         lac_log.saturated = abs(actuators.steer) >= 0.9
 
     # Send a "steering required alert" if saturation count has reached the limit
-    if lac_log.active and lac_log.saturated and not CS.steeringPressed:
+    if lac_log.active and not CS.steeringPressed and self.CP.lateralTuning.which() == 'torque':
+      undershooting = abs(lac_log.desiredLateralAccel) / abs(1e-3 + lac_log.actualLateralAccel) > 1.2
+      turning = abs(lac_log.desiredLateralAccel) > 1.0
+      good_speed = CS.vEgo > 5
+      max_torque = abs(self.last_actuators.steer) > 0.99
+      if undershooting and turning and good_speed and max_torque:
+        self.events.add(EventName.steerSaturated)
+    elif lac_log.active and lac_log.saturated and not CS.steeringPressed:
       dpath_points = lat_plan.dPathPoints
       if len(dpath_points):
         # Check if we deviated from the path
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 4afa8d89ed..d79f94bbfd 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -38,6 +38,16 @@ class MPC_COST_LAT:
   STEER_RATE = 1.0
 
 
+def apply_deadzone(error, deadzone):
+  if error > deadzone:
+    error -= deadzone
+  elif error < - deadzone:
+    error += deadzone
+  else:
+    error = 0.
+  return error
+
+
 def rate_limit(new_value, last_value, dw_step, up_step):
   return clip(new_value, last_value + dw_step, last_value + up_step)
 
@@ -97,26 +107,27 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
     psis = [0.0]*CONTROL_N
     curvatures = [0.0]*CONTROL_N
     curvature_rates = [0.0]*CONTROL_N
+  v_ego = max(v_ego, 0.1)
 
   # TODO this needs more thought, use .2s extra for now to estimate other delays
   delay = CP.steerActuatorDelay + .2
-  current_curvature = curvatures[0]
-  psi = interp(delay, T_IDXS[:CONTROL_N], psis)
-  desired_curvature_rate = curvature_rates[0]
 
   # MPC can plan to turn the wheel and turn back before t_delay. This means
   # in high delay cases some corrections never even get commanded. So just use
   # psi to calculate a simple linearization of desired curvature
-  curvature_diff_from_psi = psi / (max(v_ego, 1e-1) * delay) - current_curvature
-  desired_curvature = current_curvature + 2 * curvature_diff_from_psi
+  current_curvature_desired = curvatures[0]
+  psi = interp(delay, T_IDXS[:CONTROL_N], psis)
+  average_curvature_desired = psi / (v_ego * delay)
+  desired_curvature = 2 * average_curvature_desired - current_curvature_desired
 
-  v_ego = max(v_ego, 0.1)
-  max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2)
+  # This is the "desired rate of the setpoint" not an actual desired rate
+  desired_curvature_rate = curvature_rates[0]
+  max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
   safe_desired_curvature_rate = clip(desired_curvature_rate,
                                           -max_curvature_rate,
                                           max_curvature_rate)
   safe_desired_curvature = clip(desired_curvature,
-                                     current_curvature - max_curvature_rate * DT_MDL,
-                                     current_curvature + max_curvature_rate * DT_MDL)
+                                     current_curvature_desired - max_curvature_rate * DT_MDL,
+                                     current_curvature_desired + max_curvature_rate * DT_MDL)
 
   return safe_desired_curvature, safe_desired_curvature_rate
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 7ca05cc744..cc63d4995d 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -8,7 +8,7 @@ import cereal.messaging as messaging
 from common.conversions import Conversions as CV
 from common.realtime import DT_CTRL
 from selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
-from selfdrive.version import get_short_branch
+from system.version import get_short_branch
 
 AlertSize = log.ControlsState.AlertSize
 AlertStatus = log.ControlsState.AlertStatus
diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py
index 9bbad59084..1facb66d63 100644
--- a/selfdrive/controls/lib/lane_planner.py
+++ b/selfdrive/controls/lib/lane_planner.py
@@ -3,7 +3,7 @@ from cereal import log
 from common.filter_simple import FirstOrderFilter
 from common.numpy_fast import interp
 from common.realtime import DT_MDL
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 
 TRAJECTORY_SIZE = 33
diff --git a/selfdrive/controls/lib/latcontrol_indi.py b/selfdrive/controls/lib/latcontrol_indi.py
index b5041eb172..79c881d11b 100644
--- a/selfdrive/controls/lib/latcontrol_indi.py
+++ b/selfdrive/controls/lib/latcontrol_indi.py
@@ -78,6 +78,7 @@ class LatControlINDI(LatControl):
     steers_des += math.radians(params.angleOffsetDeg)
     indi_log.steeringAngleDesiredDeg = math.degrees(steers_des)
 
+    # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
     rate_des = VM.get_steer_from_curvature(-desired_curvature_rate, CS.vEgo, 0)
     indi_log.steeringRateDesiredDeg = math.degrees(rate_des)
 
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 8b41dbf402..46caa41a90 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -4,6 +4,7 @@ from cereal import log
 from common.numpy_fast import interp
 from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
 from selfdrive.controls.lib.pid import PIDController
+from selfdrive.controls.lib.drive_helpers import apply_deadzone
 from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 
 # At higher speeds (25+mph) we can assume:
@@ -18,17 +19,7 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 # move it at all, this is compensated for too.
 
 
-LOW_SPEED_FACTOR = 200
-JERK_THRESHOLD = 0.2
-
-
-def set_torque_tune(tune, MAX_LAT_ACCEL=2.5, FRICTION=0.01):
-  tune.init('torque')
-  tune.torque.useSteeringAngle = True
-  tune.torque.kp = 1.0 / MAX_LAT_ACCEL
-  tune.torque.kf = 1.0 / MAX_LAT_ACCEL
-  tune.torque.ki = 0.1 / MAX_LAT_ACCEL
-  tune.torque.friction = FRICTION
+FRICTION_THRESHOLD = 0.2
 
 
 class LatControlTorque(LatControl):
@@ -40,10 +31,7 @@ class LatControlTorque(LatControl):
     self.use_steering_angle = CP.lateralTuning.torque.useSteeringAngle
     self.friction = CP.lateralTuning.torque.friction
     self.kf = CP.lateralTuning.torque.kf
-
-  def reset(self):
-    super().reset()
-    self.pid.reset()
+    self.steering_angle_deadzone_deg = CP.lateralTuning.torque.steeringAngleDeadzoneDeg
 
   def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
@@ -54,22 +42,29 @@ class LatControlTorque(LatControl):
     else:
       if self.use_steering_angle:
         actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
+        curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
       else:
         actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
         actual_curvature_llk = llk.angularVelocityCalibrated.value[2] / CS.vEgo
         actual_curvature = interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_llk])
+        curvature_deadzone = 0.0
       desired_lateral_accel = desired_curvature * CS.vEgo ** 2
-      desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2
+
+      # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
+      #desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2
       actual_lateral_accel = actual_curvature * CS.vEgo ** 2
+      lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
+
 
-      setpoint = desired_lateral_accel + LOW_SPEED_FACTOR * desired_curvature
-      measurement = actual_lateral_accel + LOW_SPEED_FACTOR * actual_curvature
+      low_speed_factor = interp(CS.vEgo, [0, 10, 20], [500, 500, 200])
+      setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
+      measurement = actual_lateral_accel + low_speed_factor * actual_curvature
       error = setpoint - measurement
       pid_log.error = error
 
       ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY
       # convert friction into lateral accel units for feedforward
-      friction_compensation = interp(desired_lateral_jerk, [-JERK_THRESHOLD, JERK_THRESHOLD], [-self.friction, self.friction])
+      friction_compensation = interp(apply_deadzone(error, lateral_accel_deadzone), [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-self.friction, self.friction])
       ff += friction_compensation / self.kf
       freeze_integrator = CS.steeringRateLimited or CS.steeringPressed or CS.vEgo < 5
       output_torque = self.pid.update(error,
diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
index 6349f05cc2..019a19fb1d 100644
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@@ -1,7 +1,7 @@
 import numpy as np
 from common.realtime import sec_since_boot, DT_MDL
 from common.numpy_fast import interp
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
 from selfdrive.controls.lib.drive_helpers import CONTROL_N, MPC_COST_LAT, LAT_MPC_N, CAR_ROTATION_RADIUS
 from selfdrive.controls.lib.lane_planner import LanePlanner, TRAJECTORY_SIZE
@@ -11,13 +11,12 @@ from cereal import log
 
 
 class LateralPlanner:
-  def __init__(self, CP, use_lanelines=True, wide_camera=False):
+  def __init__(self, use_lanelines=True, wide_camera=False):
     self.use_lanelines = use_lanelines
     self.LP = LanePlanner(wide_camera)
     self.DH = DesireHelper()
 
     self.last_cloudlog_t = 0
-    self.steer_rate_cost = CP.steerRateCost
     self.solution_invalid_cnt = 0
 
     self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3))
@@ -59,12 +58,12 @@ class LateralPlanner:
     # Calculate final driving path and set MPC costs
     if self.use_lanelines:
       d_path_xyz = self.LP.get_d_path(v_ego, self.t_idxs, self.path_xyz)
-      self.lat_mpc.set_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.HEADING, self.steer_rate_cost)
+      self.lat_mpc.set_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.HEADING, MPC_COST_LAT.STEER_RATE)
     else:
       d_path_xyz = self.path_xyz
       # Heading cost is useful at low speed, otherwise end of plan can be off-heading
       heading_cost = interp(v_ego, [5.0, 10.0], [MPC_COST_LAT.HEADING, 0.15])
-      self.lat_mpc.set_weights(MPC_COST_LAT.PATH, heading_cost, self.steer_rate_cost)
+      self.lat_mpc.set_weights(MPC_COST_LAT.PATH, heading_cost, MPC_COST_LAT.STEER_RATE)
 
     y_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:, 1])
     heading_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw)
@@ -79,6 +78,9 @@ class LateralPlanner:
                      y_pts,
                      heading_pts)
     # init state for next
+    # mpc.u_sol is the desired curvature rate given x0 curv state.
+    # with x0[3] = measured_curvature, this would be the actual desired rate.
+    # instead, interpolate x_sol so that x0[3] is the desired curvature for lat_control.
     self.x0[3] = interp(DT_MDL, self.t_idxs[:LAT_MPC_N + 1], self.lat_mpc.x_sol[:, 3])
 
     #  Check for infeasible MPC solution
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index f2cd282198..e9458607d5 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -1,7 +1,7 @@
 from cereal import car
 from common.numpy_fast import clip, interp
 from common.realtime import DT_CTRL
-from selfdrive.controls.lib.drive_helpers import CONTROL_N
+from selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone
 from selfdrive.controls.lib.pid import PIDController
 from selfdrive.modeld.constants import T_IDXS
 
@@ -12,16 +12,6 @@ ACCEL_MIN_ISO = -3.5  # m/s^2
 ACCEL_MAX_ISO = 2.0  # m/s^2
 
 
-def apply_deadzone(error, deadzone):
-  if error > deadzone:
-    error -= deadzone
-  elif error < - deadzone:
-    error += deadzone
-  else:
-    error = 0.
-  return error
-
-
 def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
                              v_target_future, brake_pressed, cruise_standstill):
   """Update longitudinal control state machine"""
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index b99ee9e9ac..94efd7a875 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -4,7 +4,7 @@ import numpy as np
 
 from common.realtime import sec_since_boot
 from common.numpy_fast import clip, interp
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.modeld.constants import index_function
 from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU
 
@@ -251,7 +251,7 @@ class LongitudinalMpc:
       self.solver.cost_set(i, 'Zl', Zl)
 
   def set_weights_for_xva_policy(self):
-    W = np.asfortranarray(np.diag([0., 10., 1., 10., 0.0, 1.]))
+    W = np.asfortranarray(np.diag([0., 0.2, 0.25, 1., 0.0, .1]))
     for i in range(N):
       self.solver.cost_set(i, 'W', W)
     # Setting the slice without the copy make the array not contiguous,
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 0d21c519a3..d4a6aaef8f 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -12,7 +12,7 @@ from selfdrive.controls.lib.longcontrol import LongCtrlState
 from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
 from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
 from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 LON_MPC_STEP = 0.2  # first step is 0.2s
 AWARENESS_DECEL = -0.2  # car smoothly decel at .2m/s^2 when user is distracted
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 083aeb79cc..9356a55d84 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -2,7 +2,7 @@
 from cereal import car
 from common.params import Params
 from common.realtime import Priority, config_realtime_process
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.controls.lib.longitudinal_planner import Planner
 from selfdrive.controls.lib.lateral_planner import LateralPlanner
 import cereal.messaging as messaging
@@ -22,7 +22,7 @@ def plannerd_thread(sm=None, pm=None):
   cloudlog.event("e2e mode", on=use_lanelines)
 
   longitudinal_planner = Planner(CP)
-  lateral_planner = LateralPlanner(CP, use_lanelines=use_lanelines, wide_camera=wide_camera)
+  lateral_planner = LateralPlanner(use_lanelines=use_lanelines, wide_camera=wide_camera)
 
   if sm is None:
     sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'modelV2'],
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 0e514193dc..b2c9914457 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -10,7 +10,7 @@ from common.params import Params
 from common.realtime import Ratekeeper, Priority, config_realtime_process
 from selfdrive.controls.lib.cluster.fastcluster_py import cluster_points_centroid
 from selfdrive.controls.lib.radar_helpers import Cluster, Track, RADAR_TO_CAMERA
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 
 class KalmanParams():
diff --git a/selfdrive/controls/tests/test_alerts.py b/selfdrive/controls/tests/test_alerts.py
index 2bd904b575..79c56d6bc0 100755
--- a/selfdrive/controls/tests/test_alerts.py
+++ b/selfdrive/controls/tests/test_alerts.py
@@ -48,20 +48,17 @@ class TestAlerts(unittest.TestCase):
   # ensure alert text doesn't exceed allowed width
   def test_alert_text_length(self):
     font_path = os.path.join(BASEDIR, "selfdrive/assets/fonts")
-    regular_font_path = os.path.join(font_path, "opensans_semibold.ttf")
-    bold_font_path = os.path.join(font_path, "opensans_semibold.ttf")
-    semibold_font_path = os.path.join(font_path, "opensans_semibold.ttf")
-
-    max_text_width = 1920 - 300  # full screen width is useable, minus sidebar
-    # TODO: get exact scale factor. found this empirically, works well enough
-    font_scale_factor = 1.55  # factor to scale from nanovg units to PIL
+    regular_font_path = os.path.join(font_path, "Inter-SemiBold.ttf")
+    bold_font_path = os.path.join(font_path, "Inter-Bold.ttf")
+    semibold_font_path = os.path.join(font_path, "Inter-SemiBold.ttf")
 
+    max_text_width = 2160 - 300  # full screen width is useable, minus sidebar
     draw = ImageDraw.Draw(Image.new('RGB', (0, 0)))
 
     fonts = {
-      AlertSize.small: [ImageFont.truetype(semibold_font_path, int(40 * font_scale_factor))],
-      AlertSize.mid: [ImageFont.truetype(bold_font_path, int(48 * font_scale_factor)),
-                      ImageFont.truetype(regular_font_path, int(36 * font_scale_factor))],
+      AlertSize.small: [ImageFont.truetype(semibold_font_path, 74)],
+      AlertSize.mid: [ImageFont.truetype(bold_font_path, 88),
+                      ImageFont.truetype(regular_font_path, 66)],
     }
 
     for alert in ALERTS:
diff --git a/selfdrive/debug/check_freq.py b/selfdrive/debug/check_freq.py
index 424ad67b6d..b6f3c91bd0 100755
--- a/selfdrive/debug/check_freq.py
+++ b/selfdrive/debug/check_freq.py
@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
-# type: ignore
-
 import argparse
 import numpy as np
 from collections import defaultdict, deque
+from typing import DefaultDict, Deque
+
 from common.realtime import sec_since_boot
 import cereal.messaging as messaging
 
@@ -19,8 +19,8 @@ if __name__ == "__main__":
   socket_names = args.socket
   sockets = {}
 
-  rcv_times = defaultdict(lambda: deque(maxlen=100))
-  valids = defaultdict(lambda: deque(maxlen=100))
+  rcv_times: DefaultDict[str, Deque[float]] = defaultdict(lambda: deque(maxlen=100))
+  valids: DefaultDict[str, Deque[bool]] = defaultdict(lambda: deque(maxlen=100))
 
   t = sec_since_boot()
   for name in socket_names:
@@ -31,6 +31,9 @@ if __name__ == "__main__":
   while True:
     for socket in poller.poll(100):
       msg = messaging.recv_one(socket)
+      if msg is None:
+        continue
+
       name = msg.which()
 
       t = sec_since_boot()
diff --git a/selfdrive/debug/check_lag.py b/selfdrive/debug/check_lag.py
index c922642982..141156db91 100755
--- a/selfdrive/debug/check_lag.py
+++ b/selfdrive/debug/check_lag.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-# type: ignore
+from typing import Dict
 
 import cereal.messaging as messaging
 from cereal.services import service_list
@@ -10,7 +10,7 @@ TO_CHECK = ['carState']
 if __name__ == "__main__":
   sm = messaging.SubMaster(TO_CHECK)
 
-  prev_t = {}
+  prev_t: Dict[str, float] = {}
 
   while True:
     sm.update()
diff --git a/selfdrive/debug/check_timings.py b/selfdrive/debug/check_timings.py
index 03e39fd70d..69304f97b5 100755
--- a/selfdrive/debug/check_timings.py
+++ b/selfdrive/debug/check_timings.py
@@ -1,14 +1,15 @@
 #!/usr/bin/env python3
-# type: ignore
+
 import sys
 import time
 import numpy as np
+from typing import DefaultDict, Deque
 from collections import defaultdict, deque
 
 import cereal.messaging as messaging
 
 socks = {s: messaging.sub_sock(s, conflate=False) for s in sys.argv[1:]}
-ts = defaultdict(lambda: deque(maxlen=100))
+ts: DefaultDict[str, Deque[float]] = defaultdict(lambda: deque(maxlen=100))
 
 if __name__ == "__main__":
   while True:
diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py
index 8b32ce9d21..93dd5bdc47 100755
--- a/selfdrive/debug/count_events.py
+++ b/selfdrive/debug/count_events.py
@@ -1,9 +1,13 @@
 #!/usr/bin/env python3
 import sys
+import math
+import datetime
 from collections import Counter
 from pprint import pprint
 from tqdm import tqdm
+from typing import cast
 
+from cereal.services import service_list
 from tools.lib.route import Route
 from tools.lib.logreader import LogReader
 
@@ -13,6 +17,11 @@ if __name__ == "__main__":
   cnt_valid: Counter = Counter()
   cnt_events: Counter = Counter()
 
+  cams = [s for s in service_list if s.endswith('CameraState')]
+  cnt_cameras = dict.fromkeys(cams, 0)
+
+  start_time = math.inf
+  end_time = -math.inf
   for q in tqdm(r.qlog_paths()):
     if q is None:
       continue
@@ -21,12 +30,30 @@ if __name__ == "__main__":
       if msg.which() == 'carEvents':
         for e in msg.carEvents:
           cnt_events[e.name] += 1
+      elif msg.which() in cams:
+        cnt_cameras[msg.which()] += 1
+
       if not msg.valid:
         cnt_valid[msg.which()] += 1
 
+      end_time = max(end_time, msg.logMonoTime)
+      start_time = min(start_time, msg.logMonoTime)
+
+  duration = (end_time - start_time) / 1e9
+
   print("Events")
   pprint(cnt_events)
 
-  print("\n\n")
+  print("\n")
   print("Not valid")
   pprint(cnt_valid)
+
+  print("\n")
+  print("Cameras")
+  for k, v in cnt_cameras.items():
+    s = service_list[k]
+    expected_frames = int(s.frequency * duration / cast(float, s.decimation))
+    print("  ", k.ljust(20), f"{v}, {v/expected_frames:.1%} of expected")
+
+  print("\n")
+  print("Route duration", datetime.timedelta(seconds=duration))
diff --git a/selfdrive/debug/disable_ecu.py b/selfdrive/debug/disable_ecu.py
index f0faf40017..af007207eb 100644
--- a/selfdrive/debug/disable_ecu.py
+++ b/selfdrive/debug/disable_ecu.py
@@ -3,7 +3,7 @@ import traceback
 
 import cereal.messaging as messaging
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 EXT_DIAG_REQUEST = b'\x10\x03'
 EXT_DIAG_RESPONSE = b'\x50\x03'
diff --git a/selfdrive/debug/live_cpu_and_temp.py b/selfdrive/debug/live_cpu_and_temp.py
index baeebb1c4c..c35afc474b 100755
--- a/selfdrive/debug/live_cpu_and_temp.py
+++ b/selfdrive/debug/live_cpu_and_temp.py
@@ -1,10 +1,11 @@
 #!/usr/bin/env python3
 import argparse
 import capnp
+from collections import defaultdict
 
 from cereal.messaging import SubMaster
 from common.numpy_fast import mean
-from typing import Optional
+from typing import Optional, Dict
 
 def cputime_total(ct):
   return ct.user + ct.nice + ct.system + ct.idle + ct.iowait + ct.irq + ct.softirq
@@ -75,7 +76,7 @@ if __name__ == "__main__":
       print(f"CPU {100.0 * mean(cores):.2f}% - RAM: {last_mem:.2f}% - Temp {last_temp:.2f}C")
 
       if args.cpu and prev_proclog is not None and prev_proclog_t is not None:
-        procs = {}
+        procs: Dict[str, float] = defaultdict(float)
         dt = (sm.logMonoTime['procLog'] - prev_proclog_t) / 1e9
         for proc in m.procs:
           try:
@@ -83,12 +84,12 @@ if __name__ == "__main__":
             prev_proc = [p for p in prev_proclog.procs if proc.pid == p.pid][0]
             cpu_time = proc_cputime_total(proc) - proc_cputime_total(prev_proc)
             cpu_usage = cpu_time / dt * 100.
-            procs[name] = cpu_usage
+            procs[name] += cpu_usage
           except IndexError:
             pass
 
         print("Top CPU usage:")
-        for k, v in sorted(procs.items(), key=lambda item: item[1], reverse=True)[:10]:  # type: ignore
+        for k, v in sorted(procs.items(), key=lambda item: item[1], reverse=True)[:10]:
           print(f"{k.rjust(70)}   {v:.2f} %")
         print()
 
diff --git a/selfdrive/hardware b/selfdrive/hardware
new file mode 120000
index 0000000000..02a42c502f
--- /dev/null
+++ b/selfdrive/hardware
@@ -0,0 +1 @@
+../system/hardware/
\ No newline at end of file
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index d7bf36fb26..81bcc6ce1c 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -12,7 +12,7 @@ import capnp
 import numpy as np
 from typing import List, NoReturn, Optional
 
-from cereal import car, log
+from cereal import log
 import cereal.messaging as messaging
 from common.conversions import Conversions as CV
 from common.params import Params, put_nonblocking
@@ -20,7 +20,7 @@ from common.realtime import set_realtime_priority
 from common.transformations.model import model_height
 from common.transformations.camera import get_view_frame_from_road_frame
 from common.transformations.orientation import rot_from_euler, euler_from_rot
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 MIN_SPEED_FILTER = 15 * CV.MPH_TO_MS
 MAX_VEL_ANGLE_STD = np.radians(0.25)
@@ -62,7 +62,7 @@ class Calibrator:
   def __init__(self, param_put: bool = False):
     self.param_put = param_put
 
-    self.CP = car.CarParams.from_bytes(Params().get("CarParams", block=True))
+    self.not_car = False
 
     # Read saved calibration
     params = Params()
@@ -192,7 +192,7 @@ class Calibrator:
     liveCalibration.rpyCalib = smooth_rpy.tolist()
     liveCalibration.rpyCalibSpread = self.calib_spread.tolist()
 
-    if self.CP.notCar:
+    if self.not_car:
       extrinsic_matrix = get_view_frame_from_road_frame(0, 0, 0, model_height)
       liveCalibration.validBlocks = INPUTS_NEEDED
       liveCalibration.calStatus = Calibration.CALIBRATED
@@ -212,7 +212,7 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m
   set_realtime_priority(1)
 
   if sm is None:
-    sm = messaging.SubMaster(['cameraOdometry', 'carState'], poll=['cameraOdometry'])
+    sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll=['cameraOdometry'])
 
   if pm is None:
     pm = messaging.PubMaster(['liveCalibration'])
@@ -223,6 +223,8 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m
     timeout = 0 if sm.frame == -1 else 100
     sm.update(timeout)
 
+    calibrator.not_car = sm['carParams'].notCar
+
     if sm.updated['cameraOdometry']:
       calibrator.handle_v_ego(sm['carState'].vEgo)
       new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans,
diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index eee07e7805..0df48dd893 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -1,127 +1,206 @@
 #!/usr/bin/env python3
-import threading
+import json
+import math
+import os
 import time
-from typing import List
-
-import numpy as np
 from collections import defaultdict
+from concurrent.futures import Future, ProcessPoolExecutor
+from enum import IntEnum
+from typing import List, Optional
 
-from numpy.linalg import linalg
+import numpy as np
 
 from cereal import log, messaging
+from common.params import Params, put_nonblocking
 from laika import AstroDog
-from laika.constants import SECS_IN_HR, SECS_IN_MIN
-from laika.ephemeris import EphemerisType, convert_ublox_ephem
+from laika.constants import SECS_IN_MIN
+from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_ephem
 from laika.gps_time import GPSTime
 from laika.helpers import ConstellationId
-from laika.raw_gnss import GNSSMeasurement, calc_pos_fix, correct_measurements, process_measurements, read_raw_ublox
+from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox
+from selfdrive.locationd.laikad_helpers import calc_pos_fix_gauss_newton, get_posfix_sympy_fun
 from selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind
 from selfdrive.locationd.models.gnss_kf import GNSSKalman
 from selfdrive.locationd.models.gnss_kf import States as GStates
-import common.transformations.coordinates as coord
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 MAX_TIME_GAP = 10
+EPHEMERIS_CACHE = 'LaikadEphemeris'
+CACHE_VERSION = 0.1
 
 
 class Laikad:
-
-  def __init__(self, valid_const=("GPS",), auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV)):
-    self.astro_dog = AstroDog(valid_const=valid_const, use_internet=auto_update, valid_ephem_types=valid_ephem_types)
-    self.gnss_kf = GNSSKalman(GENERATED_DIR)
-    self.latest_epoch_fetched = GPSTime(0, 0)
-    self.latest_time_msg = None
-
-  def process_ublox_msg(self, ublox_msg, ublox_mono_time: int):
+  def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_orbits=True, auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV),
+               save_ephemeris=False):
+    """
+    valid_const: GNSS constellation which can be used
+    auto_fetch_orbits: If true fetch orbits 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)
+    self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True)
+
+    self.auto_fetch_orbits = auto_fetch_orbits
+    self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None
+    self.orbit_fetch_future: Optional[Future] = None
+
+    self.last_fetch_orbits_t = None
+    self.last_cached_t = None
+    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.last_pos_fix = []
+    self.last_pos_residual = []
+    self.last_pos_fix_t = None
+
+  def load_cache(self):
+    if not self.save_ephemeris:
+      return
+
+    cache = Params().get(EPHEMERIS_CACHE)
+    if not cache:
+      return
+
+    try:
+      cache = json.loads(cache, object_hook=deserialize_hook)
+      self.astro_dog.add_orbits(cache['orbits'])
+      self.astro_dog.add_navs(cache['nav'])
+      self.last_fetch_orbits_t = cache['last_fetch_orbits_t']
+    except json.decoder.JSONDecodeError:
+      cloudlog.exception("Error parsing cache")
+    timestamp = self.last_fetch_orbits_t.as_datetime() if self.last_fetch_orbits_t is not None else 'Nan'
+    cloudlog.debug(f"Loaded nav and orbits cache with timestamp: {timestamp}. Unique orbit and nav sats: {list(cache['orbits'].keys())} {list(cache['nav'].keys())} " +
+                  f"Total: {sum([len(v) for v in cache['orbits']])} and {sum([len(v) for v in cache['nav']])}")
+
+  def cache_ephemeris(self, t: GPSTime):
+    if self.save_ephemeris and (self.last_cached_t is None or t - self.last_cached_t > SECS_IN_MIN):
+      put_nonblocking(EPHEMERIS_CACHE, json.dumps(
+        {'version': CACHE_VERSION, 'last_fetch_orbits_t': self.last_fetch_orbits_t, 'orbits': self.astro_dog.orbits, 'nav': self.astro_dog.nav},
+        cls=CacheSerializer))
+      cloudlog.debug("Cache saved")
+      self.last_cached_t = t
+
+  def get_est_pos(self, t, processed_measurements):
+    if self.last_pos_fix_t is None or abs(self.last_pos_fix_t - t) >= 2:
+      min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in processed_measurements) else 4
+      pos_fix, pos_fix_residual = calc_pos_fix_gauss_newton(processed_measurements, self.posfix_functions, min_measurements=min_measurements)
+      if len(pos_fix) > 0:
+        self.last_pos_fix = pos_fix[:3]
+        self.last_pos_residual = pos_fix_residual
+        self.last_pos_fix_t = t
+    return self.last_pos_fix
+
+  def process_ublox_msg(self, ublox_msg, ublox_mono_time: int, block=False):
     if ublox_msg.which == 'measurementReport':
+      t = ublox_mono_time * 1e-9
       report = ublox_msg.measurementReport
-      new_meas = read_raw_ublox(report)
       if report.gpsWeek > 0:
-        self.latest_time_msg = GPSTime(report.gpsWeek, report.rcvTow)
-      measurements = process_measurements(new_meas, self.astro_dog)
-      pos_fix = calc_pos_fix(measurements, min_measurements=4)
-      # To get a position fix a minimum of 5 measurements are needed.
-      # Each report can contain less and some measurements can't be processed.
-      corrected_measurements = []
-      if len(pos_fix) > 0 and linalg.norm(pos_fix[1]) < 100:
-        corrected_measurements = correct_measurements(measurements, pos_fix[0][:3], self.astro_dog)
+        latest_msg_t = GPSTime(report.gpsWeek, report.rcvTow)
+        if self.auto_fetch_orbits:
+          self.fetch_orbits(latest_msg_t + SECS_IN_MIN, block)
 
-      t = ublox_mono_time * 1e-9
-      self.update_localizer(pos_fix, t, corrected_measurements)
-      localizer_valid = self.localizer_valid(t)
+      new_meas = read_raw_ublox(report)
+      processed_measurements = process_measurements(new_meas, self.astro_dog)
+
+      est_pos = self.get_est_pos(t, processed_measurements)
 
+      corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog) if len(est_pos) > 0 else []
+
+      self.update_localizer(est_pos, t, corrected_measurements)
+      kf_valid = all(self.kf_valid(t))
       ecef_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist()
       ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist()
 
-      pos_std = self.gnss_kf.P[GStates.ECEF_POS].flatten().tolist()
-      vel_std = self.gnss_kf.P[GStates.ECEF_VELOCITY].flatten().tolist()
-
-      bearing_deg, bearing_std = get_bearing_from_gnss(ecef_pos, ecef_vel, vel_std)
+      pos_std = np.sqrt(abs(self.gnss_kf.P[GStates.ECEF_POS].diagonal())).tolist()
+      vel_std = np.sqrt(abs(self.gnss_kf.P[GStates.ECEF_VELOCITY].diagonal())).tolist()
 
       meas_msgs = [create_measurement_msg(m) for m in corrected_measurements]
       dat = messaging.new_message("gnssMeasurements")
       measurement_msg = log.LiveLocationKalman.Measurement.new_message
       dat.gnssMeasurements = {
-        "positionECEF": measurement_msg(value=ecef_pos, std=pos_std, valid=localizer_valid),
-        "velocityECEF": measurement_msg(value=ecef_vel, std=vel_std, valid=localizer_valid),
-        "bearingDeg": measurement_msg(value=[bearing_deg], std=[bearing_std], valid=localizer_valid),
+        "gpsWeek": report.gpsWeek,
+        "gpsTimeOfWeek": report.rcvTow,
+        "positionECEF": measurement_msg(value=ecef_pos, std=pos_std, valid=kf_valid),
+        "velocityECEF": measurement_msg(value=ecef_vel, std=vel_std, valid=kf_valid),
+        "positionFixECEF": measurement_msg(value=self.last_pos_fix, std=self.last_pos_residual, valid=self.last_pos_fix_t == t),
         "ubloxMonoTime": ublox_mono_time,
         "correctedMeasurements": meas_msgs
       }
       return dat
     elif ublox_msg.which == 'ephemeris':
       ephem = convert_ublox_ephem(ublox_msg.ephemeris)
-      self.astro_dog.add_ephems([ephem], self.astro_dog.nav)
+      self.astro_dog.add_navs({ephem.prn: [ephem]})
+      self.cache_ephemeris(t=ephem.epoch)
     # elif ublox_msg.which == 'ionoData':
     # todo add this. Needed to better correct messages offline. First fix ublox_msg.cc to sent them.
 
-  def update_localizer(self, pos_fix, t: float, measurements: List[GNSSMeasurement]):
+  def update_localizer(self, est_pos, t: float, measurements: List[GNSSMeasurement]):
     # Check time and outputs are valid
-    if not self.localizer_valid(t):
-      # A position fix is needed when resetting the kalman filter.
-      if len(pos_fix) == 0:
-        return
-      post_est = pos_fix[0][:3].tolist()
-      filter_time = self.gnss_kf.filter.filter_time
-      if filter_time is None:
-        cloudlog.info("Init gnss kalman filter")
-      elif abs(t - filter_time) > MAX_TIME_GAP:
+    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")
-      else:
+      elif not valid[2]:
         cloudlog.error("Gnss kalman filter state is nan")
-      self.init_gnss_localizer(post_est)
+      if 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 localizer_valid(self, t: float):
-    filter_time = self.gnss_kf.filter.filter_time
-    return filter_time is not None and (t - filter_time) < MAX_TIME_GAP and all(np.isfinite(self.gnss_kf.x[GStates.ECEF_POS]))
+  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 orbit_thread(self, end_event: threading.Event):
-    while not end_event.is_set():
-      if self.latest_time_msg:
-        self.fetch_orbits(self.latest_time_msg)
-        time.sleep(0.1)
+  def fetch_orbits(self, t: GPSTime, block):
+    if t not in self.astro_dog.orbit_fetched_times and (self.last_fetch_orbits_t is None or t - self.last_fetch_orbits_t > SECS_IN_MIN):
+      astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types
+
+      ret = None
+
+      if block:
+        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():
+        self.last_fetch_orbits_t = t
+        ret = self.orbit_fetch_future.result()
+        self.orbit_fetch_executor = self.orbit_fetch_future = None
+
+      if ret is not None:
+        self.astro_dog.orbits, self.astro_dog.orbit_fetched_times = ret
+        self.cache_ephemeris(t=t)
 
-  def fetch_orbits(self, t: GPSTime):
-    if self.latest_epoch_fetched < t + SECS_IN_MIN:
-      cloudlog.info("Start to download/parse orbits")
-      orbit_ephems = self.astro_dog.download_parse_orbit_data(t, skip_before_epoch=t - 2 * SECS_IN_HR)
-      if len(orbit_ephems) > 0:
-        cloudlog.info(f"downloaded and parsed correctly new orbits {len(orbit_ephems)}, Constellations:{set([e.prn[0] for e in orbit_ephems])}")
-        self.astro_dog.add_ephems(orbit_ephems, self.astro_dog.orbits)
-        latest_orbit = max(orbit_ephems, key=lambda e: e.epoch)  # type: ignore
-        self.latest_epoch_fetched = latest_orbit.epoch
+
+def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types):
+  astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types)
+  cloudlog.info(f"Start to download/parse orbits for time {t.as_datetime()}")
+  start_time = time.monotonic()
+  try:
+    astro_dog.get_orbit_data(t, only_predictions=True)
+    cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.1f}s")
+    return astro_dog.orbits, astro_dog.orbit_fetched_times
+  except (RuntimeError, ValueError, IOError) as e:
+    cloudlog.warning(f"No orbit data found or parsing failure: {e}")
 
 
 def create_measurement_msg(meas: GNSSMeasurement):
@@ -135,6 +214,27 @@ def create_measurement_msg(meas: GNSSMeasurement):
   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()
+  ephem = meas.sat_ephemeris
+  assert ephem is not None
+  if ephem.eph_type == EphemerisType.NAV:
+    source_type = EphemerisSourceType.nav
+    week, time_of_week = -1, -1
+  else:
+    assert ephem.file_epoch is not None
+    week = ephem.file_epoch.week
+    time_of_week = ephem.file_epoch.tow
+    file_src = ephem.file_source
+    if file_src == 'igu':  # example nasa: '2214/igu22144_00.sp3.Z'
+      source_type = EphemerisSourceType.nasaUltraRapid
+    elif file_src == 'Sta':  # example nasa: '22166/ultra/Stark_1D_22061518.sp3'
+      source_type = EphemerisSourceType.glonassIacUltraRapid
+    else:
+      raise Exception(f"Didn't expect file source {file_src}")
+
+  c.ephemerisSource.type = source_type.value
+  c.ephemerisSource.gpsWeek = week
+  c.ephemerisSource.gpsTimeOfWeek = int(time_of_week)
   return c
 
 
@@ -144,45 +244,58 @@ def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMe
     m_arr = m.as_array()
     if m.constellation_id == ConstellationId.GPS:
       ekf_data[ObservationKind.PSEUDORANGE_GPS].append(m_arr)
-      ekf_data[ObservationKind.PSEUDORANGE_RATE_GPS].append(m_arr)
     elif m.constellation_id == ConstellationId.GLONASS:
       ekf_data[ObservationKind.PSEUDORANGE_GLONASS].append(m_arr)
-      ekf_data[ObservationKind.PSEUDORANGE_RATE_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():
-    gnss_kf.predict_and_observe(t, kind, data)
+    if len(data) > 0:
+      gnss_kf.predict_and_observe(t, kind, data)
 
 
-def get_bearing_from_gnss(ecef_pos, ecef_vel, vel_std):
-  # init orientation with direction of velocity
-  converter = coord.LocalCoord.from_ecef(ecef_pos)
+class CacheSerializer(json.JSONEncoder):
 
-  ned_vel = np.einsum('ij,j ->i', converter.ned_from_ecef_matrix, ecef_vel)
-  bearing = np.arctan2(ned_vel[1], ned_vel[0])
-  bearing_std = np.arctan2(np.linalg.norm(vel_std), np.linalg.norm(ned_vel))
-  return float(np.rad2deg(bearing)), float(bearing_std)
+  def default(self, o):
+    if isinstance(o, Ephemeris):
+      return o.to_json()
+    if isinstance(o, GPSTime):
+      return o.__dict__
+    if isinstance(o, np.ndarray):
+      return o.tolist()
+    return json.JSONEncoder.default(self, o)
 
 
-def main():
-  sm = messaging.SubMaster(['ubloxGnss'])
-  pm = messaging.PubMaster(['gnssMeasurements'])
+def deserialize_hook(dct):
+  if 'ephemeris' in dct:
+    return Ephemeris.from_json(dct)
+  if 'week' in dct:
+    return GPSTime(dct['week'], dct['tow'])
+  return dct
 
-  laikad = Laikad()
 
-  end_event = threading.Event()
-  threading.Thread(target=laikad.orbit_thread, args=(end_event,)).start()
-  try:
-    while not end_event.is_set():
-      sm.update()
-
-      if sm.updated['ubloxGnss']:
-        ublox_msg = sm['ubloxGnss']
-        msg = laikad.process_ublox_msg(ublox_msg, sm.logMonoTime['ubloxGnss'])
-        if msg is not None:
-          pm.send('gnssMeasurements', msg)
-  except (KeyboardInterrupt, SystemExit):
-    end_event.set()
-    raise
+class EphemerisSourceType(IntEnum):
+  nav = 0
+  nasaUltraRapid = 1
+  glonassIacUltraRapid = 2
+
+
+def main(sm=None, pm=None):
+  if sm is None:
+    sm = messaging.SubMaster(['ubloxGnss'])
+  if pm is None:
+    pm = messaging.PubMaster(['gnssMeasurements'])
+
+  replay = "REPLAY" in os.environ
+  use_internet = "LAIKAD_NO_INTERNET" not in os.environ
+  laikad = Laikad(save_ephemeris=not replay, auto_fetch_orbits=use_internet)
+  while True:
+    sm.update()
+
+    if sm.updated['ubloxGnss']:
+      ublox_msg = sm['ubloxGnss']
+      msg = laikad.process_ublox_msg(ublox_msg, sm.logMonoTime['ubloxGnss'], block=replay)
+      if msg is not None:
+        pm.send('gnssMeasurements', msg)
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/locationd/laikad_helpers.py b/selfdrive/locationd/laikad_helpers.py
new file mode 100644
index 0000000000..f13e8e73bb
--- /dev/null
+++ b/selfdrive/locationd/laikad_helpers.py
@@ -0,0 +1,89 @@
+import numpy as np
+import sympy
+
+from laika.constants import EARTH_ROTATION_RATE, SPEED_OF_LIGHT
+from laika.helpers import ConstellationId
+
+
+def calc_pos_fix_gauss_newton(measurements, posfix_functions, x0=None, signal='C1C', min_measurements=6):
+  '''
+  Calculates gps fix using gauss newton method
+  To solve the problem a minimal of 4 measurements are required.
+    If Glonass is included 5 are required to solve for the additional free variable.
+  returns:
+  0 -> list with positions
+  '''
+  if x0 is None:
+    x0 = [0, 0, 0, 0, 0]
+  n = len(measurements)
+  if n < min_measurements:
+    return [], []
+
+  Fx_pos = pr_residual(measurements, posfix_functions, signal=signal)
+  x = gauss_newton(Fx_pos, x0)
+  residual, _ = Fx_pos(x, weight=1.0)
+  return x.tolist(), residual.tolist()
+
+
+def pr_residual(measurements, posfix_functions, signal='C1C'):
+  def Fx_pos(inp, weight=None):
+    vals, gradients = [], []
+
+    for meas in measurements:
+      pr = meas.observables[signal]
+      pr += meas.sat_clock_err * SPEED_OF_LIGHT
+
+      w = (1 / meas.observables_std[signal]) if weight is None else weight
+
+      val, *gradient = posfix_functions[meas.constellation_id](*inp, pr, *meas.sat_pos, w)
+      vals.append(val)
+      gradients.append(gradient)
+    return np.asarray(vals), np.asarray(gradients)
+
+  return Fx_pos
+
+
+def gauss_newton(fun, b, xtol=1e-8, max_n=25):
+  for _ in range(max_n):
+    # Compute function and jacobian on current estimate
+    r, J = fun(b)
+
+    # Update estimate
+    delta = np.linalg.pinv(J) @ r
+    b -= delta
+
+    # Check step size for stopping condition
+    if np.linalg.norm(delta) < xtol:
+      break
+  return b
+
+
+def get_posfix_sympy_fun(constellation):
+  # Unknowns
+  x, y, z = sympy.Symbol('x'), sympy.Symbol('y'), sympy.Symbol('z')
+  bc = sympy.Symbol('bc')
+  bg = sympy.Symbol('bg')
+  var = [x, y, z, bc, bg]
+
+  # Knowns
+  pr = sympy.Symbol('pr')
+  sat_x, sat_y, sat_z = sympy.Symbol('sat_x'), sympy.Symbol('sat_y'), sympy.Symbol('sat_z')
+  weight = sympy.Symbol('weight')
+
+  theta = EARTH_ROTATION_RATE * (pr - bc) / SPEED_OF_LIGHT
+  val = sympy.sqrt(
+    (sat_x * sympy.cos(theta) + sat_y * sympy.sin(theta) - x) ** 2 +
+    (sat_y * sympy.cos(theta) - sat_x * sympy.sin(theta) - y) ** 2 +
+    (sat_z - z) ** 2
+  )
+
+  if constellation == ConstellationId.GLONASS:
+    res = weight * (val - (pr - bc - bg))
+  elif constellation == ConstellationId.GPS:
+    res = weight * (val - (pr - bc))
+  else:
+    raise NotImplementedError(f"Constellation {constellation} not supported")
+
+  res = [res] + [sympy.diff(res, v) for v in var]
+
+  return sympy.lambdify([x, y, z, bc, bg, pr, sat_x, sat_y, sat_z, weight], res, modules=["numpy"])
diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py
index 75534efa5a..3faf4f8d4e 100755
--- a/selfdrive/locationd/models/car_kf.py
+++ b/selfdrive/locationd/models/car_kf.py
@@ -7,7 +7,7 @@ import numpy as np
 
 from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from selfdrive.locationd.models.constants import ObservationKind
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 from rednose.helpers.kalmanfilter import KalmanFilter
 
@@ -15,7 +15,7 @@ if __name__ == '__main__':  # Generating sympy
   import sympy as sp
   from rednose.helpers.ekf_sym import gen_code
 else:
-  from rednose.helpers.ekf_sym_pyx import EKF_sym  # pylint: disable=no-name-in-module, import-error
+  from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx  # pylint: disable=no-name-in-module, import-error
 
 
 i = 0
@@ -171,7 +171,7 @@ class CarKalman(KalmanFilter):
     if P_initial is not None:
       self.P_initial = P_initial
     # init filter
-    self.filter = EKF_sym(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog)
+    self.filter = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog)
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/locationd/models/gnss_helpers.py b/selfdrive/locationd/models/gnss_helpers.py
new file mode 100644
index 0000000000..b6c1771ec6
--- /dev/null
+++ b/selfdrive/locationd/models/gnss_helpers.py
@@ -0,0 +1,19 @@
+import numpy as np
+from laika.raw_gnss import GNSSMeasurement
+
+def parse_prr(m):
+  sat_pos_vel_i = np.concatenate((m[GNSSMeasurement.SAT_POS],
+                                  m[GNSSMeasurement.SAT_VEL]))
+  R_i = np.atleast_2d(m[GNSSMeasurement.PRR_STD]**2)
+  z_i = m[GNSSMeasurement.PRR]
+  return z_i, R_i, sat_pos_vel_i
+
+def parse_pr(m):
+  pseudorange = m[GNSSMeasurement.PR]
+  pseudorange_stdev = m[GNSSMeasurement.PR_STD]
+  sat_pos_freq_i = np.concatenate((m[GNSSMeasurement.SAT_POS],
+                                   np.array([m[GNSSMeasurement.GLONASS_FREQ]])))
+  z_i = np.atleast_1d(pseudorange)
+  R_i = np.atleast_2d(pseudorange_stdev**2)
+  return z_i, R_i, sat_pos_freq_i
+
diff --git a/selfdrive/locationd/models/gnss_kf.py b/selfdrive/locationd/models/gnss_kf.py
index 3f4baab7b5..5c9cb4b3d1 100755
--- a/selfdrive/locationd/models/gnss_kf.py
+++ b/selfdrive/locationd/models/gnss_kf.py
@@ -3,11 +3,16 @@ import sys
 from typing import List
 
 import numpy as np
-import sympy as sp
 
-from rednose.helpers.ekf_sym import EKF_sym, gen_code
 from selfdrive.locationd.models.constants import ObservationKind
-from selfdrive.locationd.models.loc_kf import parse_pr, parse_prr
+from selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr
+
+if __name__ == '__main__':  # Generating sympy
+  import sympy as sp
+  from rednose.helpers.ekf_sym import gen_code
+else:
+  from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx  # pylint: disable=no-name-in-module,import-error
+  from rednose.helpers.ekf_sym import EKF_sym  # pylint: disable=no-name-in-module,import-error
 
 
 class States():
@@ -115,12 +120,13 @@ class GNSSKalman():
 
     gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state, maha_test_kinds=maha_test_kinds)
 
-  def __init__(self, generated_dir):
+  def __init__(self, generated_dir, cython=False):
     self.dim_state = self.x_initial.shape[0]
 
     # init filter
-    self.filter = EKF_sym(generated_dir, self.name, self.Q, self.x_initial, self.P_initial, self.dim_state,
-                          self.dim_state, maha_test_kinds=self.maha_test_kinds)
+    filter_cls = EKF_sym_pyx if cython else EKF_sym
+    self.filter = filter_cls(generated_dir, self.name, self.Q, self.x_initial, self.P_initial, self.dim_state,
+                             self.dim_state, maha_test_kinds=self.maha_test_kinds)
     self.init_state(GNSSKalman.x_initial, covs=GNSSKalman.P_initial)
 
   @property
diff --git a/selfdrive/locationd/models/loc_kf.py b/selfdrive/locationd/models/loc_kf.py
index 8391426dd1..b1ed8599f1 100755
--- a/selfdrive/locationd/models/loc_kf.py
+++ b/selfdrive/locationd/models/loc_kf.py
@@ -5,33 +5,14 @@ import sys
 import numpy as np
 import sympy as sp
 
-from selfdrive.locationd.models.constants import ObservationKind
 from rednose.helpers.ekf_sym import EKF_sym, gen_code
 from rednose.helpers.lst_sq_computer import LstSqComputer
 from rednose.helpers.sympy_helpers import euler_rotate, quat_matrix_r, quat_rotate
 
-EARTH_GM = 3.986005e14  # m^3/s^2 (gravitational constant * mass of earth)
-
-
-def parse_prr(m):
-  from laika.raw_gnss import GNSSMeasurement
-  sat_pos_vel_i = np.concatenate((m[GNSSMeasurement.SAT_POS],
-                                  m[GNSSMeasurement.SAT_VEL]))
-  R_i = np.atleast_2d(m[GNSSMeasurement.PRR_STD]**2)
-  z_i = m[GNSSMeasurement.PRR]
-  return z_i, R_i, sat_pos_vel_i
-
-
-def parse_pr(m):
-  from laika.raw_gnss import GNSSMeasurement
-  pseudorange = m[GNSSMeasurement.PR]
-  pseudorange_stdev = m[GNSSMeasurement.PR_STD]
-  sat_pos_freq_i = np.concatenate((m[GNSSMeasurement.SAT_POS],
-                                   np.array([m[GNSSMeasurement.GLONASS_FREQ]])))
-  z_i = np.atleast_1d(pseudorange)
-  R_i = np.atleast_2d(pseudorange_stdev**2)
-  return z_i, R_i, sat_pos_freq_i
+from selfdrive.locationd.models.constants import ObservationKind
+from selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr
 
+EARTH_GM = 3.986005e14  # m^3/s^2 (gravitational constant * mass of earth)
 
 class States():
   ECEF_POS = slice(0, 3)  # x, y and z in ECEF in meters
@@ -44,15 +25,15 @@ class States():
   ODO_SCALE_UNUSED = slice(18, 19)  # odometer scale
   ACCELERATION = slice(19, 22)  # Acceleration in device frame in m/s**2
   FOCAL_SCALE_UNUSED = slice(22, 23)  # focal length scale
-  IMU_OFFSET = slice(23, 26)  # imu offset angles in radians
+  IMU_FROM_DEVICE_EULER = slice(23, 26)  # imu offset angles in radians
   GLONASS_BIAS = slice(26, 27)  # GLONASS bias in m expressed as bias + freq_num*freq_slope
   GLONASS_FREQ_SLOPE = slice(27, 28)  # GLONASS bias in m expressed as bias + freq_num*freq_slope
   CLOCK_ACCELERATION = slice(28, 29)  # clock acceleration in light-meters/s**2,
   ACCELEROMETER_SCALE_UNUSED = slice(29, 30)  # scale of mems accelerometer
   ACCELEROMETER_BIAS = slice(30, 33)  # bias of mems accelerometer
   # TODO the offset is likely a translation of the sensor, not a rotation of the camera
-  WIDE_CAM_OFFSET = slice(33, 36)  # wide camera offset angles in radians (tici only)
-  # We curently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_OFFSET).
+  WIDE_FROM_DEVICE_EULER = slice(33, 36)  # wide camera offset angles in radians (tici only)
+  # We curently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_FROM_DEVICE_EULER).
   # From experiments we see that ACCELEROMETER_BIAS is more correct than ACCELEROMETER_SCALE
 
   # Error-state has different slices because it is an ESKF
@@ -66,13 +47,13 @@ class States():
   ODO_SCALE_ERR_UNUSED = slice(17, 18)
   ACCELERATION_ERR = slice(18, 21)
   FOCAL_SCALE_ERR_UNUSED = slice(21, 22)
-  IMU_OFFSET_ERR = slice(22, 25)
+  IMU_FROM_DEVICE_EULER_ERR = slice(22, 25)
   GLONASS_BIAS_ERR = slice(25, 26)
   GLONASS_FREQ_SLOPE_ERR = slice(26, 27)
   CLOCK_ACCELERATION_ERR = slice(27, 28)
   ACCELEROMETER_SCALE_ERR_UNUSED = slice(28, 29)
   ACCELEROMETER_BIAS_ERR = slice(29, 32)
-  WIDE_CAM_OFFSET_ERR = slice(32, 35)
+  WIDE_FROM_DEVICE_EULER_ERR = slice(32, 35)
 
 
 class LocKalman():
@@ -159,15 +140,15 @@ class LocKalman():
     cd = state[States.CLOCK_DRIFT, :]
     roll_bias, pitch_bias, yaw_bias = state[States.GYRO_BIAS, :]
     acceleration = state[States.ACCELERATION, :]
-    imu_angles = state[States.IMU_OFFSET, :]
-    imu_angles[0, 0] = 0  # not observable enough
-    imu_angles[2, 0] = 0  # not observable enough
+    imu_from_device_euler = state[States.IMU_FROM_DEVICE_EULER, :]
+    imu_from_device_euler[0, 0] = 0  # not observable enough
+    imu_from_device_euler[2, 0] = 0  # not observable enough
     glonass_bias = state[States.GLONASS_BIAS, :]
     glonass_freq_slope = state[States.GLONASS_FREQ_SLOPE, :]
     ca = state[States.CLOCK_ACCELERATION, :]
     accel_bias = state[States.ACCELEROMETER_BIAS, :]
-    wide_cam_angles = state[States.WIDE_CAM_OFFSET, :]
-    wide_cam_angles[0, 0] = 0  # not observable enough
+    wide_from_device_euler = state[States.WIDE_FROM_DEVICE_EULER, :]
+    wide_from_device_euler[0, 0] = 0  # not observable enough
 
     dt = sp.Symbol('dt')
 
@@ -292,15 +273,15 @@ class LocKalman():
                                         los_vector[2] * (sat_vz - vz) +
                                         cd[0]])
 
-    imu_rot = euler_rotate(*imu_angles)
-    h_gyro_sym = imu_rot * sp.Matrix([vroll + roll_bias,
+    imu_from_device = euler_rotate(*imu_from_device_euler)
+    h_gyro_sym = imu_from_device * sp.Matrix([vroll + roll_bias,
                                       vpitch + pitch_bias,
                                       vyaw + yaw_bias])
 
     pos = sp.Matrix([x, y, z])
     # add 1 for stability, prevent division by 0
     gravity = quat_rot.T * ((EARTH_GM / ((x**2 + y**2 + z**2 + 1)**(3.0 / 2.0))) * pos)
-    h_acc_sym = imu_rot * (gravity + acceleration + accel_bias)
+    h_acc_sym = imu_from_device * (gravity + acceleration + accel_bias)
     h_acc_stationary_sym = acceleration
     h_phone_rot_sym = sp.Matrix([vroll, vpitch, vyaw])
     h_relative_motion = sp.Matrix(quat_rot.T * v)
@@ -316,7 +297,7 @@ class LocKalman():
                [h_phone_rot_sym, ObservationKind.CAMERA_ODO_ROTATION, None],
                [h_acc_stationary_sym, ObservationKind.NO_ACCEL, None]]
 
-    wide_cam_rot = euler_rotate(*wide_cam_angles)
+    wide_from_device = euler_rotate(*wide_from_device_euler)
     # MSCKF configuration
     if N > 0:
       # experimentally found this is correct value for imx298 with 910 focal length
@@ -331,7 +312,7 @@ class LocKalman():
 
       track_pos_sym = sp.Matrix([track_x - x, track_y - y, track_z - z])
       track_pos_rot_sym = quat_rot.T * track_pos_sym
-      track_pos_rot_wide_cam_sym = wide_cam_rot * track_pos_rot_sym
+      track_pos_rot_wide_cam_sym = wide_from_device * track_pos_rot_sym
       h_track_sym[-2:, :] = sp.Matrix([focal_scale * (track_pos_rot_sym[1] / track_pos_rot_sym[0]),
                                        focal_scale * (track_pos_rot_sym[2] / track_pos_rot_sym[0])])
       h_track_wide_cam_sym[-2:, :] = sp.Matrix([focal_scale * (track_pos_rot_wide_cam_sym[1] / track_pos_rot_wide_cam_sym[0]),
@@ -348,7 +329,7 @@ class LocKalman():
         quat_rot = quat_rotate(*q)
         track_pos_sym = sp.Matrix([track_x - x, track_y - y, track_z - z])
         track_pos_rot_sym = quat_rot.T * track_pos_sym
-        track_pos_rot_wide_cam_sym = wide_cam_rot * track_pos_rot_sym
+        track_pos_rot_wide_cam_sym = wide_from_device * track_pos_rot_sym
         h_track_sym[n * 2:n * 2 + 2, :] = sp.Matrix([focal_scale * (track_pos_rot_sym[1] / track_pos_rot_sym[0]),
                                                      focal_scale * (track_pos_rot_sym[2] / track_pos_rot_sym[0])])
         h_track_wide_cam_sym[n * 2: n * 2 + 2, :] = sp.Matrix([focal_scale * (track_pos_rot_wide_cam_sym[1] / track_pos_rot_wide_cam_sym[0]),
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index 0e83728e5c..ae67dc28ab 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -10,7 +10,7 @@ from common.realtime import config_realtime_process, DT_MDL
 from common.numpy_fast import clip
 from selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States
 from selfdrive.locationd.models.constants import GENERATED_DIR
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 
 MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL  # Max 20 deg/s
diff --git a/selfdrive/locationd/test/_test_locationd_lib.py b/selfdrive/locationd/test/_test_locationd_lib.py
new file mode 100755
index 0000000000..8a0ed3ef05
--- /dev/null
+++ b/selfdrive/locationd/test/_test_locationd_lib.py
@@ -0,0 +1,106 @@
+#!/usr/bin/env python3
+"""This test can't be run together with other locationd tests.
+cffi.dlopen breaks the list of registered filters."""
+import os
+import random
+import unittest
+
+from cffi import FFI
+
+import cereal.messaging as messaging
+from cereal import log
+
+SENSOR_DECIMATION = 1
+VISION_DECIMATION = 1
+
+LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd.so'))
+
+
+class TestLocationdLib(unittest.TestCase):
+  def setUp(self):
+    header = '''typedef ...* Localizer_t;
+Localizer_t localizer_init();
+void localizer_get_message_bytes(Localizer_t localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, char *buff, size_t buff_size);
+void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t size);'''
+
+    self.ffi = FFI()
+    self.ffi.cdef(header)
+    self.lib = self.ffi.dlopen(LIBLOCATIOND_PATH)
+
+    self.localizer = self.lib.localizer_init()
+
+    self.buff_size = 2048
+    self.msg_buff = self.ffi.new(f'char[{self.buff_size}]')
+
+  def localizer_handle_msg(self, msg_builder):
+    bytstr = msg_builder.to_bytes()
+    self.lib.localizer_handle_msg_bytes(self.localizer, self.ffi.from_buffer(bytstr), len(bytstr))
+
+  def localizer_get_msg(self, t=0, inputsOK=True, sensorsOK=True, gpsOK=True, msgValid=True):
+    self.lib.localizer_get_message_bytes(self.localizer, inputsOK, sensorsOK, gpsOK, msgValid, self.ffi.addressof(self.msg_buff, 0), self.buff_size)
+    return log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8)
+
+  def test_liblocalizer(self):
+    msg = messaging.new_message('liveCalibration')
+    msg.liveCalibration.validBlocks = random.randint(1, 10)
+    msg.liveCalibration.rpyCalib = [random.random() / 10 for _ in range(3)]
+
+    self.localizer_handle_msg(msg)
+    liveloc = self.localizer_get_msg()
+    self.assertTrue(liveloc is not None)
+
+  @unittest.skip("temporarily disabled due to false positives")
+  def test_device_fell(self):
+    msg = messaging.new_message('sensorEvents', 1)
+    msg.sensorEvents[0].sensor = 1
+    msg.sensorEvents[0].timestamp = msg.logMonoTime
+    msg.sensorEvents[0].type = 1
+    msg.sensorEvents[0].init('acceleration')
+    msg.sensorEvents[0].acceleration.v = [10.0, 0.0, 0.0]  # zero with gravity
+    self.localizer_handle_msg(msg)
+
+    ret = self.localizer_get_msg()
+    self.assertTrue(ret.liveLocationKalman.deviceStable)
+
+    msg = messaging.new_message('sensorEvents', 1)
+    msg.sensorEvents[0].sensor = 1
+    msg.sensorEvents[0].timestamp = msg.logMonoTime
+    msg.sensorEvents[0].type = 1
+    msg.sensorEvents[0].init('acceleration')
+    msg.sensorEvents[0].acceleration.v = [50.1, 0.0, 0.0]  # more than 40 m/s**2
+    self.localizer_handle_msg(msg)
+
+    ret = self.localizer_get_msg()
+    self.assertFalse(ret.liveLocationKalman.deviceStable)
+
+  def test_posenet_spike(self):
+    for _ in range(SENSOR_DECIMATION):
+      msg = messaging.new_message('carState')
+      msg.carState.vEgo = 6.0  # more than 5 m/s
+      self.localizer_handle_msg(msg)
+
+    ret = self.localizer_get_msg()
+    self.assertTrue(ret.liveLocationKalman.posenetOK)
+
+    for _ in range(20 * VISION_DECIMATION):  # size of hist_old
+      msg = messaging.new_message('cameraOdometry')
+      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
+      msg.cameraOdometry.rotStd = [0.1, 0.1, 0.1]
+      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
+      msg.cameraOdometry.transStd = [2.0, 0.1, 0.1]
+      self.localizer_handle_msg(msg)
+
+    for _ in range(20 * VISION_DECIMATION):  # size of hist_new
+      msg = messaging.new_message('cameraOdometry')
+      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
+      msg.cameraOdometry.rotStd = [1.0, 1.0, 1.0]
+      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
+      msg.cameraOdometry.transStd = [10.1, 0.1, 0.1]  # more than 4 times larger
+      self.localizer_handle_msg(msg)
+
+    ret = self.localizer_get_msg()
+    self.assertFalse(ret.liveLocationKalman.posenetOK)
+
+if __name__ == "__main__":
+  unittest.main()
+
diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py
index baa17792bd..26c1d28820 100755
--- a/selfdrive/locationd/test/test_laikad.py
+++ b/selfdrive/locationd/test/test_laikad.py
@@ -1,12 +1,18 @@
 #!/usr/bin/env python3
+import time
 import unittest
+from collections import defaultdict
 from datetime import datetime
+from unittest import mock
+from unittest.mock import Mock, patch
 
-from laika.ephemeris import EphemerisType
+from common.params import Params
+from laika.constants import SECS_IN_DAY
+from laika.ephemeris import EphemerisType, GPSEphemeris
 from laika.gps_time import GPSTime
-from laika.helpers import ConstellationId
+from laika.helpers import ConstellationId, TimeRangeHolder
 from laika.raw_gnss import GNSSMeasurement, read_raw_ublox
-from selfdrive.locationd.laikad import Laikad, create_measurement_msg
+from selfdrive.locationd.laikad import EPHEMERIS_CACHE, EphemerisSourceType, Laikad, create_measurement_msg
 from selfdrive.test.openpilotci import get_url
 from tools.lib.logreader import LogReader
 
@@ -18,29 +24,93 @@ def get_log(segs=range(0)):
   return [m for m in logs if m.which() == 'ubloxGnss']
 
 
-def verify_messages(lr, laikad):
+def verify_messages(lr, laikad, return_one_success=False):
   good_msgs = []
   for m in lr:
-    msg = laikad.process_ublox_msg(m.ubloxGnss, m.logMonoTime)
+    msg = laikad.process_ublox_msg(m.ubloxGnss, 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.ubloxGnss.which == 'measurementReport':
+      new_meas = read_raw_ublox(m.ubloxGnss.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
+
+
 class TestLaikad(unittest.TestCase):
 
   @classmethod
   def setUpClass(cls):
-    cls.logs = get_log(range(1))
+    logs = get_log(range(1))
+    cls.logs = logs
+    first_gps_time = get_first_gps_time(logs)
+    cls.first_gps_time = first_gps_time
+
+  def setUp(self):
+    Params().delete(EPHEMERIS_CACHE)
+
+  def test_fetch_orbits_non_blocking(self):
+    gpstime = GPSTime.from_datetime(datetime(2021, month=3, day=1))
+    laikad = Laikad()
+    laikad.fetch_orbits(gpstime, block=False)
+    laikad.orbit_fetch_future.result(5)
+    # Get results and save orbits to laikad:
+    laikad.fetch_orbits(gpstime, block=False)
+
+    ephem = laikad.astro_dog.orbits['G01'][0]
+    self.assertIsNotNone(ephem)
+
+    laikad.fetch_orbits(gpstime+2*SECS_IN_DAY, block=False)
+    laikad.orbit_fetch_future.result(5)
+    # Get results and save orbits to laikad:
+    laikad.fetch_orbits(gpstime + 2 * SECS_IN_DAY, block=False)
+
+    ephem2 = laikad.astro_dog.orbits['G01'][0]
+    self.assertIsNotNone(ephem)
+    self.assertNotEqual(ephem, ephem2)
+
+  def test_ephemeris_source_in_msg(self):
+    data_mock = defaultdict(str)
+    data_mock['sv_id'] = 1
+
+    gpstime = GPSTime.from_datetime(datetime(2022, month=3, day=1))
+    laikad = Laikad()
+    laikad.fetch_orbits(gpstime, block=True)
+    meas = get_measurement_mock(gpstime, laikad.astro_dog.orbits['R01'][0])
+    msg = create_measurement_msg(meas)
+    self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.glonassIacUltraRapid)
+    # Verify gps satellite returns same source
+    meas = get_measurement_mock(gpstime, laikad.astro_dog.orbits['R01'][0])
+    msg = create_measurement_msg(meas)
+    self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.glonassIacUltraRapid)
 
-  def test_create_msg_without_errors(self):
-    gpstime = GPSTime.from_datetime(datetime.now())
-    meas = GNSSMeasurement(ConstellationId.GPS, 1, gpstime.week, gpstime.tow, {'C1C': 0., 'D1C': 0.}, {'C1C': 0., 'D1C': 0.})
-    # Fake observables_final to be correct
-    meas.observables_final = meas.observables
+    # Test nasa source by using older date
+    gpstime = GPSTime.from_datetime(datetime(2021, month=3, day=1))
+    laikad = Laikad()
+    laikad.fetch_orbits(gpstime, block=True)
+    meas = get_measurement_mock(gpstime, laikad.astro_dog.orbits['G01'][0])
     msg = create_measurement_msg(meas)
+    self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nasaUltraRapid)
 
-    self.assertEqual(msg.constellationId, 'gps')
+    # Test nav source type
+    ephem = GPSEphemeris(data_mock, gpstime)
+    meas = get_measurement_mock(gpstime, ephem)
+    msg = create_measurement_msg(meas)
+    self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav)
 
   def test_laika_online(self):
     laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT)
@@ -50,55 +120,113 @@ class TestLaikad(unittest.TestCase):
     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:
+      laikad.process_ublox_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):
     laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV)
+    # Disable fetch_orbits to test NAV only
+    laikad.fetch_orbits = Mock()
     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_laika_offline(self):
-    # Set auto_update to false forces to use ephemeris messages
+  @mock.patch('laika.downloader.download_and_cache_file')
+  def test_laika_offline(self, downloader_mock):
+    downloader_mock.side_effect = IOError
     laikad = Laikad(auto_update=False)
     correct_msgs = verify_messages(self.logs, laikad)
-
     self.assertEqual(256, len(correct_msgs))
     self.assertEqual(256, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
 
-  def test_laika_offline_ephem_at_start(self):
-    # Test offline but process ephemeris msgs of segment first
-    laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV)
-    ephemeris_logs = [m for m in self.logs if m.ubloxGnss.which() == 'ephemeris']
-    correct_msgs = verify_messages(ephemeris_logs+self.logs, laikad)
-
-    self.assertEqual(554, len(correct_msgs))
-    self.assertGreaterEqual(554, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
-
   def test_laika_get_orbits(self):
     laikad = Laikad(auto_update=False)
-    first_gps_time = None
-    for m in self.logs:
-      if m.ubloxGnss.which == 'measurementReport':
-        new_meas = read_raw_ublox(m.ubloxGnss.measurementReport)
-        if len(new_meas) != 0:
-          first_gps_time = new_meas[0].recv_time
-          break
-    # Pretend thread has loaded the orbits on startup by using the time of the first gps message.
-    laikad.fetch_orbits(first_gps_time)
-    self.assertEqual(31, len(laikad.astro_dog.orbits.keys()))
-    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]))
+    # Pretend process has loaded the orbits on startup by using the time of the first gps message.
+    laikad.fetch_orbits(self.first_gps_time, block=True)
+    self.dict_has_values(laikad.astro_dog.orbits)
 
   @unittest.skip("Use to debug live data")
   def test_laika_get_orbits_now(self):
     laikad = Laikad(auto_update=False)
-    laikad.fetch_orbits(GPSTime.from_datetime(datetime.utcnow()))
-    print(laikad.latest_epoch_fetched.as_datetime())
-
-    print(min(laikad.astro_dog.orbits[list(laikad.astro_dog.orbits.keys())[0]], key=lambda e: e.epoch).epoch.as_datetime())
+    laikad.fetch_orbits(GPSTime.from_datetime(datetime.utcnow()), block=True)
+    prn = "G01"
+    self.assertGreater(len(laikad.astro_dog.orbits[prn]), 0)
+    prn = "R01"
+    self.assertGreater(len(laikad.astro_dog.orbits[prn]), 0)
+    print(min(laikad.astro_dog.orbits[prn], key=lambda e: e.epoch).epoch.as_datetime())
+
+  def test_get_orbits_in_process(self):
+    laikad = Laikad(auto_update=False)
+    has_orbits = False
+    for m in self.logs:
+      laikad.process_ublox_msg(m.ubloxGnss, m.logMonoTime, block=False)
+      if laikad.orbit_fetch_future is not None:
+        laikad.orbit_fetch_future.result()
+      vals = laikad.astro_dog.orbits.values()
+      has_orbits = len(vals) > 0 and max([len(v) for v in vals]) > 0
+      if has_orbits:
+        break
+    self.assertTrue(has_orbits)
+    self.assertGreater(len(laikad.astro_dog.orbit_fetched_times._ranges), 0)
+    self.assertEqual(None, laikad.orbit_fetch_future)
+
+  def test_cache(self):
+    laikad = Laikad(auto_update=True, save_ephemeris=True)
+
+    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.cache_ephemeris(t=GPSTime(0, 0))
+    wait_for_cache()
+    Params().delete(EPHEMERIS_CACHE)
+
+    laikad.astro_dog.get_navs(self.first_gps_time)
+    laikad.fetch_orbits(self.first_gps_time, block=True)
+
+    # Wait for cache to save
+    wait_for_cache()
+
+    # Check both nav and orbits separate
+    laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV, save_ephemeris=True)
+    # Verify orbits and nav are loaded from cache
+    self.dict_has_values(laikad.astro_dog.orbits)
+    self.dict_has_values(laikad.astro_dog.nav)
+    # Verify cache is working for only nav by running a segment
+    msg = verify_messages(self.logs, laikad, return_one_success=True)
+    self.assertIsNotNone(msg)
+
+    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_orbits(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()
+
+  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__":
diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py
index 7f5d752100..29036b8387 100755
--- a/selfdrive/locationd/test/test_locationd.py
+++ b/selfdrive/locationd/test/test_locationd.py
@@ -1,110 +1,16 @@
 #!/usr/bin/env python3
-import os
 import json
 import random
 import unittest
 import time
 import capnp
-from cffi import FFI
 
-from cereal import log
 import cereal.messaging as messaging
 from cereal.services import service_list
 from common.params import Params
 
 from selfdrive.manager.process_config import managed_processes
 
-SENSOR_DECIMATION = 1
-VISION_DECIMATION = 1
-
-LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd.so'))
-
-
-class TestLocationdLib(unittest.TestCase):
-  def setUp(self):
-    header = '''typedef ...* Localizer_t;
-Localizer_t localizer_init();
-void localizer_get_message_bytes(Localizer_t localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, char *buff, size_t buff_size);
-void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t size);'''
-
-    self.ffi = FFI()
-    self.ffi.cdef(header)
-    self.lib = self.ffi.dlopen(LIBLOCATIOND_PATH)
-
-    self.localizer = self.lib.localizer_init()
-
-    self.buff_size = 2048
-    self.msg_buff = self.ffi.new(f'char[{self.buff_size}]')
-
-  def localizer_handle_msg(self, msg_builder):
-    bytstr = msg_builder.to_bytes()
-    self.lib.localizer_handle_msg_bytes(self.localizer, self.ffi.from_buffer(bytstr), len(bytstr))
-
-  def localizer_get_msg(self, t=0, inputsOK=True, sensorsOK=True, gpsOK=True, msgValid=True):
-    self.lib.localizer_get_message_bytes(self.localizer, inputsOK, sensorsOK, gpsOK, msgValid, self.ffi.addressof(self.msg_buff, 0), self.buff_size)
-    return log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8)
-
-  def test_liblocalizer(self):
-    msg = messaging.new_message('liveCalibration')
-    msg.liveCalibration.validBlocks = random.randint(1, 10)
-    msg.liveCalibration.rpyCalib = [random.random() / 10 for _ in range(3)]
-
-    self.localizer_handle_msg(msg)
-    liveloc = self.localizer_get_msg()
-    self.assertTrue(liveloc is not None)
-
-  @unittest.skip("temporarily disabled due to false positives")
-  def test_device_fell(self):
-    msg = messaging.new_message('sensorEvents', 1)
-    msg.sensorEvents[0].sensor = 1
-    msg.sensorEvents[0].timestamp = msg.logMonoTime
-    msg.sensorEvents[0].type = 1
-    msg.sensorEvents[0].init('acceleration')
-    msg.sensorEvents[0].acceleration.v = [10.0, 0.0, 0.0]  # zero with gravity
-    self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertTrue(ret.liveLocationKalman.deviceStable)
-
-    msg = messaging.new_message('sensorEvents', 1)
-    msg.sensorEvents[0].sensor = 1
-    msg.sensorEvents[0].timestamp = msg.logMonoTime
-    msg.sensorEvents[0].type = 1
-    msg.sensorEvents[0].init('acceleration')
-    msg.sensorEvents[0].acceleration.v = [50.1, 0.0, 0.0]  # more than 40 m/s**2
-    self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertFalse(ret.liveLocationKalman.deviceStable)
-
-  def test_posenet_spike(self):
-    for _ in range(SENSOR_DECIMATION):
-      msg = messaging.new_message('carState')
-      msg.carState.vEgo = 6.0  # more than 5 m/s
-      self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertTrue(ret.liveLocationKalman.posenetOK)
-
-    for _ in range(20 * VISION_DECIMATION):  # size of hist_old
-      msg = messaging.new_message('cameraOdometry')
-      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.rotStd = [0.1, 0.1, 0.1]
-      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.transStd = [2.0, 0.1, 0.1]
-      self.localizer_handle_msg(msg)
-
-    for _ in range(20 * VISION_DECIMATION):  # size of hist_new
-      msg = messaging.new_message('cameraOdometry')
-      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.rotStd = [1.0, 1.0, 1.0]
-      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.transStd = [10.1, 0.1, 0.1]  # more than 4 times larger
-      self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertFalse(ret.liveLocationKalman.posenetOK)
-
 
 class TestLocationdProc(unittest.TestCase):
   MAX_WAITS = 1000
diff --git a/selfdrive/loggerd/config.py b/selfdrive/loggerd/config.py
index 6cd20a68ab..168c9fba91 100644
--- a/selfdrive/loggerd/config.py
+++ b/selfdrive/loggerd/config.py
@@ -1,6 +1,6 @@
 import os
 from pathlib import Path
-from selfdrive.hardware import PC
+from system.hardware import PC
 
 if os.environ.get('LOG_ROOT', False):
   ROOT = os.environ['LOG_ROOT']
diff --git a/selfdrive/loggerd/deleter.py b/selfdrive/loggerd/deleter.py
index d745e91fb5..5606288024 100644
--- a/selfdrive/loggerd/deleter.py
+++ b/selfdrive/loggerd/deleter.py
@@ -2,7 +2,7 @@
 import os
 import shutil
 import threading
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.loggerd.config import ROOT, get_available_bytes, get_available_percent
 from selfdrive.loggerd.uploader import listdir_by_creation
 
diff --git a/selfdrive/loggerd/encoder/encoder.h b/selfdrive/loggerd/encoder/encoder.h
index 312b68ba19..21ef65cf12 100644
--- a/selfdrive/loggerd/encoder/encoder.h
+++ b/selfdrive/loggerd/encoder/encoder.h
@@ -8,7 +8,7 @@
 #include "cereal/visionipc/visionipc.h"
 #include "common/queue.h"
 #include "selfdrive/loggerd/video_writer.h"
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 
 #define V4L2_BUF_FLAG_KEYFRAME 8
 
diff --git a/selfdrive/loggerd/encoder/ffmpeg_encoder.cc b/selfdrive/loggerd/encoder/ffmpeg_encoder.cc
index 22587819a4..5f8d140e8b 100644
--- a/selfdrive/loggerd/encoder/ffmpeg_encoder.cc
+++ b/selfdrive/loggerd/encoder/ffmpeg_encoder.cc
@@ -68,7 +68,9 @@ void FfmpegEncoder::encoder_open(const char* path) {
 
 void FfmpegEncoder::encoder_close() {
   if (!is_open) return;
+
   writer_close();
+  avcodec_free_context(&codec_ctx);
   is_open = false;
 }
 
diff --git a/selfdrive/loggerd/logger.cc b/selfdrive/loggerd/logger.cc
index 5aed47e291..8038f1926c 100644
--- a/selfdrive/loggerd/logger.cc
+++ b/selfdrive/loggerd/logger.cc
@@ -19,15 +19,6 @@
 #include "common/swaglog.h"
 #include "common/version.h"
 
-// ***** logging helpers *****
-
-void append_property(const char* key, const char* value, void *cookie) {
-  std::vector<std::pair<std::string, std::string> > *properties =
-    (std::vector<std::pair<std::string, std::string> > *)cookie;
-
-  properties->push_back(std::make_pair(std::string(key), std::string(value)));
-}
-
 // ***** log metadata *****
 kj::Array<capnp::word> logger_build_init_data() {
   MessageBuilder msg;
diff --git a/selfdrive/loggerd/logger.h b/selfdrive/loggerd/logger.h
index ca08e64717..e7594cee88 100644
--- a/selfdrive/loggerd/logger.h
+++ b/selfdrive/loggerd/logger.h
@@ -13,7 +13,7 @@
 #include "cereal/messaging/messaging.h"
 #include "common/util.h"
 #include "common/swaglog.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 const std::string LOG_ROOT = Path::log_root();
 
diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc
index 4086f4991e..a75ab2c92b 100644
--- a/selfdrive/loggerd/loggerd.cc
+++ b/selfdrive/loggerd/loggerd.cc
@@ -6,7 +6,6 @@ ExitHandler do_exit;
 struct LoggerdState {
   LoggerState logger = {};
   char segment_path[4096];
-  std::mutex rotate_lock;
   std::atomic<int> rotate_segment;
   std::atomic<double> last_camera_seen_tms;
   std::atomic<int> ready_to_rotate;  // count of encoders ready to rotate
@@ -15,15 +14,12 @@ struct LoggerdState {
 };
 
 void logger_rotate(LoggerdState *s) {
-  {
-    std::unique_lock lk(s->rotate_lock);
-    int segment = -1;
-    int err = logger_next(&s->logger, LOG_ROOT.c_str(), s->segment_path, sizeof(s->segment_path), &segment);
-    assert(err == 0);
-    s->rotate_segment = segment;
-    s->ready_to_rotate = 0;
-    s->last_rotate_tms = millis_since_boot();
-  }
+  int segment = -1;
+  int err = logger_next(&s->logger, LOG_ROOT.c_str(), s->segment_path, sizeof(s->segment_path), &segment);
+  assert(err == 0);
+  s->rotate_segment = segment;
+  s->ready_to_rotate = 0;
+  s->last_rotate_tms = millis_since_boot();
   LOGW((s->logger.part == 0) ? "logging to %s" : "rotated to %s", s->segment_path);
 }
 
diff --git a/selfdrive/loggerd/loggerd.h b/selfdrive/loggerd/loggerd.h
index 3b9b01a0fc..2c4990086a 100644
--- a/selfdrive/loggerd/loggerd.h
+++ b/selfdrive/loggerd/loggerd.h
@@ -15,12 +15,12 @@
 #include "cereal/services.h"
 #include "cereal/visionipc/visionipc.h"
 #include "cereal/visionipc/visionipc_client.h"
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 #include "common/params.h"
 #include "common/swaglog.h"
 #include "common/timing.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 #include "selfdrive/loggerd/encoder/encoder.h"
 #include "selfdrive/loggerd/logger.h"
diff --git a/selfdrive/loggerd/tests/test_encoder.py b/selfdrive/loggerd/tests/test_encoder.py
index 49baa8a6e3..1b9bcef2d7 100755
--- a/selfdrive/loggerd/tests/test_encoder.py
+++ b/selfdrive/loggerd/tests/test_encoder.py
@@ -13,7 +13,7 @@ from tqdm import trange
 
 from common.params import Params
 from common.timeout import Timeout
-from selfdrive.hardware import TICI
+from system.hardware import TICI
 from selfdrive.loggerd.config import ROOT
 from selfdrive.manager.process_config import managed_processes
 from tools.lib.logreader import LogReader
diff --git a/selfdrive/loggerd/tests/test_logger.cc b/selfdrive/loggerd/tests/test_logger.cc
index 11a50fa2e7..c8f6620924 100644
--- a/selfdrive/loggerd/tests/test_logger.cc
+++ b/selfdrive/loggerd/tests/test_logger.cc
@@ -9,7 +9,7 @@
 #include "cereal/messaging/messaging.h"
 #include "common/util.h"
 #include "selfdrive/loggerd/logger.h"
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/util.h"
 
 typedef cereal::Sentinel::SentinelType SentinelType;
 
diff --git a/selfdrive/loggerd/tests/test_loggerd.py b/selfdrive/loggerd/tests/test_loggerd.py
index 54f7aaaa2b..9dbc7ac332 100755
--- a/selfdrive/loggerd/tests/test_loggerd.py
+++ b/selfdrive/loggerd/tests/test_loggerd.py
@@ -17,7 +17,7 @@ from common.params import Params
 from common.timeout import Timeout
 from selfdrive.loggerd.config import ROOT
 from selfdrive.manager.process_config import managed_processes
-from selfdrive.version import get_version
+from system.version import get_version
 from tools.lib.logreader import LogReader
 from cereal.visionipc import VisionIpcServer, VisionStreamType
 from common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size
diff --git a/selfdrive/loggerd/tests/test_uploader.py b/selfdrive/loggerd/tests/test_uploader.py
index b8c01776ae..6090bbe2aa 100755
--- a/selfdrive/loggerd/tests/test_uploader.py
+++ b/selfdrive/loggerd/tests/test_uploader.py
@@ -6,7 +6,7 @@ import unittest
 import logging
 import json
 
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 import selfdrive.loggerd.uploader as uploader
 
 from selfdrive.loggerd.tests.loggerd_tests_common import UploaderTestCase
diff --git a/selfdrive/loggerd/uploader.py b/selfdrive/loggerd/uploader.py
index b7d8df861a..f97bafecb9 100644
--- a/selfdrive/loggerd/uploader.py
+++ b/selfdrive/loggerd/uploader.py
@@ -15,10 +15,10 @@ import cereal.messaging as messaging
 from common.api import Api
 from common.params import Params
 from common.realtime import set_core_affinity
-from selfdrive.hardware import TICI
+from system.hardware import TICI
 from selfdrive.loggerd.xattr_cache import getxattr, setxattr
 from selfdrive.loggerd.config import ROOT
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 NetworkType = log.DeviceState.NetworkType
 UPLOAD_ATTR_NAME = 'user.upload'
diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py
index 8421605a55..12f894061a 100755
--- a/selfdrive/manager/build.py
+++ b/selfdrive/manager/build.py
@@ -1,8 +1,6 @@
 #!/usr/bin/env python3
 import os
 import subprocess
-import sys
-import time
 import textwrap
 from pathlib import Path
 
@@ -10,9 +8,9 @@ from pathlib import Path
 from common.basedir import BASEDIR
 from common.spinner import Spinner
 from common.text_window import TextWindow
-from selfdrive.hardware import AGNOS
-from selfdrive.swaglog import cloudlog, add_file_handler
-from selfdrive.version import is_dirty
+from system.hardware import AGNOS
+from system.swaglog import cloudlog, add_file_handler
+from system.version import is_dirty
 
 MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")
@@ -28,62 +26,49 @@ def build(spinner: Spinner, dirty: bool = False) -> None:
   nproc = os.cpu_count()
   j_flag = "" if nproc is None else f"-j{nproc - 1}"
 
-  for retry in [True, False]:
-    scons: subprocess.Popen = subprocess.Popen(["scons", j_flag, "--cache-populate"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
-    assert scons.stderr is not None
-
-    compile_output = []
-
-    # Read progress from stderr and update spinner
-    while scons.poll() is None:
-      try:
-        line = scons.stderr.readline()
-        if line is None:
-          continue
-        line = line.rstrip()
-
-        prefix = b'progress: '
-        if line.startswith(prefix):
-          i = int(line[len(prefix):])
-          spinner.update_progress(MAX_BUILD_PROGRESS * min(1., i / TOTAL_SCONS_NODES), 100.)
-        elif len(line):
-          compile_output.append(line)
-          print(line.decode('utf8', 'replace'))
-      except Exception:
-        pass
-
-    if scons.returncode != 0:
-      # Read remaining output
-      r = scons.stderr.read().split(b'\n')
-      compile_output += r
-
-      if retry and (not dirty):
-        if not os.getenv("CI"):
-          print("scons build failed, cleaning in")
-          for i in range(3, -1, -1):
-            print("....%d" % i)
-            time.sleep(1)
-          subprocess.check_call(["scons", "-c"], cwd=BASEDIR, env=env)
-        else:
-          print("scons build failed after retry")
-          sys.exit(1)
-      else:
-        # Build failed log errors
-        errors = [line.decode('utf8', 'replace') for line in compile_output
-                  if any(err in line for err in [b'error: ', b'not found, needed by target'])]
-        error_s = "\n".join(errors)
-        add_file_handler(cloudlog)
-        cloudlog.error("scons build failed\n" + error_s)
-
-        # Show TextWindow
-        spinner.close()
-        if not os.getenv("CI"):
-          error_s = "\n \n".join("\n".join(textwrap.wrap(e, 65)) for e in errors)
-          with TextWindow("openpilot failed to build\n \n" + error_s) as t:
-            t.wait_for_exit()
-        exit(1)
-    else:
-      break
+  scons: subprocess.Popen = subprocess.Popen(["scons", j_flag, "--cache-populate"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
+  assert scons.stderr is not None
+
+  compile_output = []
+
+  # Read progress from stderr and update spinner
+  while scons.poll() is None:
+    try:
+      line = scons.stderr.readline()
+      if line is None:
+        continue
+      line = line.rstrip()
+
+      prefix = b'progress: '
+      if line.startswith(prefix):
+        i = int(line[len(prefix):])
+        spinner.update_progress(MAX_BUILD_PROGRESS * min(1., i / TOTAL_SCONS_NODES), 100.)
+      elif len(line):
+        compile_output.append(line)
+        print(line.decode('utf8', 'replace'))
+    except Exception:
+      pass
+
+  if scons.returncode != 0:
+    # Read remaining output
+    r = scons.stderr.read().split(b'\n')
+    compile_output += r
+
+    # Build failed log errors
+    errors = [line.decode('utf8', 'replace') for line in compile_output
+              if any(err in line for err in [b'error: ', b'not found, needed by target'])]
+    error_s = "\n".join(errors)
+    add_file_handler(cloudlog)
+    cloudlog.error("scons build failed\n" + error_s)
+
+    # Show TextWindow
+    spinner.close()
+    if not os.getenv("CI"):
+      error_s = "\n \n".join("\n".join(textwrap.wrap(e, 65)) for e in errors)
+      with TextWindow("openpilot failed to build\n \n" + error_s) as t:
+        t.wait_for_exit()
+    exit(1)
+
 
   # enforce max cache size
   cache_files = [f for f in CACHE_DIR.rglob('*') if f.is_file()]
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index cd7817fa97..140c7f1d44 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -13,13 +13,13 @@ from common.basedir import BASEDIR
 from common.params import Params, ParamKeyType
 from common.text_window import TextWindow
 from selfdrive.boardd.set_time import set_time
-from selfdrive.hardware import HARDWARE, PC
+from system.hardware import HARDWARE, PC
 from selfdrive.manager.helpers import unblock_stdout
 from selfdrive.manager.process import ensure_running
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
-from selfdrive.swaglog import cloudlog, add_file_handler
-from selfdrive.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \
+from system.swaglog import cloudlog, add_file_handler
+from system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \
                               terms_version, training_version
 
 
diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py
index e2bb41c217..dabfbe4ee0 100644
--- a/selfdrive/manager/process.py
+++ b/selfdrive/manager/process.py
@@ -16,8 +16,8 @@ from cereal import car
 from common.basedir import BASEDIR
 from common.params import Params
 from common.realtime import sec_since_boot
-from selfdrive.swaglog import cloudlog
-from selfdrive.hardware import HARDWARE
+from system.swaglog import cloudlog
+from system.hardware import HARDWARE
 from cereal import log
 
 WATCHDOG_FN = "/dev/shm/wd_"
diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py
index 5d996d1169..dec51966a4 100644
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@@ -2,7 +2,7 @@ import os
 
 from cereal import car
 from common.params import Params
-from selfdrive.hardware import PC
+from system.hardware import PC
 from selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
@@ -18,16 +18,19 @@ def logging(started, params, CP: car.CarParams) -> bool:
   return started and run
 
 procs = [
-  DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
   # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
-  NativeProcess("camerad", "selfdrive/camerad", ["./camerad"], unkillable=True, callback=driverview),
+  NativeProcess("camerad", "system/camerad", ["./camerad"], unkillable=True, callback=driverview),
   NativeProcess("clocksd", "system/clocksd", ["./clocksd"]),
-  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview),
   NativeProcess("logcatd", "system/logcatd", ["./logcatd"]),
+  NativeProcess("proclogd", "system/proclogd", ["./proclogd"]),
+  PythonProcess("logmessaged", "system.logmessaged", offroad=True),
+  PythonProcess("timezoned", "system.timezoned", enabled=not PC, offroad=True),
+
+  DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
+  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview),
   NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]),
   NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging),
   NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
-  NativeProcess("proclogd", "system/proclogd", ["./proclogd"]),
   NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC),
   NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=(not PC or WEBCAM)),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)),
@@ -38,14 +41,13 @@ procs = [
   PythonProcess("controlsd", "selfdrive.controls.controlsd"),
   PythonProcess("deleter", "selfdrive.loggerd.deleter", offroad=True),
   PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview),
-  PythonProcess("logmessaged", "selfdrive.logmessaged", offroad=True),
+  PythonProcess("laikad", "selfdrive.locationd.laikad"),
   PythonProcess("navd", "selfdrive.navd.navd"),
   PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd"),
   PythonProcess("plannerd", "selfdrive.controls.plannerd"),
   PythonProcess("radard", "selfdrive.controls.radard"),
   PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True),
-  PythonProcess("timezoned", "selfdrive.timezoned", enabled=not PC, offroad=True),
   PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, offroad=True),
   PythonProcess("updated", "selfdrive.updated", enabled=not PC, onroad=False, offroad=True),
   PythonProcess("uploader", "selfdrive.loggerd.uploader", offroad=True),
diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py
index 31949de0b9..a84ff264d2 100755
--- a/selfdrive/manager/test/test_manager.py
+++ b/selfdrive/manager/test/test_manager.py
@@ -5,14 +5,13 @@ import time
 import unittest
 
 import selfdrive.manager.manager as manager
-from selfdrive.hardware import AGNOS, HARDWARE
 from selfdrive.manager.process import DaemonProcess
 from selfdrive.manager.process_config import managed_processes
+from system.hardware import AGNOS, HARDWARE
 
 os.environ['FAKEUPLOAD'] = "1"
 
-# TODO: make eon fast
-MAX_STARTUP_TIME = 15
+MAX_STARTUP_TIME = 3
 ALL_PROCESSES = [p.name for p in managed_processes.values() if (type(p) is not DaemonProcess) and p.enabled and (p.name not in ['updated', 'pandad'])]
 
 
@@ -54,9 +53,6 @@ class TestManager(unittest.TestCase):
         # TODO: make Qt UI exit gracefully
         continue
 
-      # Make sure the process is actually dead
-      managed_processes[p].stop()
-
       # TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code
       exit_codes = [0, 1]
       if managed_processes[p].sigkill:
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 1f1c661c8b..3e9738d864 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -65,22 +65,14 @@ common_model = lenv.Object(common_src)
 if use_thneed and arch == "larch64":
   fn = File("models/supercombo").abspath
   compiler = lenv.Program('thneed/compile', ["thneed/compile.cc"]+common_model, LIBS=libs)
-  cmd = f"cd {Dir('.').abspath} && {compiler[0].abspath} --in {fn}.dlc --out {fn}_badweights.thneed --binary --optimize"
+  cmd = f"cd {Dir('.').abspath} && {compiler[0].abspath} --in {fn}.dlc --out {fn}.thneed --binary --optimize"
 
   lib_paths = ':'.join(Dir(p).abspath for p in lenv["LIBPATH"])
   kernel_path = os.path.join(Dir('.').abspath, "thneed", "kernels")
   cenv = Environment(ENV={'LD_LIBRARY_PATH': f"{lib_paths}:{lenv['ENV']['LD_LIBRARY_PATH']}", 'KERNEL_PATH': kernel_path})
 
   kernels = [os.path.join(kernel_path, x) for x in os.listdir(kernel_path) if x.endswith(".cl")]
-  cenv.Command(fn + "_badweights.thneed", [fn + ".dlc", kernels, compiler], cmd)
-
-  from selfdrive.modeld.thneed.weights_fixup import weights_fixup
-  def weights_fixup_action(target, source, env):
-    weights_fixup(target[0].abspath, source[0].abspath, source[1].abspath)
-
-  env = Environment(BUILDERS = {'WeightFixup' : Builder(action = weights_fixup_action)})
-  env.WeightFixup(target=fn + ".thneed", source=[fn+"_badweights.thneed", fn+".dlc"])
-
+  cenv.Command(fn + ".thneed", [fn + ".dlc", kernels, compiler], cmd)
 
 lenv.Program('_dmonitoringmodeld', [
     "dmonitoringmodeld.cc",
diff --git a/selfdrive/modeld/dmonitoringmodeld.cc b/selfdrive/modeld/dmonitoringmodeld.cc
index 68c49572e6..cde13a9bee 100644
--- a/selfdrive/modeld/dmonitoringmodeld.cc
+++ b/selfdrive/modeld/dmonitoringmodeld.cc
@@ -12,7 +12,7 @@
 ExitHandler do_exit;
 
 void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) {
-  PubMaster pm({"driverState"});
+  PubMaster pm({"driverStateV2"});
   SubMaster sm({"liveCalibration"});
   float calib[CALIB_LEN] = {0};
   double last = 0;
@@ -31,11 +31,11 @@ void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) {
     }
 
     double t1 = millis_since_boot();
-    DMonitoringResult res = dmonitoring_eval_frame(&model, buf->addr, buf->width, buf->height, buf->stride, buf->uv_offset, calib);
+    DMonitoringModelResult model_res = dmonitoring_eval_frame(&model, buf->addr, buf->width, buf->height, buf->stride, buf->uv_offset, calib);
     double t2 = millis_since_boot();
 
     // send dm packet
-    dmonitoring_publish(pm, extra.frame_id, res, (t2 - t1) / 1000.0, model.output);
+    dmonitoring_publish(pm, extra.frame_id, model_res, (t2 - t1) / 1000.0, model.output);
 
     //printf("dmonitoring process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last);
     last = t1;
diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc
index 10cc2fe56e..0aac9b3c4a 100644
--- a/selfdrive/modeld/modeld.cc
+++ b/selfdrive/modeld/modeld.cc
@@ -11,7 +11,7 @@
 #include "common/params.h"
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/modeld/models/driving.h"
 
 ExitHandler do_exit;
diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc
index e134ad3a5a..e7e6d46612 100644
--- a/selfdrive/modeld/models/dmonitoring.cc
+++ b/selfdrive/modeld/models/dmonitoring.cc
@@ -6,12 +6,12 @@
 #include "common/modeldata.h"
 #include "common/params.h"
 #include "common/timing.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 #include "selfdrive/modeld/models/dmonitoring.h"
 
-constexpr int MODEL_WIDTH = 320;
-constexpr int MODEL_HEIGHT = 640;
+constexpr int MODEL_WIDTH = 1440;
+constexpr int MODEL_HEIGHT = 960;
 
 template <class T>
 static inline T *get_buffer(std::vector<T> &buf, const size_t size) {
@@ -19,199 +19,114 @@ static inline T *get_buffer(std::vector<T> &buf, const size_t size) {
   return buf.data();
 }
 
-static inline void init_yuv_buf(std::vector<uint8_t> &buf, const int width, int height) {
-  uint8_t *y = get_buffer(buf, width * height * 3 / 2);
-  uint8_t *u = y + width * height;
-  uint8_t *v = u + (width / 2) * (height / 2);
-
-  // needed on comma two to make the padded border black
-  // equivalent to RGB(0,0,0) in YUV space
-  memset(y, 16, width * height);
-  memset(u, 128, (width / 2) * (height / 2));
-  memset(v, 128, (width / 2) * (height / 2));
-}
-
 void dmonitoring_init(DMonitoringModelState* s) {
-  s->is_rhd = Params().getBool("IsRHD");
-  for (int x = 0; x < std::size(s->tensor); ++x) {
-    s->tensor[x] = (x - 128.f) * 0.0078125f;
-  }
-  init_yuv_buf(s->resized_buf, MODEL_WIDTH, MODEL_HEIGHT);
 
 #ifdef USE_ONNX_MODEL
-  s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME);
+  s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, false, true);
 #else
-  s->m = new SNPEModel("models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME);
+  s->m = new SNPEModel("models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, false, true);
 #endif
 
   s->m->addCalib(s->calib, CALIB_LEN);
 }
 
-static inline auto get_yuv_buf(std::vector<uint8_t> &buf, const int width, int height) {
-  uint8_t *y = get_buffer(buf, width * height * 3 / 2);
-  uint8_t *u = y + width * height;
-  uint8_t *v = u + (width /2) * (height / 2);
-  return std::make_tuple(y, u, v);
+void parse_driver_data(DriverStateResult &ds_res, const DMonitoringModelState* s, int out_idx_offset) {
+  for (int i = 0; i < 3; ++i) {
+    ds_res.face_orientation[i] = s->output[out_idx_offset+i] * REG_SCALE;
+    ds_res.face_orientation_std[i] = exp(s->output[out_idx_offset+6+i]);
+  }
+  for (int i = 0; i < 2; ++i) {
+    ds_res.face_position[i] = s->output[out_idx_offset+3+i] * REG_SCALE;
+    ds_res.face_position_std[i] = exp(s->output[out_idx_offset+9+i]);
+  }
+  for (int i = 0; i < 4; ++i) {
+    ds_res.ready_prob[i] = sigmoid(s->output[out_idx_offset+35+i]);
+  }
+  for (int i = 0; i < 2; ++i) {
+    ds_res.not_ready_prob[i] = sigmoid(s->output[out_idx_offset+39+i]);
+  }
+  ds_res.face_prob = sigmoid(s->output[out_idx_offset+12]);
+  ds_res.left_eye_prob = sigmoid(s->output[out_idx_offset+21]);
+  ds_res.right_eye_prob = sigmoid(s->output[out_idx_offset+30]);
+  ds_res.left_blink_prob = sigmoid(s->output[out_idx_offset+31]);
+  ds_res.right_blink_prob = sigmoid(s->output[out_idx_offset+32]);
+  ds_res.sunglasses_prob = sigmoid(s->output[out_idx_offset+33]);
+  ds_res.occluded_prob = sigmoid(s->output[out_idx_offset+34]);
 }
 
-struct Rect {int x, y, w, h;};
-void crop_nv12_to_yuv(uint8_t *raw, int stride, int uv_offset, uint8_t *y, uint8_t *u, uint8_t *v, const Rect &rect) {
-  uint8_t *raw_y = raw;
-  uint8_t *raw_uv = raw_y + uv_offset;
-  for (int r = 0; r < rect.h / 2; r++) {
-    memcpy(y + 2 * r * rect.w, raw_y + (2 * r + rect.y) * stride + rect.x, rect.w);
-    memcpy(y + (2 * r + 1) * rect.w, raw_y + (2 * r + rect.y + 1) * stride + rect.x, rect.w);
-    for (int h = 0; h < rect.w / 2; h++) {
-      u[r * rect.w/2 + h] = raw_uv[(r + (rect.y/2)) * stride + (rect.x/2 + h)*2];
-      v[r * rect.w/2 + h] = raw_uv[(r + (rect.y/2)) * stride + (rect.x/2 + h)*2 + 1];
-    }
-  }
+void fill_driver_data(cereal::DriverStateV2::DriverData::Builder ddata, const DriverStateResult &ds_res) {
+  ddata.setFaceOrientation(ds_res.face_orientation);
+  ddata.setFaceOrientationStd(ds_res.face_orientation_std);
+  ddata.setFacePosition(ds_res.face_position);
+  ddata.setFacePositionStd(ds_res.face_position_std);
+  ddata.setFaceProb(ds_res.face_prob);
+  ddata.setLeftEyeProb(ds_res.left_eye_prob);
+  ddata.setRightEyeProb(ds_res.right_eye_prob);
+  ddata.setLeftBlinkProb(ds_res.left_blink_prob);
+  ddata.setRightBlinkProb(ds_res.right_blink_prob);
+  ddata.setSunglassesProb(ds_res.sunglasses_prob);
+  ddata.setOccludedProb(ds_res.occluded_prob);
+  ddata.setReadyProb(ds_res.ready_prob);
+  ddata.setNotReadyProb(ds_res.not_ready_prob);
 }
 
-DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib) {
-  const int cropped_height = tici_dm_crop::width / 1.33;
-  Rect crop_rect = {width / 2 - tici_dm_crop::width / 2 + tici_dm_crop::x_offset,
-                height / 2 - cropped_height / 2 + tici_dm_crop::y_offset,
-                cropped_height / 2,
-                cropped_height};
-  if (!s->is_rhd) {
-    crop_rect.x += tici_dm_crop::width - crop_rect.w;
-  }
+DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib) {
+  int v_off = height - MODEL_HEIGHT;
+  int h_off = (width - MODEL_WIDTH) / 2;
+  int yuv_buf_len = MODEL_WIDTH * MODEL_HEIGHT;
 
-  int resized_width = MODEL_WIDTH;
-  int resized_height = MODEL_HEIGHT;
-
-  auto [cropped_y, cropped_u, cropped_v] = get_yuv_buf(s->cropped_buf, crop_rect.w, crop_rect.h);
-  if (!s->is_rhd) {
-    crop_nv12_to_yuv((uint8_t *)stream_buf, stride, uv_offset, cropped_y, cropped_u, cropped_v, crop_rect);
-  } else {
-    auto [mirror_y, mirror_u, mirror_v] = get_yuv_buf(s->premirror_cropped_buf, crop_rect.w, crop_rect.h);
-    crop_nv12_to_yuv((uint8_t *)stream_buf, stride, uv_offset, mirror_y, mirror_u, mirror_v, crop_rect);
-    libyuv::I420Mirror(mirror_y, crop_rect.w,
-                       mirror_u, crop_rect.w / 2,
-                       mirror_v, crop_rect.w / 2,
-                       cropped_y, crop_rect.w,
-                       cropped_u, crop_rect.w / 2,
-                       cropped_v, crop_rect.w / 2,
-                       crop_rect.w, crop_rect.h);
-  }
+  uint8_t *raw_buf = (uint8_t *) stream_buf;
+  // vertical crop free
+  uint8_t *raw_y_start = raw_buf + stride * v_off;
 
-  auto [resized_buf, resized_u, resized_v] = get_yuv_buf(s->resized_buf, resized_width, resized_height);
-  uint8_t *resized_y = resized_buf;
-  libyuv::FilterMode mode = libyuv::FilterModeEnum::kFilterBilinear;
-  libyuv::I420Scale(cropped_y, crop_rect.w,
-                  cropped_u, crop_rect.w / 2,
-                  cropped_v, crop_rect.w / 2,
-                  crop_rect.w, crop_rect.h,
-                  resized_y, resized_width,
-                  resized_u, resized_width / 2,
-                  resized_v, resized_width / 2,
-                  resized_width, resized_height,
-                  mode);
-
-
-  int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v
-  float *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len);
-  // one shot conversion, O(n) anyway
-  // yuvframe2tensor, normalize
-  for (int r = 0; r < MODEL_HEIGHT/2; r++) {
-    for (int c = 0; c < MODEL_WIDTH/2; c++) {
-      // Y_ul
-      net_input_buf[(r*MODEL_WIDTH/2) + c + (0*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r)*resized_width + 2*c]];
-      // Y_dl
-      net_input_buf[(r*MODEL_WIDTH/2) + c + (1*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r+1)*resized_width + 2*c]];
-      // Y_ur
-      net_input_buf[(r*MODEL_WIDTH/2) + c + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r)*resized_width + 2*c+1]];
-      // Y_dr
-      net_input_buf[(r*MODEL_WIDTH/2) + c + (3*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r+1)*resized_width + 2*c+1]];
-      // U
-      net_input_buf[(r*MODEL_WIDTH/2) + c + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_u[r*resized_width/2 + c]];
-      // V
-      net_input_buf[(r*MODEL_WIDTH/2) + c + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_v[r*resized_width/2 + c]];
-    }
-  }
-
-  //printf("preprocess completed. %d \n", yuv_buf_len);
-  //FILE *dump_yuv_file = fopen("/tmp/rawdump.yuv", "wb");
-  //fwrite(resized_buf, yuv_buf_len, sizeof(uint8_t), dump_yuv_file);
-  //fclose(dump_yuv_file);
+  uint8_t *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len);
 
-  // *** testing ***
-  // idat = np.frombuffer(open("/tmp/inputdump.yuv", "rb").read(), np.float32).reshape(6, 160, 320)
-  // imshow(cv2.cvtColor(tensor_to_frames(idat[None]/0.0078125+128)[0], cv2.COLOR_YUV2RGB_I420))
+  // here makes a uint8 copy
+  for (int r = 0; r < MODEL_HEIGHT; ++r) {
+    memcpy(net_input_buf + r * MODEL_WIDTH, raw_y_start + r * stride + h_off, MODEL_WIDTH);
+  }
 
-  //FILE *dump_yuv_file2 = fopen("/tmp/inputdump.yuv", "wb");
-  //fwrite(net_input_buf, MODEL_HEIGHT*MODEL_WIDTH*3/2, sizeof(float), dump_yuv_file2);
-  //fclose(dump_yuv_file2);
+  // printf("preprocess completed. %d \n", yuv_buf_len);
+  // FILE *dump_yuv_file = fopen("/tmp/rawdump.yuv", "wb");
+  // fwrite(net_input_buf, yuv_buf_len, sizeof(uint8_t), dump_yuv_file);
+  // fclose(dump_yuv_file);
 
   double t1 = millis_since_boot();
-  s->m->addImage(net_input_buf, yuv_buf_len);
+  s->m->addImage((float*)net_input_buf, yuv_buf_len / 4);
   for (int i = 0; i < CALIB_LEN; i++) {
     s->calib[i] = calib[i];
   }
   s->m->execute();
   double t2 = millis_since_boot();
 
-  DMonitoringResult ret = {0};
-  for (int i = 0; i < 3; ++i) {
-    ret.face_orientation[i] = s->output[i] * REG_SCALE;
-    ret.face_orientation_meta[i] = exp(s->output[6 + i]);
-  }
-  for (int i = 0; i < 2; ++i) {
-    ret.face_position[i] = s->output[3 + i] * REG_SCALE;
-    ret.face_position_meta[i] = exp(s->output[9 + i]);
-  }
-  for (int i = 0; i < 4; ++i) {
-    ret.ready_prob[i] = sigmoid(s->output[39 + i]);
-  }
-  for (int i = 0; i < 2; ++i) {
-    ret.not_ready_prob[i] = sigmoid(s->output[43 + i]);
-  }
-  ret.face_prob = sigmoid(s->output[12]);
-  ret.left_eye_prob = sigmoid(s->output[21]);
-  ret.right_eye_prob = sigmoid(s->output[30]);
-  ret.left_blink_prob = sigmoid(s->output[31]);
-  ret.right_blink_prob = sigmoid(s->output[32]);
-  ret.sg_prob = sigmoid(s->output[33]);
-  ret.poor_vision = sigmoid(s->output[34]);
-  ret.partial_face = sigmoid(s->output[35]);
-  ret.distracted_pose = sigmoid(s->output[36]);
-  ret.distracted_eyes = sigmoid(s->output[37]);
-  ret.occluded_prob = sigmoid(s->output[38]);
-  ret.dsp_execution_time = (t2 - t1) / 1000.;
-  return ret;
+  DMonitoringModelResult model_res = {0};
+  parse_driver_data(model_res.driver_state_lhd, s, 0);
+  parse_driver_data(model_res.driver_state_rhd, s, 41);
+  model_res.poor_vision_prob = sigmoid(s->output[82]);
+  model_res.wheel_on_right_prob = sigmoid(s->output[83]);
+  model_res.dsp_execution_time = (t2 - t1) / 1000.;
+
+  return model_res;
 }
 
-void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time, kj::ArrayPtr<const float> raw_pred) {
+void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringModelResult &model_res, float execution_time, kj::ArrayPtr<const float> raw_pred) {
   // make msg
   MessageBuilder msg;
-  auto framed = msg.initEvent().initDriverState();
+  auto framed = msg.initEvent().initDriverStateV2();
   framed.setFrameId(frame_id);
   framed.setModelExecutionTime(execution_time);
-  framed.setDspExecutionTime(res.dsp_execution_time);
-
-  framed.setFaceOrientation(res.face_orientation);
-  framed.setFaceOrientationStd(res.face_orientation_meta);
-  framed.setFacePosition(res.face_position);
-  framed.setFacePositionStd(res.face_position_meta);
-  framed.setFaceProb(res.face_prob);
-  framed.setLeftEyeProb(res.left_eye_prob);
-  framed.setRightEyeProb(res.right_eye_prob);
-  framed.setLeftBlinkProb(res.left_blink_prob);
-  framed.setRightBlinkProb(res.right_blink_prob);
-  framed.setSunglassesProb(res.sg_prob);
-  framed.setPoorVision(res.poor_vision);
-  framed.setPartialFace(res.partial_face);
-  framed.setDistractedPose(res.distracted_pose);
-  framed.setDistractedEyes(res.distracted_eyes);
-  framed.setOccludedProb(res.occluded_prob);
-  framed.setReadyProb(res.ready_prob);
-  framed.setNotReadyProb(res.not_ready_prob);
+  framed.setDspExecutionTime(model_res.dsp_execution_time);
+
+  framed.setPoorVisionProb(model_res.poor_vision_prob);
+  framed.setWheelOnRightProb(model_res.wheel_on_right_prob);
+  fill_driver_data(framed.initLeftDriverData(), model_res.driver_state_lhd);
+  fill_driver_data(framed.initRightDriverData(), model_res.driver_state_rhd);
+
   if (send_raw_pred) {
     framed.setRawPredictions(raw_pred.asBytes());
   }
 
-  pm.send("driverState", msg);
+  pm.send("driverStateV2", msg);
 }
 
 void dmonitoring_free(DMonitoringModelState* s) {
diff --git a/selfdrive/modeld/models/dmonitoring.h b/selfdrive/modeld/models/dmonitoring.h
index a1be91e3bb..ae2bf05394 100644
--- a/selfdrive/modeld/models/dmonitoring.h
+++ b/selfdrive/modeld/models/dmonitoring.h
@@ -9,44 +9,42 @@
 
 #define CALIB_LEN 3
 
-#define OUTPUT_SIZE 45
+#define OUTPUT_SIZE 84
 #define REG_SCALE 0.25f
 
-typedef struct DMonitoringResult {
+typedef struct DriverStateResult {
   float face_orientation[3];
-  float face_orientation_meta[3];
+  float face_orientation_std[3];
   float face_position[2];
-  float face_position_meta[2];
+  float face_position_std[2];
   float face_prob;
   float left_eye_prob;
   float right_eye_prob;
   float left_blink_prob;
   float right_blink_prob;
-  float sg_prob;
-  float poor_vision;
-  float partial_face;
-  float distracted_pose;
-  float distracted_eyes;
+  float sunglasses_prob;
   float occluded_prob;
   float ready_prob[4];
   float not_ready_prob[2];
+} DriverStateResult;
+
+typedef struct DMonitoringModelResult {
+  DriverStateResult driver_state_lhd;
+  DriverStateResult driver_state_rhd;
+  float poor_vision_prob;
+  float wheel_on_right_prob;
   float dsp_execution_time;
-} DMonitoringResult;
+} DMonitoringModelResult;
 
 typedef struct DMonitoringModelState {
   RunModel *m;
-  bool is_rhd;
   float output[OUTPUT_SIZE];
-  std::vector<uint8_t> resized_buf;
-  std::vector<uint8_t> cropped_buf;
-  std::vector<uint8_t> premirror_cropped_buf;
-  std::vector<float> net_input_buf;
+  std::vector<uint8_t> net_input_buf;
   float calib[CALIB_LEN];
-  float tensor[UINT8_MAX + 1];
 } DMonitoringModelState;
 
 void dmonitoring_init(DMonitoringModelState* s);
-DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib);
-void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time, kj::ArrayPtr<const float> raw_pred);
+DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib);
+void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringModelResult &model_res, float execution_time, kj::ArrayPtr<const float> raw_pred);
 void dmonitoring_free(DMonitoringModelState* s);
 
diff --git a/selfdrive/modeld/models/dmonitoring_model.current b/selfdrive/modeld/models/dmonitoring_model.current
index 74bcfe17a4..d1e7d1136f 100644
--- a/selfdrive/modeld/models/dmonitoring_model.current
+++ b/selfdrive/modeld/models/dmonitoring_model.current
@@ -1,2 +1,2 @@
-a8236e30-5bee-4689-8ea0-fc102e2770e5
-d508c79bae1c1c451f3af3e2bc231ce33678cb43
\ No newline at end of file
+ee8f830b-d6a1-42ef-9b1b-50fd0b2faae4
+cac8f7b69d420506707ff7a19d573d5011ef2533
\ No newline at end of file
diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx
index 51b0d1ed76..4cbd6bb7dd 100644
--- a/selfdrive/modeld/models/dmonitoring_model.onnx
+++ b/selfdrive/modeld/models/dmonitoring_model.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:00731ebd06fcff7e5837607b91bc56cad3bed5d7ee89052c911c981e8f665308
-size 3679940
+oid sha256:932e589e5cce66e5d9f48492426a33c74cd7f352a870d3ddafcede3e9156f30d
+size 9157561
diff --git a/selfdrive/modeld/models/dmonitoring_model_q.dlc b/selfdrive/modeld/models/dmonitoring_model_q.dlc
index 2e54f7ee4b..94632030ed 100644
--- a/selfdrive/modeld/models/dmonitoring_model_q.dlc
+++ b/selfdrive/modeld/models/dmonitoring_model_q.dlc
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:667df5e925570a0f6a33dfb890e186a1f13f101885b46db47ec45305737dffb6
-size 1145921
+oid sha256:3587976a8b7e3be274fa86c2e2233e3e464cad713f5077c4394cd1ddd3c7c6c5
+size 2636965
diff --git a/selfdrive/modeld/runners/onnx_runner.py b/selfdrive/modeld/runners/onnx_runner.py
index e282a66b66..ac7cc68814 100755
--- a/selfdrive/modeld/runners/onnx_runner.py
+++ b/selfdrive/modeld/runners/onnx_runner.py
@@ -9,20 +9,24 @@ os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
 
 import onnxruntime as ort # pylint: disable=import-error
 
-def read(sz):
+def read(sz, tf8=False):
   dd = []
   gt = 0
-  while gt < sz * 4:
-    st = os.read(0, sz * 4 - gt)
+  szof = 1 if tf8 else 4
+  while gt < sz * szof:
+    st = os.read(0, sz * szof - gt)
     assert(len(st) > 0)
     dd.append(st)
     gt += len(st)
-  return np.frombuffer(b''.join(dd), dtype=np.float32)
+  r = np.frombuffer(b''.join(dd), dtype=np.uint8 if tf8 else np.float32).astype(np.float32)
+  if tf8:
+    r = r / 255.
+  return r
 
 def write(d):
   os.write(1, d.tobytes())
 
-def run_loop(m):
+def run_loop(m, tf8_input=False):
   ishapes = [[1]+ii.shape[1:] for ii in m.get_inputs()]
   keys = [x.name for x in m.get_inputs()]
 
@@ -33,10 +37,10 @@ def run_loop(m):
   print("ready to run onnx model", keys, ishapes, file=sys.stderr)
   while 1:
     inputs = []
-    for shp in ishapes:
+    for k, shp in zip(keys, ishapes):
       ts = np.product(shp)
       #print("reshaping %s with offset %d" % (str(shp), offset), file=sys.stderr)
-      inputs.append(read(ts).reshape(shp))
+      inputs.append(read(ts, (k=='input_img' and tf8_input)).reshape(shp))
     ret = m.run(None, dict(zip(keys, inputs)))
     #print(ret, file=sys.stderr)
     for r in ret:
@@ -44,6 +48,7 @@ def run_loop(m):
 
 
 if __name__ == "__main__":
+  print(sys.argv, file=sys.stderr)
   print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr)
   options = ort.SessionOptions()
   options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
@@ -63,6 +68,6 @@ if __name__ == "__main__":
     print("Onnx selected provider: ", [provider], file=sys.stderr)
     ort_session = ort.InferenceSession(sys.argv[1], options, providers=[provider])
     print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
-    run_loop(ort_session)
+    run_loop(ort_session, tf8_input=("--use_tf8" in sys.argv))
   except KeyboardInterrupt:
     pass
diff --git a/selfdrive/modeld/runners/onnxmodel.cc b/selfdrive/modeld/runners/onnxmodel.cc
index 9b4d6fd015..1f9f551abc 100644
--- a/selfdrive/modeld/runners/onnxmodel.cc
+++ b/selfdrive/modeld/runners/onnxmodel.cc
@@ -14,12 +14,13 @@
 #include "common/swaglog.h"
 #include "common/util.h"
 
-ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int runtime, bool _use_extra) {
+ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int runtime, bool _use_extra, bool _use_tf8) {
   LOGD("loading model %s", path);
 
   output = _output;
   output_size = _output_size;
   use_extra = _use_extra;
+  use_tf8 = _use_tf8;
 
   int err = pipe(pipein);
   assert(err == 0);
@@ -28,11 +29,12 @@ ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int
 
   std::string exe_dir = util::dir_name(util::readlink("/proc/self/exe"));
   std::string onnx_runner = exe_dir + "/runners/onnx_runner.py";
+  std::string tf8_arg = use_tf8 ? "--use_tf8" : "";
 
   proc_pid = fork();
   if (proc_pid == 0) {
     LOGD("spawning onnx process %s", onnx_runner.c_str());
-    char *argv[] = {(char*)onnx_runner.c_str(), (char*)path, nullptr};
+    char *argv[] = {(char*)onnx_runner.c_str(), (char*)path, (char*)tf8_arg.c_str(), nullptr};
     dup2(pipein[0], 0);
     dup2(pipeout[1], 1);
     close(pipein[0]);
diff --git a/selfdrive/modeld/runners/onnxmodel.h b/selfdrive/modeld/runners/onnxmodel.h
index 567d81d29e..4ac599e2af 100644
--- a/selfdrive/modeld/runners/onnxmodel.h
+++ b/selfdrive/modeld/runners/onnxmodel.h
@@ -6,7 +6,7 @@
 
 class ONNXModel : public RunModel {
 public:
-  ONNXModel(const char *path, float *output, size_t output_size, int runtime, bool use_extra = false);
+  ONNXModel(const char *path, float *output, size_t output_size, int runtime, bool use_extra = false, bool _use_tf8 = false);
 	~ONNXModel();
   void addRecurrent(float *state, int state_size);
   void addDesire(float *state, int state_size);
@@ -31,6 +31,7 @@ private:
   int calib_size;
   float *image_input_buf = NULL;
   int image_buf_size;
+  bool use_tf8;
   float *extra_input_buf = NULL;
   int extra_buf_size;
   bool use_extra;
diff --git a/selfdrive/modeld/runners/snpemodel.cc b/selfdrive/modeld/runners/snpemodel.cc
index 1861494d59..4d6917e894 100644
--- a/selfdrive/modeld/runners/snpemodel.cc
+++ b/selfdrive/modeld/runners/snpemodel.cc
@@ -14,10 +14,11 @@ void PrintErrorStringAndExit() {
   std::exit(EXIT_FAILURE);
 }
 
-SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra) {
+SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra, bool luse_tf8) {
   output = loutput;
   output_size = loutput_size;
   use_extra = luse_extra;
+  use_tf8 = luse_tf8;
 #ifdef QCOM2
   if (runtime==USE_GPU_RUNTIME) {
     Runtime = zdl::DlSystem::Runtime_t::GPU;
@@ -70,14 +71,16 @@ SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int
   printf("model: %s -> %s\n", input_tensor_name, output_tensor_name);
 
   zdl::DlSystem::UserBufferEncodingFloat userBufferEncodingFloat;
+  zdl::DlSystem::UserBufferEncodingTf8 userBufferEncodingTf8(0, 1./255); // network takes 0-1
   zdl::DlSystem::IUserBufferFactory& ubFactory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
+  size_t size_of_input = use_tf8 ? sizeof(uint8_t) : sizeof(float);
 
   // create input buffer
   {
     const auto &inputDims_opt = snpe->getInputDimensions(input_tensor_name);
     const zdl::DlSystem::TensorShape& bufferShape = *inputDims_opt;
     std::vector<size_t> strides(bufferShape.rank());
-    strides[strides.size() - 1] = sizeof(float);
+    strides[strides.size() - 1] = size_of_input;
     size_t product = 1;
     for (size_t i = 0; i < bufferShape.rank(); i++) product *= bufferShape[i];
     size_t stride = strides[strides.size() - 1];
@@ -86,7 +89,10 @@ SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int
       strides[i-1] = stride;
     }
     printf("input product is %lu\n", product);
-    inputBuffer = ubFactory.createUserBuffer(NULL, product*sizeof(float), strides, &userBufferEncodingFloat);
+    inputBuffer = ubFactory.createUserBuffer(NULL,
+                                             product*size_of_input,
+                                             strides,
+                                             use_tf8 ? (zdl::DlSystem::UserBufferEncoding*)&userBufferEncodingTf8 : (zdl::DlSystem::UserBufferEncoding*)&userBufferEncodingFloat);
 
     inputMap.add(input_tensor_name, inputBuffer.get());
   }
diff --git a/selfdrive/modeld/runners/snpemodel.h b/selfdrive/modeld/runners/snpemodel.h
index ba51fdced0..ed9d58d1e1 100644
--- a/selfdrive/modeld/runners/snpemodel.h
+++ b/selfdrive/modeld/runners/snpemodel.h
@@ -23,7 +23,7 @@
 
 class SNPEModel : public RunModel {
 public:
-  SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra = false);
+  SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra = false, bool use_tf8 = false);
   void addRecurrent(float *state, int state_size);
   void addTrafficConvention(float *state, int state_size);
   void addCalib(float *state, int state_size);
@@ -52,6 +52,7 @@ private:
   std::unique_ptr<zdl::DlSystem::IUserBuffer> inputBuffer;
   float *input;
   size_t input_size;
+  bool use_tf8;
 
   // snpe output stuff
   zdl::DlSystem::UserBufferMap outputMap;
diff --git a/selfdrive/modeld/thneed/compile.cc b/selfdrive/modeld/thneed/compile.cc
index 8698ce482e..f76c63b2b9 100644
--- a/selfdrive/modeld/thneed/compile.cc
+++ b/selfdrive/modeld/thneed/compile.cc
@@ -3,7 +3,7 @@
 
 #include "selfdrive/modeld/runners/snpemodel.h"
 #include "selfdrive/modeld/thneed/thneed.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 #define TEMPORAL_SIZE 512
 #define DESIRE_LEN 8
diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index 9a3196030b..c31e9da43b 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -18,7 +18,7 @@ def dmonitoringd_thread(sm=None, pm=None):
     pm = messaging.PubMaster(['driverMonitoringState'])
 
   if sm is None:
-    sm = messaging.SubMaster(['driverState', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverState'])
+    sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverStateV2'])
 
   driver_status = DriverStatus(rhd=Params().get_bool("IsRHD"))
 
@@ -34,7 +34,7 @@ def dmonitoringd_thread(sm=None, pm=None):
   while True:
     sm.update()
 
-    if not sm.updated['driverState']:
+    if not sm.updated['driverStateV2']:
       continue
 
     # Get interaction
@@ -51,7 +51,7 @@ def dmonitoringd_thread(sm=None, pm=None):
 
     # Get data from dmonitoringmodeld
     events = Events()
-    driver_status.update_states(sm['driverState'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled)
+    driver_status.update_states(sm['driverStateV2'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled)
 
     # Block engaging after max number of distrations
     if driver_status.terminal_alert_cnt >= driver_status.settings._MAX_TERMINAL_ALERTS or \
@@ -79,6 +79,7 @@ def dmonitoringd_thread(sm=None, pm=None):
       "isLowStd": driver_status.pose.low_std,
       "hiStdCount": driver_status.hi_stds,
       "isActiveMode": driver_status.active_monitoring_mode,
+      "isRHD": driver_status.wheel_on_right,
     }
     pm.send('driverMonitoringState', dat)
 
diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py
index 662e0d76ce..48d4303aa5 100644
--- a/selfdrive/monitoring/driver_monitor.py
+++ b/selfdrive/monitoring/driver_monitor.py
@@ -5,6 +5,7 @@ from common.numpy_fast import interp
 from common.realtime import DT_DMON
 from common.filter_simple import FirstOrderFilter
 from common.stat_live import RunningStatFilter
+from common.transformations.camera import tici_d_frame_size
 
 EventName = car.CarEvent.EventName
 
@@ -25,33 +26,30 @@ class DRIVER_MONITOR_SETTINGS():
     self._DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
     self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
 
-    self._FACE_THRESHOLD = 0.5
-    self._PARTIAL_FACE_THRESHOLD = 0.8
+    self._FACE_THRESHOLD = 0.7
     self._EYE_THRESHOLD = 0.65
-    self._SG_THRESHOLD = 0.925
-    self._BLINK_THRESHOLD = 0.8
-    self._BLINK_THRESHOLD_SLACK = 0.9
-    self._BLINK_THRESHOLD_STRICT = self._BLINK_THRESHOLD
+    self._SG_THRESHOLD = 0.9
+    self._BLINK_THRESHOLD = 0.87
 
     self._EE_THRESH11 = 0.75
     self._EE_THRESH12 = 3.25
     self._EE_THRESH21 = 0.01
     self._EE_THRESH22 = 0.35
 
-    self._POSE_PITCH_THRESHOLD = 0.3237
-    self._POSE_PITCH_THRESHOLD_SLACK = 0.3657
+    self._POSE_PITCH_THRESHOLD = 0.3133
+    self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
     self._POSE_PITCH_THRESHOLD_STRICT = self._POSE_PITCH_THRESHOLD
-    self._POSE_YAW_THRESHOLD = 0.3109
-    self._POSE_YAW_THRESHOLD_SLACK = 0.4294
+    self._POSE_YAW_THRESHOLD = 0.4020
+    self._POSE_YAW_THRESHOLD_SLACK = 0.5042
     self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
-    self._PITCH_NATURAL_OFFSET = 0.057 # initial value before offset is learned
-    self._YAW_NATURAL_OFFSET = 0.11 # initial value before offset is learned
+    self._PITCH_NATURAL_OFFSET = 0.029 # initial value before offset is learned
+    self._YAW_NATURAL_OFFSET = 0.097 # initial value before offset is learned
     self._PITCH_MAX_OFFSET = 0.124
     self._PITCH_MIN_OFFSET = -0.0881
     self._YAW_MAX_OFFSET = 0.289
     self._YAW_MIN_OFFSET = -0.0246
 
-    self._POSESTD_THRESHOLD = 0.315
+    self._POSESTD_THRESHOLD = 0.3
     self._HI_STD_FALLBACK_TIME = int(10  / self._DT_DMON)  # fall back to wheel touch if model is uncertain for 10s
     self._DISTRACTED_FILTER_TS = 0.25  # 0.6Hz
 
@@ -59,6 +57,9 @@ class DRIVER_MONITOR_SETTINGS():
     self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON)  # valid data counts before calibration completes, 1min cumulative
     self._POSE_OFFSET_MAX_COUNT = int(360 / self._DT_DMON)  # stop deweighting new data after 6 min, aka "short term memory"
 
+    self._WHEELPOS_THRESHOLD = 0.5
+    self._WHEELPOS_FILTER_MIN_COUNT = int(5 / self._DT_DMON)
+
     self._RECOVERY_FACTOR_MAX = 5.  # relative to minus step change
     self._RECOVERY_FACTOR_MIN = 1.25  # relative to minus step change
 
@@ -66,9 +67,9 @@ class DRIVER_MONITOR_SETTINGS():
     self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON)  # not allowed to engage after 30s of terminal alerts
 
 
-# model output refers to center of cropped image, so need to apply the x displacement offset
-RESIZED_FOCAL = 320.0
-H, W, FULL_W = 320, 160, 426
+# model output refers to center of undistorted+leveled image
+EFL = 598.0 # focal length in K
+W, H = tici_d_frame_size # corrected image has same size as raw
 
 class DistractedType:
   NOT_DISTRACTED = 0
@@ -76,22 +77,22 @@ class DistractedType:
   DISTRACTED_BLINK = 2
   DISTRACTED_E2E = 4
 
-def face_orientation_from_net(angles_desc, pos_desc, rpy_calib, is_rhd):
+def face_orientation_from_net(angles_desc, pos_desc, rpy_calib):
   # the output of these angles are in device frame
   # so from driver's perspective, pitch is up and yaw is right
 
   pitch_net, yaw_net, roll_net = angles_desc
 
-  face_pixel_position = ((pos_desc[0] + .5)*W - W + FULL_W, (pos_desc[1]+.5)*H)
-  yaw_focal_angle = atan2(face_pixel_position[0] - FULL_W//2, RESIZED_FOCAL)
-  pitch_focal_angle = atan2(face_pixel_position[1] - H//2, RESIZED_FOCAL)
+  face_pixel_position = ((pos_desc[0]+0.5)*W, (pos_desc[1]+0.5)*H)
+  yaw_focal_angle = atan2(face_pixel_position[0] - W//2, EFL)
+  pitch_focal_angle = atan2(face_pixel_position[1] - H//2, EFL)
 
   pitch = pitch_net + pitch_focal_angle
   yaw = -yaw_net + yaw_focal_angle
 
   # no calib for roll
   pitch -= rpy_calib[1]
-  yaw -= rpy_calib[2] * (1 - 2 * int(is_rhd))  # lhd -> -=, rhd -> +=
+  yaw -= rpy_calib[2]
   return roll_net, pitch, yaw
 
 class DriverPose():
@@ -112,7 +113,6 @@ class DriverBlink():
   def __init__(self):
     self.left_blink = 0.
     self.right_blink = 0.
-    self.cfactor = 1.
 
 class DriverStatus():
   def __init__(self, rhd=False, settings=DRIVER_MONITOR_SETTINGS()):
@@ -120,7 +120,7 @@ class DriverStatus():
     self.settings = settings
 
     # init driver status
-    self.is_rhd_region = rhd
+    self.wheelpos_learner = RunningStatFilter()
     self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT)
     self.pose_calibrated = False
     self.blink = DriverBlink()
@@ -137,8 +137,9 @@ class DriverStatus():
     self.distracted_types = []
     self.driver_distracted = False
     self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON)
+    self.wheel_on_right = False
+    self.rhd_toggled = rhd
     self.face_detected = False
-    self.face_partial = False
     self.terminal_alert_cnt = 0
     self.terminal_time = 0
     self.step_change = 0.
@@ -197,7 +198,7 @@ class DriverStatus():
        yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw:
       distracted_types.append(DistractedType.DISTRACTED_POSE)
 
-    if (self.blink.left_blink + self.blink.right_blink)*0.5 > self.settings._BLINK_THRESHOLD*self.blink.cfactor:
+    if (self.blink.left_blink + self.blink.right_blink)*0.5 > self.settings._BLINK_THRESHOLD:
       distracted_types.append(DistractedType.DISTRACTED_BLINK)
 
     if self.ee1_calibrated:
@@ -214,13 +215,7 @@ class DriverStatus():
     return distracted_types
 
   def set_policy(self, model_data, car_speed):
-    ep = min(model_data.meta.engagedProb, 0.8) / 0.8 # engaged prob
     bp = model_data.meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
-    # TODO: retune adaptive blink
-    self.blink.cfactor = interp(ep, [0, 0.5, 1],
-                                           [self.settings._BLINK_THRESHOLD_STRICT,
-                                            self.settings._BLINK_THRESHOLD,
-                                            self.settings._BLINK_THRESHOLD_SLACK]) / self.settings._BLINK_THRESHOLD
     k1 = max(-0.00156*((car_speed-16)**2)+0.6, 0.2)
     bp_normal = max(min(bp / k1, 0.5),0)
     self.pose.cfactor_pitch = interp(bp_normal, [0, 0.5],
@@ -231,28 +226,36 @@ class DriverStatus():
                                             self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD
 
   def update_states(self, driver_state, cal_rpy, car_speed, op_engaged):
-    if not all(len(x) > 0 for x in (driver_state.faceOrientation, driver_state.facePosition,
-                                    driver_state.faceOrientationStd, driver_state.facePositionStd,
-                                    driver_state.readyProb, driver_state.notReadyProb)):
+    rhd_pred = driver_state.wheelOnRightProb
+    if car_speed > 0.01:
+      self.wheelpos_learner.push_and_update(rhd_pred)
+    if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT:
+      self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
+    else:
+      self.wheel_on_right = rhd_pred > self.settings._WHEELPOS_THRESHOLD
+    driver_data = driver_state.rightDriverData if self.rhd_toggled else driver_state.leftDriverData
+    if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition,
+                                    driver_data.faceOrientationStd, driver_data.facePositionStd,
+                                    driver_data.readyProb, driver_data.notReadyProb)):
       return
 
-    self.face_partial = driver_state.partialFace > self.settings._PARTIAL_FACE_THRESHOLD
-    self.face_detected = driver_state.faceProb > self.settings._FACE_THRESHOLD or self.face_partial
-    self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_state.faceOrientation, driver_state.facePosition, cal_rpy, self.is_rhd_region)
-    self.pose.pitch_std = driver_state.faceOrientationStd[0]
-    self.pose.yaw_std = driver_state.faceOrientationStd[1]
-    # self.pose.roll_std = driver_state.faceOrientationStd[2]
+    self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD
+    self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_data.faceOrientation, driver_data.facePosition, cal_rpy)
+    if self.wheel_on_right:
+      self.pose.yaw *= -1
+    self.pose.pitch_std = driver_data.faceOrientationStd[0]
+    self.pose.yaw_std = driver_data.faceOrientationStd[1]
     model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
-    self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD and not self.face_partial
-    self.blink.left_blink = driver_state.leftBlinkProb * (driver_state.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_state.sunglassesProb < self.settings._SG_THRESHOLD)
-    self.blink.right_blink = driver_state.rightBlinkProb * (driver_state.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_state.sunglassesProb < self.settings._SG_THRESHOLD)
-    self.eev1 = driver_state.notReadyProb[1]
-    self.eev2 = driver_state.readyProb[0]
+    self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
+    self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
+    self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
+    self.eev1 = driver_data.notReadyProb[1]
+    self.eev2 = driver_data.readyProb[0]
 
     self.distracted_types = self._get_distracted_types()
     self.driver_distracted = (DistractedType.DISTRACTED_POSE in self.distracted_types or
                                             DistractedType.DISTRACTED_BLINK in self.distracted_types) and \
-                                          driver_state.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
+                                          driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
     self.driver_distraction_filter.update(self.driver_distracted)
 
     # update offseter
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index a84ed242ba..43b5e7747e 100755
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -17,19 +17,19 @@ INVISIBLE_SECONDS_TO_ORANGE = dm_settings._AWARENESS_TIME - dm_settings._AWARENE
 INVISIBLE_SECONDS_TO_RED = dm_settings._AWARENESS_TIME + 1
 
 def make_msg(face_detected, distracted=False, model_uncertain=False):
-  ds = log.DriverState.new_message()
-  ds.faceOrientation = [0., 0., 0.]
-  ds.facePosition = [0., 0.]
-  ds.faceProb = 1. * face_detected
-  ds.leftEyeProb = 1.
-  ds.rightEyeProb = 1.
-  ds.leftBlinkProb = 1. * distracted
-  ds.rightBlinkProb = 1. * distracted
-  ds.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
-  ds.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
+  ds = log.DriverStateV2.new_message()
+  ds.leftDriverData.faceOrientation = [0., 0., 0.]
+  ds.leftDriverData.facePosition = [0., 0.]
+  ds.leftDriverData.faceProb = 1. * face_detected
+  ds.leftDriverData.leftEyeProb = 1.
+  ds.leftDriverData.rightEyeProb = 1.
+  ds.leftDriverData.leftBlinkProb = 1. * distracted
+  ds.leftDriverData.rightBlinkProb = 1. * distracted
+  ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
+  ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
   # TODO: test both separately when e2e is used
-  ds.readyProb = [0., 0., 0., 0.]
-  ds.notReadyProb = [0., 0.]
+  ds.leftDriverData.readyProb = [0., 0., 0., 0.]
+  ds.leftDriverData.notReadyProb = [0., 0.]
   return ds
 
 
diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py
index 52db9b1d08..f02de43c7b 100755
--- a/selfdrive/navd/navd.py
+++ b/selfdrive/navd/navd.py
@@ -14,7 +14,7 @@ from selfdrive.navd.helpers import (Coordinate, coordinate_from_param,
                                     distance_along_geometry, maxspeed_to_ms,
                                     minimum_distance,
                                     parse_banner_instructions)
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 REROUTE_DISTANCE = 25
 MANEUVER_TRANSITION_THRESHOLD = 10
@@ -32,6 +32,7 @@ class RouteEngine:
     self.last_bearing = None
 
     self.gps_ok = False
+    self.localizer_valid = False
 
     self.nav_destination = None
     self.step_idx = None
@@ -73,9 +74,9 @@ class RouteEngine:
     location = self.sm['liveLocationKalman']
     self.gps_ok = location.gpsOK
 
-    localizer_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid
+    self.localizer_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid
 
-    if localizer_valid:
+    if self.localizer_valid:
       self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2])
       self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1])
 
@@ -142,8 +143,10 @@ class RouteEngine:
             coord = Coordinate.from_mapbox_tuple(c)
 
             # Last step does not have maxspeed
-            if (maxspeed_idx < len(maxspeeds)) and ('unknown' not in maxspeeds[maxspeed_idx]):
-              coord.annotations['maxspeed'] = maxspeed_to_ms(maxspeeds[maxspeed_idx])
+            if (maxspeed_idx < len(maxspeeds)):
+              maxspeed = maxspeeds[maxspeed_idx]
+              if ('unknown' not in maxspeed) and ('none' not in maxspeed):
+                coord.annotations['maxspeed'] = maxspeed_to_ms(maxspeed)
 
             coords.append(coord)
             maxspeed_idx += 1
@@ -202,7 +205,7 @@ class RouteEngine:
       if along_geometry < distance_along_geometry(geometry, geometry[closest_idx]):
         closest = geometry[closest_idx - 1]
 
-    if 'maxspeed' in closest.annotations:
+    if ('maxspeed' in closest.annotations) and self.localizer_valid:
       msg.navInstruction.speedLimit = closest.annotations['maxspeed']
 
     # Speed limit sign type
diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/selfdrive/sensord/rawgps/rawgpsd.py
index e0861c0d9a..3aa6d4b072 100755
--- a/selfdrive/sensord/rawgps/rawgpsd.py
+++ b/selfdrive/sensord/rawgps/rawgpsd.py
@@ -10,7 +10,7 @@ from struct import unpack_from, calcsize, pack
 
 import cereal.messaging as messaging
 from cereal import log
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 from selfdrive.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
 from selfdrive.sensord.rawgps.structs import dict_unpacker
diff --git a/selfdrive/sensord/test/test_sensord.py b/selfdrive/sensord/test/test_sensord.py
index 96d8891265..9fd918c971 100755
--- a/selfdrive/sensord/test/test_sensord.py
+++ b/selfdrive/sensord/test/test_sensord.py
@@ -4,7 +4,7 @@ import time
 import unittest
 
 import cereal.messaging as messaging
-from selfdrive.hardware import TICI
+from system.hardware import TICI
 from selfdrive.test.helpers import with_processes
 
 TEST_TIMESPAN = 10
diff --git a/selfdrive/sentry.py b/selfdrive/sentry.py
index 5f22bf18e0..aa409ea394 100644
--- a/selfdrive/sentry.py
+++ b/selfdrive/sentry.py
@@ -5,9 +5,9 @@ from sentry_sdk.integrations.threading import ThreadingIntegration
 
 from common.params import Params
 from selfdrive.athena.registration import is_registered_device
-from selfdrive.hardware import HARDWARE, PC
-from selfdrive.swaglog import cloudlog
-from selfdrive.version import get_branch, get_commit, get_origin, get_version, \
+from system.hardware import HARDWARE, PC
+from system.swaglog import cloudlog
+from system.version import get_branch, get_commit, get_origin, get_version, \
                               is_comma_remote, is_dirty, is_tested_branch
 
 
diff --git a/selfdrive/statsd.py b/selfdrive/statsd.py
index 5755e5111b..7dc002727e 100755
--- a/selfdrive/statsd.py
+++ b/selfdrive/statsd.py
@@ -9,10 +9,10 @@ from typing import NoReturn, Union, List, Dict
 
 from common.params import Params
 from cereal.messaging import SubMaster
-from selfdrive.swaglog import cloudlog
-from selfdrive.hardware import HARDWARE
+from system.swaglog import cloudlog
+from system.hardware import HARDWARE
 from common.file_helpers import atomic_write_in_dir
-from selfdrive.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty
+from system.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty
 from selfdrive.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
 
 
diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py
index 5abc0d964f..8cc996c28d 100644
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -2,9 +2,9 @@ import os
 import time
 from functools import wraps
 
-from selfdrive.hardware import PC
+from system.hardware import PC
 from selfdrive.manager.process_config import managed_processes
-from selfdrive.version import training_version, terms_version
+from system.version import training_version, terms_version
 
 
 def set_params_enabled():
diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md
index 9fa4ca644a..531ddb3a02 100644
--- a/selfdrive/test/process_replay/README.md
+++ b/selfdrive/test/process_replay/README.md
@@ -5,7 +5,7 @@ Process replay is a regression test designed to identify any changes in the outp
 If the test fails, make sure that you didn't unintentionally change anything. If there are intentional changes, the reference logs will be updated.
 
 Use `test_processes.py` to run the test locally.
-Use `FILEREADER_CACHE='1' test_processes.py` to cache log files. 
+Use `FILEREADER_CACHE='1' test_processes.py` to cache log files.
 
 Currently the following processes are tested:
 
@@ -15,6 +15,7 @@ Currently the following processes are tested:
 * calibrationd
 * dmonitoringd
 * locationd
+* laikad
 * paramsd
 * ubloxd
 
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index b83629c76a..bccad5d92c 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -11,12 +11,12 @@ from cereal.visionipc import VisionIpcServer, VisionStreamType
 from common.spinner import Spinner
 from common.timeout import Timeout
 from common.transformations.camera import get_view_frame_from_road_frame, tici_f_frame_size, tici_d_frame_size
-from selfdrive.hardware import PC
+from system.hardware import PC
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.test.openpilotci import BASE_URL, get_url
 from selfdrive.test.process_replay.compare_logs import compare_logs, save_log
 from selfdrive.test.process_replay.test_processes import format_diff
-from selfdrive.version import get_commit
+from system.version import get_commit
 from tools.lib.framereader import FrameReader
 from tools.lib.logreader import LogReader
 
@@ -52,7 +52,7 @@ def model_replay(lr, frs):
   vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *(tici_f_frame_size))
   vipc_server.start_listener()
 
-  sm = messaging.SubMaster(['modelV2', 'driverState'])
+  sm = messaging.SubMaster(['modelV2', 'driverStateV2'])
   pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'driverCameraState', 'liveCalibration', 'lateralPlan'])
 
   try:
@@ -112,7 +112,7 @@ def model_replay(lr, frs):
             if min(frame_idxs['roadCameraState'], frame_idxs['wideRoadCameraState']) > recv_cnt['modelV2']:
               recv = "modelV2"
           elif msg.which() == 'driverCameraState':
-            recv = "driverState"
+            recv = "driverStateV2"
 
           # wait for a response
           with Timeout(15, f"timed out waiting for {recv}"):
@@ -170,8 +170,8 @@ if __name__ == "__main__":
         'logMonoTime',
         'modelV2.frameDropPerc',
         'modelV2.modelExecutionTime',
-        'driverState.modelExecutionTime',
-        'driverState.dspExecutionTime'
+        'driverStateV2.modelExecutionTime',
+        'driverStateV2.dspExecutionTime'
       ]
       # TODO this tolerence is absurdly large
       tolerance = 5e-1 if PC else None
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 90520f2619..9f9b822693 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-f74ab97371be93fdc28333e5ea12bbb78c3a32d0
+df0ce74929dd6b5fa7a55224baefeff4bac6d785
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 1eda9bc7f5..9c45281b0c 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -14,7 +14,7 @@ from cereal import car, log
 from cereal.services import service_list
 from common.params import Params
 from common.timeout import Timeout
-from selfdrive.car.fingerprints import FW_VERSIONS
+from panda.python import ALTERNATIVE_EXPERIENCE
 from selfdrive.car.car_helpers import get_car, interfaces
 from selfdrive.test.process_replay.helpers import OpenpilotPrefix
 from selfdrive.manager.process import PythonProcess
@@ -27,14 +27,14 @@ TIMEOUT = 15
 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__))
 FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/")
 
-ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance', 'fake_pubsubmaster', 'submaster_config'], defaults=({},))
+ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance', 'fake_pubsubmaster', 'submaster_config', 'environ', 'subtest_name'], defaults=({}, {}, ""))
 
 
 def wait_for_event(evt):
   if not evt.wait(TIMEOUT):
     if threading.currentThread().getName() == "MainThread":
       # tested process likely died. don't let test just hang
-      raise Exception("Timeout reached. Tested process likely crashed.")
+      raise Exception(f"Timeout reached. Tested process {os.environ['PROC_NAME']} likely crashed.")
     else:
       # done testing this process, let it die
       sys.exit(0)
@@ -190,6 +190,7 @@ def get_car_params(msgs, fsm, can_sock, fingerprint):
     _, CP = get_car(can, sendcan)
   Params().put("CarParams", CP.to_bytes())
 
+
 def controlsd_rcv_callback(msg, CP, cfg, fsm):
   # no sendcan until controlsd is initialized
   socks = [s for s in cfg.pub_sub[msg.which()] if
@@ -198,6 +199,7 @@ def controlsd_rcv_callback(msg, CP, cfg, fsm):
     socks.remove("sendcan")
   return socks, len(socks) > 0
 
+
 def radar_rcv_callback(msg, CP, cfg, fsm):
   if msg.which() != "can":
     return [], False
@@ -236,6 +238,13 @@ def ublox_rcv_callback(msg):
     return []
 
 
+def laika_rcv_callback(msg, CP, cfg, fsm):
+  if msg.ubloxGnss.which() == "measurementReport":
+    return ["gnssMeasurements"], True
+  else:
+    return [], True
+
+
 CONFIGS = [
   ProcessConfig(
     proc_name="controlsd",
@@ -282,7 +291,8 @@ CONFIGS = [
     proc_name="calibrationd",
     pub_sub={
       "carState": ["liveCalibration"],
-      "cameraOdometry": []
+      "cameraOdometry": [],
+      "carParams": [],
     },
     ignore=["logMonoTime", "valid"],
     init_callback=get_car_params,
@@ -293,7 +303,7 @@ CONFIGS = [
   ProcessConfig(
     proc_name="dmonitoringd",
     pub_sub={
-      "driverState": ["driverMonitoringState"],
+      "driverStateV2": ["driverMonitoringState"],
       "liveCalibration": [], "carState": [], "modelV2": [], "controlsState": [],
     },
     ignore=["logMonoTime", "valid"],
@@ -337,6 +347,30 @@ CONFIGS = [
     tolerance=None,
     fake_pubsubmaster=False,
   ),
+  ProcessConfig(
+    proc_name="laikad",
+    subtest_name="Offline",
+    pub_sub={
+      "ubloxGnss": ["gnssMeasurements"],
+    },
+    ignore=["logMonoTime"],
+    init_callback=get_car_params,
+    should_recv_callback=laika_rcv_callback,
+    tolerance=NUMPY_TOLERANCE,
+    fake_pubsubmaster=True,
+    environ={"LAIKAD_NO_INTERNET": "1"},
+  ),
+  ProcessConfig(
+    proc_name="laikad",
+    pub_sub={
+      "ubloxGnss": ["gnssMeasurements"],
+    },
+    ignore=["logMonoTime"],
+    init_callback=get_car_params,
+    should_recv_callback=laika_rcv_callback,
+    tolerance=NUMPY_TOLERANCE,
+    fake_pubsubmaster=True,
+  ),
 ]
 
 
@@ -347,7 +381,8 @@ def replay_process(cfg, lr, fingerprint=None):
     else:
       return cpp_replay_process(cfg, lr, fingerprint)
 
-def setup_env(simulation=False):
+
+def setup_env(simulation=False, CP=None, cfg=None):
   params = Params()
   params.clear_all()
   params.put_bool("OpenpilotEnabledToggle", True)
@@ -358,12 +393,36 @@ def setup_env(simulation=False):
 
   os.environ["NO_RADAR_SLEEP"] = "1"
   os.environ["REPLAY"] = "1"
+  os.environ['SKIP_FW_QUERY'] = ""
+  os.environ['FINGERPRINT'] = ""
+
+  if cfg is not None:
+    # Clear all custom processConfig environment variables
+    for config in CONFIGS:
+      for k, _ in config.environ.items():
+        if k in os.environ:
+          del os.environ[k]
+
+    os.environ.update(cfg.environ)
+    os.environ['PROC_NAME'] = cfg.proc_name
 
   if simulation:
     os.environ["SIMULATION"] = "1"
   elif "SIMULATION" in os.environ:
     del os.environ["SIMULATION"]
 
+  # Regen or python process
+  if CP is not None:
+    if CP.alternativeExperience == ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS:
+      params.put_bool("DisengageOnAccelerator", False)
+
+    if CP.fingerprintSource == "fw":
+      params.put("CarParamsCache", CP.as_builder().to_bytes())
+    else:
+      os.environ['SKIP_FW_QUERY'] = "1"
+      os.environ['FINGERPRINT'] = CP.carFingerprint
+
+
 def python_replay_process(cfg, lr, fingerprint=None):
   sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]
   pub_sockets = [s for s in cfg.pub_sub.keys() if s != 'can']
@@ -378,30 +437,13 @@ def python_replay_process(cfg, lr, fingerprint=None):
   all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
   pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())]
 
-  setup_env()
-
-  # TODO: remove after getting new route for civic & accord
-  migration = {
-    "HONDA CIVIC 2016 TOURING": "HONDA CIVIC 2016",
-    "HONDA ACCORD 2018 SPORT 2T": "HONDA ACCORD 2018",
-    "HONDA ACCORD 2T 2018": "HONDA ACCORD 2018",
-    "Mazda CX-9 2021": "MAZDA CX-9 2021",
-  }
-
   if fingerprint is not None:
     os.environ['SKIP_FW_QUERY'] = "1"
     os.environ['FINGERPRINT'] = fingerprint
+    setup_env(cfg=cfg)
   else:
-    os.environ['SKIP_FW_QUERY'] = ""
-    os.environ['FINGERPRINT'] = ""
-    for msg in lr:
-      if msg.which() == 'carParams':
-        car_fingerprint = migration.get(msg.carParams.carFingerprint, msg.carParams.carFingerprint)
-        if msg.carParams.fingerprintSource == "fw" and (car_fingerprint in FW_VERSIONS):
-          Params().put("CarParamsCache", msg.carParams.as_builder().to_bytes())
-        else:
-          os.environ['SKIP_FW_QUERY'] = "1"
-          os.environ['FINGERPRINT'] = car_fingerprint
+    CP = [m for m in lr if m.which() == 'carParams'][0].carParams
+    setup_env(CP=CP, cfg=cfg)
 
   assert(type(managed_processes[cfg.proc_name]) is PythonProcess)
   managed_processes[cfg.proc_name].prepare()
@@ -462,7 +504,7 @@ def cpp_replay_process(cfg, lr, fingerprint=None):
   log_msgs = []
 
   # We need to fake SubMaster alive since we can't inject a fake clock
-  setup_env(simulation=True)
+  setup_env(simulation=True, cfg=cfg)
 
   managed_processes[cfg.proc_name].prepare()
   managed_processes[cfg.proc_name].start()
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 3a9b1d9479..90444b1fa7 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-0e18bb3317437f2cad6d0a5782a9222eda655d58
+806984d4206056fb132625c5dad6c0ca1835a2d6
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
index 653efaf32c..d2f239c249 100755
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@@ -15,7 +15,6 @@ from cereal.visionipc import VisionIpcServer, VisionStreamType
 from common.params import Params
 from common.realtime import Ratekeeper, DT_MDL, DT_DMON, sec_since_boot
 from common.transformations.camera import eon_f_frame_size, eon_d_frame_size, tici_f_frame_size, tici_d_frame_size
-from selfdrive.car.fingerprints import FW_VERSIONS
 from selfdrive.manager.process import ensure_running
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.test.process_replay.process_replay import FAKEDATA, setup_env, check_enabled
@@ -128,7 +127,10 @@ def replay_cameras(lr, frs, disable_tqdm=False):
   ]
 
   def replay_camera(s, stream, dt, vipc_server, frames, size, use_extra_client):
-    pm = messaging.PubMaster([s, ])
+    services = [(s, stream)]
+    if use_extra_client:
+      services.append(("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD))
+    pm = messaging.PubMaster([s for s, _ in services])
     rk = Ratekeeper(1 / dt, print_delay_threshold=None)
 
     img = b"\x00" * int(size[0] * size[1] * 3 / 2)
@@ -138,16 +140,15 @@ def replay_cameras(lr, frs, disable_tqdm=False):
 
       rk.keep_time()
 
-      m = messaging.new_message(s)
-      msg = getattr(m, s)
-      msg.frameId = rk.frame
-      msg.timestampSof = m.logMonoTime
-      msg.timestampEof = m.logMonoTime
-      pm.send(s, m)
+      for s, stream in services:
+        m = messaging.new_message(s)
+        msg = getattr(m, s)
+        msg.frameId = rk.frame
+        msg.timestampSof = m.logMonoTime
+        msg.timestampEof = m.logMonoTime
+        pm.send(s, m)
 
-      vipc_server.send(stream, img, msg.frameId, msg.timestampSof, msg.timestampEof)
-      if use_extra_client:
-        vipc_server.send(VisionStreamType.VISION_STREAM_WIDE_ROAD, img, msg.frameId, msg.timestampSof, msg.timestampEof)
+        vipc_server.send(stream, img, msg.frameId, msg.timestampSof, msg.timestampEof)
 
   init_data = [m for m in lr if m.which() == 'initData'][0]
   cameras = tici_cameras if (init_data.initData.deviceType == 'tici') else eon_cameras
@@ -181,28 +182,12 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False):
   if frs is None:
     frs = dict()
 
-  setup_env()
   params = Params()
-
   os.environ["LOG_ROOT"] = outdir
-  os.environ['SKIP_FW_QUERY'] = ""
-  os.environ['FINGERPRINT'] = ""
-
-  # TODO: remove after getting new route for Mazda
-  fp_migration = {
-    "Mazda CX-9 2021": "MAZDA CX-9 2021",
-  }
-  # TODO: remove after getting new route for Subaru
-  fingerprint_problem = ["SUBARU IMPREZA LIMITED 2019"]
 
   for msg in lr:
     if msg.which() == 'carParams':
-      car_fingerprint = fp_migration.get(msg.carParams.carFingerprint, msg.carParams.carFingerprint)
-      if len(msg.carParams.carFw) and (car_fingerprint in FW_VERSIONS) and (car_fingerprint not in fingerprint_problem):
-        params.put("CarParamsCache", msg.carParams.as_builder().to_bytes())
-      else:
-        os.environ['SKIP_FW_QUERY'] = "1"
-        os.environ['FINGERPRINT'] = car_fingerprint
+      setup_env(CP=msg.carParams)
     elif msg.which() == 'liveCalibration':
       params.put("CalibrationParams", msg.as_builder().to_bytes())
 
diff --git a/selfdrive/test/process_replay/regen_all.py b/selfdrive/test/process_replay/regen_all.py
index 765e5c3b68..f10d7ea03a 100755
--- a/selfdrive/test/process_replay/regen_all.py
+++ b/selfdrive/test/process_replay/regen_all.py
@@ -8,28 +8,31 @@ from tqdm import tqdm
 from selfdrive.test.process_replay.helpers import OpenpilotPrefix
 from selfdrive.test.process_replay.regen import regen_and_save
 from selfdrive.test.process_replay.test_processes import FAKEDATA, original_segments as segments
+from tools.lib.route import SegmentName
 
-def regen_job(segment):
+
+def regen_job(segment, upload, disable_tqdm):
   with OpenpilotPrefix():
-    route = segment[1].rsplit('--', 1)[0]
-    sidx = int(segment[1].rsplit('--', 1)[1])
-    fake_dongle_id = 'regen' + ''.join(random.choice('0123456789ABCDEF') for i in range(11))
+    sn = SegmentName(segment[1])
+    fake_dongle_id = 'regen' + ''.join(random.choice('0123456789ABCDEF') for _ in range(11))
     try:
-      relr = regen_and_save(route, sidx, upload=True, use_route_meta=False, outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=True)
+      relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=upload, use_route_meta=False, outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm)
       relr = '|'.join(relr.split('/')[-2:])
       return f'  ("{segment[0]}", "{relr}"), '
     except Exception as e:
       return f"  {segment} failed: {str(e)}"
 
+
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Generate new segments from old ones")
   parser.add_argument("-j", "--jobs", type=int, default=1)
+  parser.add_argument("--no-upload", action="store_true")
   args = parser.parse_args()
 
   with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool:
-    p = list(pool.map(regen_job, segments))
+    p = pool.map(regen_job, segments, [not args.no_upload] * len(segments), [args.jobs > 1] * len(segments))
     msg = "Copy these new segments into test_processes.py:"
-    for seg in tqdm(p, desc="Generating segments"):
+    for seg in tqdm(p, desc="Generating segments", total=len(segments)):
       msg += "\n" + str(seg)
     print()
     print()
diff --git a/selfdrive/test/process_replay/test_debayer.py b/selfdrive/test/process_replay/test_debayer.py
index a17c71b602..1b3e0f112e 100755
--- a/selfdrive/test/process_replay/test_debayer.py
+++ b/selfdrive/test/process_replay/test_debayer.py
@@ -6,11 +6,11 @@ import numpy as np
 
 import pyopencl as cl  # install with `PYOPENCL_CL_PRETEND_VERSION=2.0 pip install pyopencl`
 
-from selfdrive.hardware import PC, TICI
+from system.hardware import PC, TICI
 from common.basedir import BASEDIR
 from selfdrive.test.openpilotci import BASE_URL, get_url
-from selfdrive.version import get_commit
-from selfdrive.camerad.snapshot.snapshot import yuv_to_rgb
+from system.version import get_commit
+from system.camerad.snapshot.snapshot import yuv_to_rgb
 from tools.lib.logreader import LogReader
 from tools.lib.filereader import FileReader
 
@@ -62,7 +62,7 @@ def unbzip_frames(url):
 def init_kernels(frame_offset=0):
   ctx = cl.create_some_context(interactive=False)
 
-  with open(os.path.join(BASEDIR, 'selfdrive/camerad/cameras/real_debayer.cl')) as f:
+  with open(os.path.join(BASEDIR, 'system/camerad/cameras/real_debayer.cl')) as f:
     build_args = ' -cl-fast-relaxed-math -cl-denorms-are-zero -cl-single-precision-constant' + \
       f' -DFRAME_STRIDE={FRAME_STRIDE} -DRGB_WIDTH={FRAME_WIDTH} -DRGB_HEIGHT={FRAME_HEIGHT} -DFRAME_OFFSET={frame_offset} -DCAM_NUM=0'
     if PC:
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index c1b5b85391..4e7ba4a6dd 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -11,7 +11,7 @@ from selfdrive.car.car_helpers import interface_names
 from selfdrive.test.openpilotci import get_url, upload_file
 from selfdrive.test.process_replay.compare_logs import compare_logs, save_log
 from selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_enabled, replay_process
-from selfdrive.version import get_commit
+from system.version import get_commit
 from tools.lib.filereader import FileReader
 from tools.lib.logreader import LogReader
 
@@ -93,8 +93,7 @@ def test_process(cfg, lr, ref_log_path, ignore_fields=None, ignore_msgs=None):
   # check to make sure openpilot is engaged in the route
   if cfg.proc_name == "controlsd":
     if not check_enabled(log_msgs):
-      segment = os.path.basename(ref_log_path).split("/")[-1].split("_")[0]
-      raise Exception(f"Route never enabled: {segment}")
+      raise Exception(f"Route never enabled: {ref_log_path}")
 
   try:
     return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance), log_msgs
@@ -201,11 +200,11 @@ if __name__ == "__main__":
         if cfg.proc_name not in tested_procs:
           continue
 
-        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.bz2")
+        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}{cfg.subtest_name}_{cur_commit}.bz2")
         if args.update_refs:  # reference logs will not exist if routes were just regenerated
           ref_log_path = get_url(*segment.rsplit("--", 1))
         else:
-          ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.bz2")
+          ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}{cfg.subtest_name}_{ref_commit}.bz2")
           ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn)
 
         dat = None if args.upload_only else log_data[segment]
diff --git a/selfdrive/test/profiling/profiler.py b/selfdrive/test/profiling/profiler.py
index 5f73176fab..91226fc577 100755
--- a/selfdrive/test/profiling/profiler.py
+++ b/selfdrive/test/profiling/profiler.py
@@ -53,6 +53,7 @@ def profile(proc, func, car='toyota'):
   msgs = list(LogReader(rlog_url)) * int(os.getenv("LOOP", "1"))
 
   os.environ['FINGERPRINT'] = fingerprint
+  os.environ['REPLAY'] = "1"
 
   def run(sm, pm, can_sock):
     try:
@@ -81,12 +82,14 @@ if __name__ == '__main__':
   from selfdrive.controls.radard import radard_thread
   from selfdrive.locationd.paramsd import main as paramsd_thread
   from selfdrive.controls.plannerd import main as plannerd_thread
+  from 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]
diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh
index 99acc050ea..2e5ffeacc6 100755
--- a/selfdrive/test/setup_device_ci.sh
+++ b/selfdrive/test/setup_device_ci.sh
@@ -36,6 +36,8 @@ fi
 tee $CONTINUE_PATH << EOF
 #!/usr/bin/bash
 
+sudo abctl --set_success
+
 while true; do
   if ! sudo systemctl is-active -q ssh; then
     sudo systemctl start ssh
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 6cf53a046e..8007afb84c 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -24,22 +24,22 @@ PROCS = {
   "selfdrive.controls.controlsd": 35.0,
   "./loggerd": 10.0,
   "./encoderd": 12.5,
-  "./camerad": 16.5,
+  "./camerad": 14.5,
   "./locationd": 9.1,
   "selfdrive.controls.plannerd": 11.7,
-  "./_ui": 26.4,
+  "./_ui": 19.2,
   "selfdrive.locationd.paramsd": 9.0,
   "./_sensord": 6.17,
   "selfdrive.controls.radard": 4.5,
   "./_modeld": 4.48,
   "./boardd": 3.63,
-  "./_dmonitoringmodeld": 10.0,
+  "./_dmonitoringmodeld": 5.0,
   "selfdrive.thermald.thermald": 3.87,
   "selfdrive.locationd.calibrationd": 2.0,
   "./_soundd": 1.0,
   "selfdrive.monitoring.dmonitoringd": 1.90,
   "./proclogd": 1.54,
-  "selfdrive.logmessaged": 0.2,
+  "system.logmessaged": 0.2,
   "./clocksd": 0.02,
   "./ubloxd": 0.02,
   "selfdrive.tombstoned": 0,
@@ -60,7 +60,7 @@ TIMINGS = {
   "roadCameraState": [2.5, 0.35],
   "driverCameraState": [2.5, 0.35],
   "modelV2": [2.5, 0.35],
-  "driverState": [2.5, 0.40],
+  "driverStateV2": [2.5, 0.40],
   "liveLocationKalman": [2.5, 0.35],
   "wideRoadCameraState": [1.5, 0.35],
 }
@@ -118,6 +118,7 @@ class TestOnroad(unittest.TestCase):
     os.environ['REPLAY'] = "1"
     os.environ['SKIP_FW_QUERY'] = "1"
     os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
+    os.environ['LOGPRINT'] = 'debug'
 
     params = Params()
     params.clear_all()
@@ -221,7 +222,7 @@ class TestOnroad(unittest.TestCase):
     # TODO: this went up when plannerd cpu usage increased, why?
     cfgs = [
       ("modelV2", 0.050, 0.036),
-      ("driverState", 0.050, 0.026),
+      ("driverStateV2", 0.050, 0.026),
     ]
     for (s, instant_max, avg_max) in cfgs:
       ts = [getattr(getattr(m, s), "modelExecutionTime") for m in self.lr if m.which() == s]
diff --git a/selfdrive/thermald/fan_controller.py b/selfdrive/thermald/fan_controller.py
index b1c7013297..2094faeaa7 100644
--- a/selfdrive/thermald/fan_controller.py
+++ b/selfdrive/thermald/fan_controller.py
@@ -3,7 +3,7 @@ from abc import ABC, abstractmethod
 
 from common.realtime import DT_TRML
 from common.numpy_fast import interp
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.controls.lib.pid import PIDController
 
 class BaseFanController(ABC):
diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py
index d7a1f2a360..9f009d3265 100644
--- a/selfdrive/thermald/power_monitoring.py
+++ b/selfdrive/thermald/power_monitoring.py
@@ -4,8 +4,8 @@ from typing import Optional
 from cereal import log
 from common.params import Params, put_nonblocking
 from common.realtime import sec_since_boot
-from selfdrive.hardware import HARDWARE
-from selfdrive.swaglog import cloudlog
+from system.hardware import HARDWARE
+from system.swaglog import cloudlog
 from selfdrive.statsd import statlog
 
 CAR_VOLTAGE_LOW_PASS_K = 0.091 # LPF gain for 5s tau (dt/tau / (dt/tau + 1))
diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py
index c0524add69..efe607155a 100755
--- a/selfdrive/thermald/tests/test_power_monitoring.py
+++ b/selfdrive/thermald/tests/test_power_monitoring.py
@@ -119,7 +119,8 @@ class TestPowerMonitoring(unittest.TestCase):
   @parameterized.expand(ALL_PANDA_TYPES)
   def test_max_time_offroad(self, hw_type):
     MOCKED_MAX_OFFROAD_TIME = 3600
-    with pm_patch("MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True), pm_patch("HARDWARE.get_current_power_draw", None):
+    POWER_DRAW = 0 # To stop shutting down for other reasons
+    with pm_patch("MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True), pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
       pm = PowerMonitoring()
       pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
       start_time = ssb
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 4df1e072b8..f20c649b4e 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -17,13 +17,13 @@ from common.filter_simple import FirstOrderFilter
 from common.params import Params
 from common.realtime import DT_TRML, sec_since_boot
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
-from selfdrive.hardware import HARDWARE, TICI, AGNOS
+from system.hardware import HARDWARE, TICI, AGNOS
 from selfdrive.loggerd.config import get_available_percent
 from selfdrive.statsd import statlog
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.thermald.power_monitoring import PowerMonitoring
 from selfdrive.thermald.fan_controller import TiciFanController
-from selfdrive.version import terms_version, training_version
+from system.version import terms_version, training_version
 
 ThermalStatus = log.DeviceState.ThermalStatus
 NetworkType = log.DeviceState.NetworkType
@@ -220,7 +220,7 @@ def thermald_thread(end_event, hw_queue):
         if TICI:
           fan_controller = TiciFanController()
 
-    elif (sec_since_boot() - sm.rcv_time['pandaStates']/1e9) > DISCONNECT_TIMEOUT:
+    elif (sec_since_boot() - sm.rcv_time['pandaStates']) > DISCONNECT_TIMEOUT:
       if onroad_conditions["ignition"]:
         onroad_conditions["ignition"] = False
         cloudlog.error("panda timed out onroad")
@@ -249,7 +249,7 @@ def thermald_thread(end_event, hw_queue):
     current_filter.update(msg.deviceState.batteryCurrent / 1e6)
 
     max_comp_temp = temp_filter.update(
-      max(max(msg.deviceState.cpuTempC), msg.deviceState.memoryTempC, max(msg.deviceState.gpuTempC), max(msg.deviceState.pmicTempC))
+      max(max(msg.deviceState.cpuTempC), msg.deviceState.memoryTempC, max(msg.deviceState.gpuTempC))
     )
 
     if fan_controller is not None:
@@ -348,12 +348,13 @@ def thermald_thread(end_event, hw_queue):
     power_monitor.calculate(peripheralState, onroad_conditions["ignition"])
     msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used()
     msg.deviceState.carBatteryCapacityUwh = max(0, power_monitor.get_car_battery_capacity())
-    current_power_draw = HARDWARE.get_current_power_draw()  # pylint: disable=assignment-from-none
-    if current_power_draw is not None:
-      statlog.sample("power_draw", current_power_draw)
-      msg.deviceState.powerDrawW = current_power_draw
-    else:
-      msg.deviceState.powerDrawW = 0
+    current_power_draw = HARDWARE.get_current_power_draw()
+    statlog.sample("power_draw", current_power_draw)
+    msg.deviceState.powerDrawW = current_power_draw
+    
+    som_power_draw = HARDWARE.get_som_power_draw()
+    statlog.sample("som_power_draw", som_power_draw)
+    msg.deviceState.somPowerDrawW = som_power_draw
 
     # Check if we need to disable charging (handled by boardd)
     msg.deviceState.chargingDisabled = power_monitor.should_disable_charging(onroad_conditions["ignition"], in_car, off_ts)
diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py
index 1d0f8532db..0045e0766c 100755
--- a/selfdrive/tombstoned.py
+++ b/selfdrive/tombstoned.py
@@ -12,8 +12,8 @@ from typing import NoReturn
 from common.file_helpers import mkdirs_exists_ok
 from selfdrive.loggerd.config import ROOT
 import selfdrive.sentry as sentry
-from selfdrive.swaglog import cloudlog
-from selfdrive.version import get_commit
+from system.swaglog import cloudlog
+from system.version import get_commit
 
 MAX_SIZE = 1_000_000 * 100  # allow up to 100M
 MAX_TOMBSTONE_FN_LEN = 62  # 85 - 23 ("<dongle id>/crash/")
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 47c4ac2a51..0835c16372 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -5,6 +5,9 @@ Import('qt_env', 'arch', 'common', 'messaging', 'visionipc',
 base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq',
              'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
 
+if arch == 'larch64':
+  base_libs.append('EGL')
+
 maps = arch in ['larch64', 'x86_64']
 
 if maps and arch == 'x86_64':
@@ -15,10 +18,11 @@ if arch == "Darwin":
   del base_libs[base_libs.index('OpenCL')]
   qt_env['FRAMEWORKS'] += ['OpenCL']
 
-widgets_src = ["ui.cc", "qt/util.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc",
+qt_util = qt_env.Library("qt_util", ["#selfdrive/ui/qt/api.cc", "#selfdrive/ui/qt/util.cc"], LIBS=base_libs)
+widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc",
                "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc",
                "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc",
-               "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc", "qt/api.cc",
+               "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc",
                "qt/request_repeater.cc", "qt/qt_window.cc", "qt/offroad/networking.cc", "qt/offroad/wifiManager.cc"]
 
 qt_env['CPPDEFINES'] = []
@@ -28,7 +32,7 @@ if maps:
   qt_env['CPPDEFINES'] += ["ENABLE_MAPS"]
 
 widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs)
-qt_libs = [widgets] + base_libs
+qt_libs = [widgets, qt_util] + base_libs
 
 # build assets
 assets = "#selfdrive/assets/assets.cc"
@@ -54,6 +58,9 @@ qt_src = ["main.cc", "qt/sidebar.cc", "qt/onroad.cc", "qt/body.cc",
           "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
           "qt/offroad/onboarding.cc", "qt/offroad/driverview.cc"]
 qt_env.Program("_ui", qt_src + [asset_obj], LIBS=qt_libs)
+if GetOption('test'):
+  qt_src.remove("main.cc")  # replaced by test_runner
+  qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs)
 
 
 # setup and factory resetter
@@ -104,17 +111,6 @@ if GetOption('extras'):
     # keep installers small
     assert f[0].get_size() < 300*1e3
 
-
-# build headless replay
+# build watch3
 if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
-  qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
-
-  replay_lib_src = ["replay/replay.cc", "replay/consoleui.cc", "replay/camera.cc", "replay/filereader.cc", "replay/logreader.cc", "replay/framereader.cc", "replay/route.cc", "replay/util.cc"]
-
-  replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs)
-  replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + qt_libs
-  qt_env.Program("replay/replay", ["replay/main.cc"], LIBS=replay_libs)
   qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11', 'zmq', 'visionipc', 'messaging'])
-
-  if GetOption('test'):
-    qt_env.Program('replay/tests/test_replay', ['replay/tests/test_runner.cc', 'replay/tests/test_replay.cc'], LIBS=[replay_libs])
diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc
index 3588026ba6..fe31a2dcb1 100644
--- a/selfdrive/ui/installer/installer.cc
+++ b/selfdrive/ui/installer/installer.cc
@@ -53,7 +53,7 @@ Installer::Installer(QWidget *parent) : QWidget(parent) {
   layout->setContentsMargins(150, 290, 150, 150);
   layout->setSpacing(0);
 
-  QLabel *title = new QLabel("Installing...");
+  QLabel *title = new QLabel(tr("Installing..."));
   title->setStyleSheet("font-size: 90px; font-weight: 600;");
   layout->addWidget(title, 0, Qt::AlignTop);
 
@@ -141,9 +141,9 @@ void Installer::cachedFetch(const QString &cache) {
 void Installer::readProgress() {
   const QVector<QPair<QString, int>> stages = {
     // prefix, weight in percentage
-    {"Receiving objects: ", 91},
-    {"Resolving deltas: ", 2},
-    {"Updating files: ", 7},
+    {tr("Receiving objects: "), 91},
+    {tr("Resolving deltas: "), 2},
+    {tr("Updating files: "), 7},
   };
 
   auto line = QString(proc.readAllStandardError());
diff --git a/selfdrive/ui/main.cc b/selfdrive/ui/main.cc
index cffa459622..1eecd78b19 100644
--- a/selfdrive/ui/main.cc
+++ b/selfdrive/ui/main.cc
@@ -2,7 +2,7 @@
 
 #include <QApplication>
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/window.h"
diff --git a/selfdrive/ui/qt/api.cc b/selfdrive/ui/qt/api.cc
index 94beb12186..84e1a4032e 100644
--- a/selfdrive/ui/qt/api.cc
+++ b/selfdrive/ui/qt/api.cc
@@ -14,7 +14,7 @@
 
 #include "common/params.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/util.h"
 
 namespace CommaApi {
diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index e522d6160d..0edeb252b7 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -85,6 +85,7 @@ void HomeWindow::mousePressEvent(QMouseEvent* e) {
 }
 
 void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
+  HomeWindow::mousePressEvent(e);
   const SubMaster &sm = *(uiState()->sm);
   if (sm["carParams"].getCarParams().getNotCar()) {
     if (onroad->isVisible()) {
@@ -92,6 +93,7 @@ void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
     } else if (body->isVisible()) {
       slayout->setCurrentWidget(onroad);
     }
+    showSidebar(false);
   }
 }
 
@@ -109,7 +111,7 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
   date = new QLabel();
   header_layout->addWidget(date, 1, Qt::AlignHCenter | Qt::AlignLeft);
 
-  update_notif = new QPushButton("UPDATE");
+  update_notif = new QPushButton(tr("UPDATE"));
   update_notif->setVisible(false);
   update_notif->setStyleSheet("background-color: #364DEF;");
   QObject::connect(update_notif, &QPushButton::clicked, [=]() { center_layout->setCurrentIndex(1); });
@@ -200,6 +202,6 @@ void OffroadHome::refresh() {
   update_notif->setVisible(updateAvailable);
   alert_notif->setVisible(alerts);
   if (alerts) {
-    alert_notif->setText(QString::number(alerts) + (alerts > 1 ? " ALERTS" : " ALERT"));
+    alert_notif->setText(QString::number(alerts) + (alerts > 1 ? tr(" ALERTS") : tr(" ALERT")));
   }
 }
diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc
index 83576eb630..2b2c27418e 100644
--- a/selfdrive/ui/qt/maps/map_helpers.cc
+++ b/selfdrive/ui/qt/maps/map_helpers.cc
@@ -4,7 +4,7 @@
 #include <QJsonObject>
 
 #include "common/params.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/api.h"
 
 QString get_mapbox_token() {
diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc
index 674c7fa7cb..eaa8b1f703 100644
--- a/selfdrive/ui/qt/maps/map_settings.cc
+++ b/selfdrive/ui/qt/maps/map_settings.cc
@@ -59,11 +59,11 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) {
     current_widget = new QWidget(this);
     QVBoxLayout *current_layout = new QVBoxLayout(current_widget);
 
-    QLabel *title = new QLabel("Current Destination");
+    QLabel *title = new QLabel(tr("Current Destination"));
     title->setStyleSheet("font-size: 55px");
     current_layout->addWidget(title);
 
-    current_route = new ButtonControl("", "CLEAR");
+    current_route = new ButtonControl("", tr("CLEAR"));
     current_route->setStyleSheet("padding-left: 40px;");
     current_layout->addWidget(current_route);
     QObject::connect(current_route, &ButtonControl::clicked, [=]() {
@@ -78,7 +78,7 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) {
   main_layout->addWidget(current_widget);
 
   // Recents
-  QLabel *recents_title = new QLabel("Recent Destinations");
+  QLabel *recents_title = new QLabel(tr("Recent Destinations"));
   recents_title->setStyleSheet("font-size: 55px");
   main_layout->addWidget(recents_title);
   main_layout->addSpacing(20);
@@ -92,7 +92,7 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) {
   QWidget * no_prime_widget = new QWidget;
   {
     QVBoxLayout *no_prime_layout = new QVBoxLayout(no_prime_widget);
-    QLabel *signup_header = new QLabel("Try the Navigation Beta");
+    QLabel *signup_header = new QLabel(tr("Try the Navigation Beta"));
     signup_header->setStyleSheet(R"(font-size: 75px; color: white; font-weight:600;)");
     signup_header->setAlignment(Qt::AlignCenter);
 
@@ -104,7 +104,7 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) {
     screenshot->setPixmap(pm.scaledToWidth(1080, Qt::SmoothTransformation));
     no_prime_layout->addWidget(screenshot, 0, Qt::AlignHCenter);
 
-    QLabel *signup = new QLabel("Get turn-by-turn directions displayed and more with a comma \nprime subscription. Sign up now: https://connect.comma.ai");
+    QLabel *signup = new QLabel(tr("Get turn-by-turn directions displayed and more with a comma \nprime subscription. Sign up now: https://connect.comma.ai"));
     signup->setStyleSheet(R"(font-size: 45px; color: white; font-weight:300;)");
     signup->setAlignment(Qt::AlignCenter);
 
@@ -161,12 +161,12 @@ void MapPanel::showEvent(QShowEvent *event) {
 void MapPanel::clear() {
   home_button->setIcon(QPixmap("../assets/navigation/home_inactive.png"));
   home_address->setStyleSheet(R"(font-size: 50px; color: grey;)");
-  home_address->setText("No home\nlocation set");
+  home_address->setText(tr("No home\nlocation set"));
   home_button->disconnect();
 
   work_button->setIcon(QPixmap("../assets/navigation/work_inactive.png"));
   work_address->setStyleSheet(R"(font-size: 50px; color: grey;)");
-  work_address->setText("No work\nlocation set");
+  work_address->setText(tr("No work\nlocation set"));
   work_button->disconnect();
 
   clearLayout(recent_layout);
@@ -279,7 +279,7 @@ void MapPanel::parseResponse(const QString &response, bool success) {
   }
 
   if (!has_recents) {
-    QLabel *no_recents = new QLabel("no recent destinations");
+    QLabel *no_recents = new QLabel(tr("no recent destinations"));
     no_recents->setStyleSheet(R"(font-size: 50px; color: #9c9c9c)");
     recent_layout->addWidget(no_recents);
   }
diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc
index 06578b455a..5bf70584a1 100644
--- a/selfdrive/ui/qt/offroad/driverview.cc
+++ b/selfdrive/ui/qt/offroad/driverview.cc
@@ -25,7 +25,7 @@ void DriverViewWindow::mouseReleaseEvent(QMouseEvent* e) {
   emit done();
 }
 
-DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverState"}), QWidget(parent) {
+DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverStateV2"}), QWidget(parent) {
   face_img = loadPixmap("../assets/img_driver_face.png", {FACE_IMG_SIZE, FACE_IMG_SIZE});
 }
 
@@ -53,47 +53,40 @@ void DriverViewScene::paintEvent(QPaintEvent* event) {
     p.setPen(Qt::white);
     p.setRenderHint(QPainter::TextAntialiasing);
     configFont(p, "Inter", 100, "Bold");
-    p.drawText(geometry(), Qt::AlignCenter, "camera starting");
+    p.drawText(geometry(), Qt::AlignCenter, tr("camera starting"));
     return;
   }
 
-  const int width = 4 * height() / 3;
-  const QRect rect2 = {rect().center().x() - width / 2, rect().top(), width, rect().height()};
-  const QRect valid_rect = {is_rhd ? rect2.right() - rect2.height() / 2 : rect2.left(), rect2.top(), rect2.height() / 2, rect2.height()};
+  cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2();
+  cereal::DriverStateV2::DriverData::Reader driver_data;
 
-  // blackout
-  const QColor bg(0, 0, 0, 140);
-  const QRect& blackout_rect = rect();
-  p.fillRect(blackout_rect.adjusted(0, 0, valid_rect.left() - blackout_rect.right(), 0), bg);
-  p.fillRect(blackout_rect.adjusted(valid_rect.right() - blackout_rect.left(), 0, 0, 0), bg);
-  p.fillRect(blackout_rect.adjusted(valid_rect.left()-blackout_rect.left()+1, 0, valid_rect.right()-blackout_rect.right()-1, -valid_rect.height()*7/10), bg); // top dz
+  // is_rhd = driver_state.getWheelOnRightProb() > 0.5;
+  driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData();
 
-  // face bounding box
-  cereal::DriverState::Reader driver_state = sm["driverState"].getDriverState();
-  bool face_detected = driver_state.getFaceProb() > 0.5;
+  bool face_detected = driver_data.getFaceProb() > 0.7;
   if (face_detected) {
-    auto fxy_list = driver_state.getFacePosition();
-    auto std_list = driver_state.getFaceOrientationStd();
+    auto fxy_list = driver_data.getFacePosition();
+    auto std_list = driver_data.getFaceOrientationStd();
     float face_x = fxy_list[0];
     float face_y = fxy_list[1];
     float face_std = std::max(std_list[0], std_list[1]);
 
     float alpha = 0.7;
-    if (face_std > 0.08) {
-      alpha = std::max(0.7 - (face_std-0.08)*7, 0.0);
+    if (face_std > 0.15) {
+      alpha = std::max(0.7 - (face_std-0.15)*3.5, 0.0);
     }
-    const int box_size = 0.6 * rect2.height() / 2;
-    const float rhd_offset = 0.05; // lhd is shifted, so rhd is not mirrored
-    int fbox_x = valid_rect.center().x() + (is_rhd ? (face_x + rhd_offset) : -face_x) * valid_rect.width();
-    int fbox_y = valid_rect.center().y() + face_y * valid_rect.height();
+    const int box_size = 220;
+    // use approx instead of distort_points
+    int fbox_x = 1080.0 - 1714.0 * face_x;
+    int fbox_y = -135.0 + (504.0 + std::abs(face_x)*112.0) + (1205.0 - std::abs(face_x)*724.0) * face_y;
     p.setPen(QPen(QColor(255, 255, 255, alpha * 255), 10));
     p.drawRoundedRect(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size, 35.0, 35.0);
   }
 
   // icon
-  const int img_offset = 30;
-  const int img_x = is_rhd ? rect2.right() - FACE_IMG_SIZE - img_offset : rect2.left() + img_offset;
-  const int img_y = rect2.bottom() - FACE_IMG_SIZE - img_offset;
-  p.setOpacity(face_detected ? 1.0 : 0.3);
+  const int img_offset = 60;
+  const int img_x = rect().left() + img_offset;
+  const int img_y = rect().bottom() - FACE_IMG_SIZE - img_offset;
+  p.setOpacity(face_detected ? 1.0 : 0.2);
   p.drawPixmap(img_x, img_y, face_img);
 }
diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc
index 9c2088b1d7..536ca495ca 100644
--- a/selfdrive/ui/qt/offroad/networking.cc
+++ b/selfdrive/ui/qt/offroad/networking.cc
@@ -27,10 +27,10 @@ Networking::Networking(QWidget* parent, bool show_advanced) : QFrame(parent) {
   QVBoxLayout* vlayout = new QVBoxLayout(wifiScreen);
   vlayout->setContentsMargins(20, 20, 20, 20);
   if (show_advanced) {
-    QPushButton* advancedSettings = new QPushButton("Advanced");
-    advancedSettings->setObjectName("advancedBtn");
+    QPushButton* advancedSettings = new QPushButton(tr("Advanced"));
+    advancedSettings->setObjectName("advanced_btn");
     advancedSettings->setStyleSheet("margin-right: 30px;");
-    advancedSettings->setFixedSize(350, 100);
+    advancedSettings->setFixedSize(400, 100);
     connect(advancedSettings, &QPushButton::clicked, [=]() { main_layout->setCurrentWidget(an); });
     vlayout->addSpacing(10);
     vlayout->addWidget(advancedSettings, 0, Qt::AlignRight);
@@ -55,16 +55,18 @@ Networking::Networking(QWidget* parent, bool show_advanced) : QFrame(parent) {
   setAutoFillBackground(true);
   setPalette(pal);
 
-  // TODO: revisit pressed colors
   setStyleSheet(R"(
-    #wifiWidget > QPushButton, #back_btn, #advancedBtn {
+    #wifiWidget > QPushButton, #back_btn, #advanced_btn {
       font-size: 50px;
       margin: 0px;
       padding: 15px;
       border-width: 0;
       border-radius: 30px;
       color: #dddddd;
-      background-color: #444444;
+      background-color: #393939;
+    }
+    #back_btn:pressed, #advanced_btn:pressed {
+      background-color:  #4a4a4a;
     }
   )");
   main_layout->setCurrentWidget(wifiScreen);
@@ -82,7 +84,7 @@ void Networking::connectToNetwork(const Network &n) {
   } else if (n.security_type == SecurityType::OPEN) {
     wifi->connect(n);
   } else if (n.security_type == SecurityType::WPA) {
-    QString pass = InputDialog::getText("Enter password", this, "for \"" + n.ssid + "\"", true, 8);
+    QString pass = InputDialog::getText(tr("Enter password"), this, tr("for \"") + n.ssid + "\"", true, 8);
     if (!pass.isEmpty()) {
       wifi->connect(n, pass);
     }
@@ -92,7 +94,7 @@ void Networking::connectToNetwork(const Network &n) {
 void Networking::wrongPassword(const QString &ssid) {
   if (wifi->seenNetworks.contains(ssid)) {
     const Network &n = wifi->seenNetworks.value(ssid);
-    QString pass = InputDialog::getText("Wrong password", this, "for \"" + n.ssid +"\"", true, 8);
+    QString pass = InputDialog::getText(tr("Wrong password"), this, tr("for \"") + n.ssid +"\"", true, 8);
     if (!pass.isEmpty()) {
       wifi->connect(n, pass);
     }
@@ -116,22 +118,22 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
   main_layout->setSpacing(20);
 
   // Back button
-  QPushButton* back = new QPushButton("Back");
+  QPushButton* back = new QPushButton(tr("Back"));
   back->setObjectName("back_btn");
-  back->setFixedSize(500, 100);
+  back->setFixedSize(400, 100);
   connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
   main_layout->addWidget(back, 0, Qt::AlignLeft);
 
   ListWidget *list = new ListWidget(this);
   // Enable tethering layout
-  tetheringToggle = new ToggleControl("Enable Tethering", "", "", wifi->isTetheringEnabled());
+  tetheringToggle = new ToggleControl(tr("Enable Tethering"), "", "", wifi->isTetheringEnabled());
   list->addItem(tetheringToggle);
   QObject::connect(tetheringToggle, &ToggleControl::toggleFlipped, this, &AdvancedNetworking::toggleTethering);
 
   // Change tethering password
-  ButtonControl *editPasswordButton = new ButtonControl("Tethering Password", "EDIT");
+  ButtonControl *editPasswordButton = new ButtonControl(tr("Tethering Password"), tr("EDIT"));
   connect(editPasswordButton, &ButtonControl::clicked, [=]() {
-    QString pass = InputDialog::getText("Enter new tethering password", this, "", true, 8, wifi->getTetheringPassword());
+    QString pass = InputDialog::getText(tr("Enter new tethering password"), this, "", true, 8, wifi->getTetheringPassword());
     if (!pass.isEmpty()) {
       wifi->changeTetheringPassword(pass);
     }
@@ -139,7 +141,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
   list->addItem(editPasswordButton);
 
   // IP address
-  ipLabel = new LabelControl("IP Address", wifi->ipv4_address);
+  ipLabel = new LabelControl(tr("IP Address"), wifi->ipv4_address);
   list->addItem(ipLabel);
 
   // SSH keys
@@ -148,7 +150,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
 
   // Roaming toggle
   const bool roamingEnabled = params.getBool("GsmRoaming");
-  ToggleControl *roamingToggle = new ToggleControl("Enable Roaming", "", "", roamingEnabled);
+  ToggleControl *roamingToggle = new ToggleControl(tr("Enable Roaming"), "", "", roamingEnabled);
   QObject::connect(roamingToggle, &SshToggle::toggleFlipped, [=](bool state) {
     params.putBool("GsmRoaming", state);
     wifi->updateGsmSettings(state, QString::fromStdString(params.get("GsmApn")));
@@ -156,11 +158,11 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
   list->addItem(roamingToggle);
 
   // APN settings
-  ButtonControl *editApnButton = new ButtonControl("APN Setting", "EDIT");
+  ButtonControl *editApnButton = new ButtonControl(tr("APN Setting"), tr("EDIT"));
   connect(editApnButton, &ButtonControl::clicked, [=]() {
     const bool roamingEnabled = params.getBool("GsmRoaming");
     const QString cur_apn = QString::fromStdString(params.get("GsmApn"));
-    QString apn = InputDialog::getText("Enter APN", this, "leave blank for automatic configuration", false, -1, cur_apn).trimmed();
+    QString apn = InputDialog::getText(tr("Enter APN"), this, tr("leave blank for automatic configuration"), false, -1, cur_apn).trimmed();
 
     if (apn.isEmpty()) {
       params.remove("GsmApn");
@@ -205,7 +207,7 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi)
   checkmark = QPixmap(ASSET_PATH + "offroad/icon_checkmark.svg").scaledToWidth(49, Qt::SmoothTransformation);
   circled_slash = QPixmap(ASSET_PATH + "img_circled_slash.svg").scaledToWidth(49, Qt::SmoothTransformation);
 
-  QLabel *scanning = new QLabel("Scanning for networks...");
+  QLabel *scanning = new QLabel(tr("Scanning for networks..."));
   scanning->setStyleSheet("font-size: 65px;");
   main_layout->addWidget(scanning, 0, Qt::AlignCenter);
 
@@ -258,7 +260,7 @@ void WifiUI::refresh() {
   clearLayout(main_layout);
 
   if (wifi->seenNetworks.size() == 0) {
-    QLabel *scanning = new QLabel("Scanning for networks...");
+    QLabel *scanning = new QLabel(tr("Scanning for networks..."));
     scanning->setStyleSheet("font-size: 65px;");
     main_layout->addWidget(scanning, 0, Qt::AlignCenter);
     return;
@@ -284,17 +286,17 @@ void WifiUI::refresh() {
     hlayout->addWidget(ssidLabel, network.connected == ConnectedType::CONNECTING ? 0 : 1);
 
     if (network.connected == ConnectedType::CONNECTING) {
-      QPushButton *connecting = new QPushButton("CONNECTING...");
+      QPushButton *connecting = new QPushButton(tr("CONNECTING..."));
       connecting->setObjectName("connecting");
       hlayout->addWidget(connecting, 2, Qt::AlignLeft);
     }
 
     // Forget button
     if (wifi->isKnownConnection(network.ssid) && !wifi->isTetheringEnabled()) {
-      QPushButton *forgetBtn = new QPushButton("FORGET");
+      QPushButton *forgetBtn = new QPushButton(tr("FORGET"));
       forgetBtn->setObjectName("forgetBtn");
       QObject::connect(forgetBtn, &QPushButton::clicked, [=]() {
-        if (ConfirmationDialog::confirm("Forget Wi-Fi Network \"" + QString::fromUtf8(network.ssid) + "\"?", this)) {
+        if (ConfirmationDialog::confirm(tr("Forget Wi-Fi Network \"") + QString::fromUtf8(network.ssid) + "\"?", this)) {
           wifi->forgetConnection(network.ssid);
         }
       });
diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc
index d32cc26e43..f3e50b572b 100644
--- a/selfdrive/ui/qt/offroad/onboarding.cc
+++ b/selfdrive/ui/qt/offroad/onboarding.cc
@@ -76,7 +76,7 @@ void TermsPage::showEvent(QShowEvent *event) {
   main_layout->setContentsMargins(45, 35, 45, 45);
   main_layout->setSpacing(0);
 
-  QLabel *title = new QLabel("Terms & Conditions");
+  QLabel *title = new QLabel(tr("Terms & Conditions"));
   title->setStyleSheet("font-size: 90px; font-weight: 600;");
   main_layout->addWidget(title);
 
@@ -104,11 +104,11 @@ void TermsPage::showEvent(QShowEvent *event) {
   buttons->setSpacing(45);
   main_layout->addLayout(buttons);
 
-  QPushButton *decline_btn = new QPushButton("Decline");
+  QPushButton *decline_btn = new QPushButton(tr("Decline"));
   buttons->addWidget(decline_btn);
   QObject::connect(decline_btn, &QPushButton::clicked, this, &TermsPage::declinedTerms);
 
-  accept_btn = new QPushButton("Scroll to accept");
+  accept_btn = new QPushButton(tr("Scroll to accept"));
   accept_btn->setEnabled(false);
   accept_btn->setStyleSheet(R"(
     QPushButton {
@@ -123,7 +123,7 @@ void TermsPage::showEvent(QShowEvent *event) {
 }
 
 void TermsPage::enableAccept() {
-  accept_btn->setText("Agree");
+  accept_btn->setText(tr("Agree"));
   accept_btn->setEnabled(true);
 }
 
@@ -137,7 +137,7 @@ void DeclinePage::showEvent(QShowEvent *event) {
   main_layout->setSpacing(40);
 
   QLabel *text = new QLabel(this);
-  text->setText("You must accept the Terms and Conditions in order to use openpilot.");
+  text->setText(tr("You must accept the Terms and Conditions in order to use openpilot."));
   text->setStyleSheet(R"(font-size: 80px; font-weight: 300; margin: 200px;)");
   text->setWordWrap(true);
   main_layout->addWidget(text, 0, Qt::AlignCenter);
@@ -146,12 +146,12 @@ void DeclinePage::showEvent(QShowEvent *event) {
   buttons->setSpacing(45);
   main_layout->addLayout(buttons);
 
-  QPushButton *back_btn = new QPushButton("Back");
+  QPushButton *back_btn = new QPushButton(tr("Back"));
   buttons->addWidget(back_btn);
 
   QObject::connect(back_btn, &QPushButton::clicked, this, &DeclinePage::getBack);
 
-  QPushButton *uninstall_btn = new QPushButton(QString("Decline, uninstall %1").arg(getBrand()));
+  QPushButton *uninstall_btn = new QPushButton(tr("Decline, uninstall %1").arg(getBrand()));
   uninstall_btn->setStyleSheet("background-color: #B73D3D");
   buttons->addWidget(uninstall_btn);
   QObject::connect(uninstall_btn, &QPushButton::clicked, [=]() {
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index ac6f1f1ba0..547ad168f1 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -14,7 +14,7 @@
 
 #include "common/params.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
 #include "selfdrive/ui/qt/widgets/input.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"
@@ -29,45 +29,45 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   std::vector<std::tuple<QString, QString, QString, QString>> toggles{
     {
       "OpenpilotEnabledToggle",
-      "Enable openpilot",
-      "Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.",
+      tr("Enable openpilot"),
+      tr("Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off."),
       "../assets/offroad/icon_openpilot.png",
     },
     {
       "IsLdwEnabled",
-      "Enable Lane Departure Warnings",
-      "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).",
+      tr("Enable Lane Departure Warnings"),
+      tr("Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h)."),
       "../assets/offroad/icon_warning.png",
     },
     {
       "IsRHD",
-      "Enable Right-Hand Drive",
-      "Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.",
+      tr("Enable Right-Hand Drive"),
+      tr("Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat."),
       "../assets/offroad/icon_openpilot_mirrored.png",
     },
     {
       "IsMetric",
-      "Use Metric System",
-      "Display speed in km/h instead of mph.",
+      tr("Use Metric System"),
+      tr("Display speed in km/h instead of mph."),
       "../assets/offroad/icon_metric.png",
     },
     {
       "RecordFront",
-      "Record and Upload Driver Camera",
-      "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
+      tr("Record and Upload Driver Camera"),
+      tr("Upload data from the driver facing camera and help improve the driver monitoring algorithm."),
       "../assets/offroad/icon_monitoring.png",
     },
     {
       "DisengageOnAccelerator",
-      "Disengage On Accelerator Pedal",
-      "When enabled, pressing the accelerator pedal will disengage openpilot.",
+      tr("Disengage On Accelerator Pedal"),
+      tr("When enabled, pressing the accelerator pedal will disengage openpilot."),
       "../assets/offroad/icon_disengage_on_accelerator.svg",
     },
 #ifdef ENABLE_MAPS
     {
       "NavSettingTime24h",
-      "Show ETA in 24h format",
-      "Use 24h format instead of am/pm",
+      tr("Show ETA in 24h format"),
+      tr("Use 24h format instead of am/pm"),
       "../assets/offroad/icon_metric.png",
     },
 #endif
@@ -79,8 +79,8 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   if (params.getBool("DisableRadar_Allow")) {
     toggles.push_back({
       "DisableRadar",
-      "openpilot Longitudinal Control",
-      "openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB!",
+      tr("openpilot Longitudinal Control"),
+      tr("openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB!"),
       "../assets/offroad/icon_speed_limit.png",
     });
   }
@@ -95,29 +95,29 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
 
 DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   setSpacing(50);
-  addItem(new LabelControl("Dongle ID", getDongleId().value_or("N/A")));
-  addItem(new LabelControl("Serial", params.get("HardwareSerial").c_str()));
+  addItem(new LabelControl(tr("Dongle ID"), getDongleId().value_or(tr("N/A"))));
+  addItem(new LabelControl(tr("Serial"), params.get("HardwareSerial").c_str()));
 
   // offroad-only buttons
 
-  auto dcamBtn = new ButtonControl("Driver Camera", "PREVIEW",
-                                   "Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)");
+  auto dcamBtn = new ButtonControl(tr("Driver Camera"), tr("PREVIEW"),
+                                   tr("Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)"));
   connect(dcamBtn, &ButtonControl::clicked, [=]() { emit showDriverView(); });
   addItem(dcamBtn);
 
-  auto resetCalibBtn = new ButtonControl("Reset Calibration", "RESET", " ");
+  auto resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), "");
   connect(resetCalibBtn, &ButtonControl::showDescription, this, &DevicePanel::updateCalibDescription);
   connect(resetCalibBtn, &ButtonControl::clicked, [&]() {
-    if (ConfirmationDialog::confirm("Are you sure you want to reset calibration?", this)) {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), this)) {
       params.remove("CalibrationParams");
     }
   });
   addItem(resetCalibBtn);
 
   if (!params.getBool("Passive")) {
-    auto retrainingBtn = new ButtonControl("Review Training Guide", "REVIEW", "Review the rules, features, and limitations of openpilot");
+    auto retrainingBtn = new ButtonControl(tr("Review Training Guide"), tr("REVIEW"), tr("Review the rules, features, and limitations of openpilot"));
     connect(retrainingBtn, &ButtonControl::clicked, [=]() {
-      if (ConfirmationDialog::confirm("Are you sure you want to review the training guide?", this)) {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), this)) {
         emit reviewTrainingGuide();
       }
     });
@@ -125,7 +125,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   }
 
   if (Hardware::TICI()) {
-    auto regulatoryBtn = new ButtonControl("Regulatory", "VIEW", "");
+    auto regulatoryBtn = new ButtonControl(tr("Regulatory"), tr("VIEW"), "");
     connect(regulatoryBtn, &ButtonControl::clicked, [=]() {
       const std::string txt = util::read_file("../assets/offroad/fcc.html");
       RichTextDialog::alert(QString::fromStdString(txt), this);
@@ -143,12 +143,12 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   QHBoxLayout *power_layout = new QHBoxLayout();
   power_layout->setSpacing(30);
 
-  QPushButton *reboot_btn = new QPushButton("Reboot");
+  QPushButton *reboot_btn = new QPushButton(tr("Reboot"));
   reboot_btn->setObjectName("reboot_btn");
   power_layout->addWidget(reboot_btn);
   QObject::connect(reboot_btn, &QPushButton::clicked, this, &DevicePanel::reboot);
 
-  QPushButton *poweroff_btn = new QPushButton("Power Off");
+  QPushButton *poweroff_btn = new QPushButton(tr("Power Off"));
   poweroff_btn->setObjectName("poweroff_btn");
   power_layout->addWidget(poweroff_btn);
   QObject::connect(poweroff_btn, &QPushButton::clicked, this, &DevicePanel::poweroff);
@@ -168,8 +168,8 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
 
 void DevicePanel::updateCalibDescription() {
   QString desc =
-      "openpilot requires the device to be mounted within 4° left or right and "
-      "within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.";
+      tr("openpilot requires the device to be mounted within 4° left or right and "
+         "within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.");
   std::string calib_bytes = Params().get("CalibrationParams");
   if (!calib_bytes.empty()) {
     try {
@@ -179,9 +179,9 @@ void DevicePanel::updateCalibDescription() {
       if (calib.getCalStatus() != 0) {
         double pitch = calib.getRpyCalib()[1] * (180 / M_PI);
         double yaw = calib.getRpyCalib()[2] * (180 / M_PI);
-        desc += QString(" Your device is pointed %1° %2 and %3° %4.")
-                    .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? "down" : "up",
-                         QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? "left" : "right");
+        desc += tr(" Your device is pointed %1° %2 and %3° %4.")
+                    .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? tr("down") : tr("up"),
+                         QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? tr("left") : tr("right"));
       }
     } catch (kj::Exception) {
       qInfo() << "invalid CalibrationParams";
@@ -192,51 +192,51 @@ void DevicePanel::updateCalibDescription() {
 
 void DevicePanel::reboot() {
   if (!uiState()->engaged()) {
-    if (ConfirmationDialog::confirm("Are you sure you want to reboot?", this)) {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to reboot?"), this)) {
       // Check engaged again in case it changed while the dialog was open
       if (!uiState()->engaged()) {
         Params().putBool("DoReboot", true);
       }
     }
   } else {
-    ConfirmationDialog::alert("Disengage to Reboot", this);
+    ConfirmationDialog::alert(tr("Disengage to Reboot"), this);
   }
 }
 
 void DevicePanel::poweroff() {
   if (!uiState()->engaged()) {
-    if (ConfirmationDialog::confirm("Are you sure you want to power off?", this)) {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to power off?"), this)) {
       // Check engaged again in case it changed while the dialog was open
       if (!uiState()->engaged()) {
         Params().putBool("DoShutdown", true);
       }
     }
   } else {
-    ConfirmationDialog::alert("Disengage to Power Off", this);
+    ConfirmationDialog::alert(tr("Disengage to Power Off"), this);
   }
 }
 
 SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
-  gitBranchLbl = new LabelControl("Git Branch");
-  gitCommitLbl = new LabelControl("Git Commit");
-  osVersionLbl = new LabelControl("OS Version");
-  versionLbl = new LabelControl("Version", "", QString::fromStdString(params.get("ReleaseNotes")).trimmed());
-  lastUpdateLbl = new LabelControl("Last Update Check", "", "The last time openpilot successfully checked for an update. The updater only runs while the car is off.");
-  updateBtn = new ButtonControl("Check for Update", "");
+  gitBranchLbl = new LabelControl(tr("Git Branch"));
+  gitCommitLbl = new LabelControl(tr("Git Commit"));
+  osVersionLbl = new LabelControl(tr("OS Version"));
+  versionLbl = new LabelControl(tr("Version"), "", QString::fromStdString(params.get("ReleaseNotes")).trimmed());
+  lastUpdateLbl = new LabelControl(tr("Last Update Check"), "", tr("The last time openpilot successfully checked for an update. The updater only runs while the car is off."));
+  updateBtn = new ButtonControl(tr("Check for Update"), "");
   connect(updateBtn, &ButtonControl::clicked, [=]() {
     if (params.getBool("IsOffroad")) {
       fs_watch->addPath(QString::fromStdString(params.getParamPath("LastUpdateTime")));
       fs_watch->addPath(QString::fromStdString(params.getParamPath("UpdateFailedCount")));
-      updateBtn->setText("CHECKING");
+      updateBtn->setText(tr("CHECKING"));
       updateBtn->setEnabled(false);
     }
     std::system("pkill -1 -f selfdrive.updated");
   });
 
 
-  auto uninstallBtn = new ButtonControl("Uninstall " + getBrand(), "UNINSTALL");
+  auto uninstallBtn = new ButtonControl(tr("Uninstall ") + getBrand(), tr("UNINSTALL"));
   connect(uninstallBtn, &ButtonControl::clicked, [&]() {
-    if (ConfirmationDialog::confirm("Are you sure you want to uninstall?", this)) {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to uninstall?"), this)) {
       params.putBool("DoUninstall", true);
     }
   });
@@ -250,8 +250,8 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
   fs_watch = new QFileSystemWatcher(this);
   QObject::connect(fs_watch, &QFileSystemWatcher::fileChanged, [=](const QString path) {
     if (path.contains("UpdateFailedCount") && std::atoi(params.get("UpdateFailedCount").c_str()) > 0) {
-      lastUpdateLbl->setText("failed to fetch update");
-      updateBtn->setText("CHECK");
+      lastUpdateLbl->setText(tr("failed to fetch update"));
+      updateBtn->setText(tr("CHECK"));
       updateBtn->setEnabled(true);
     } else if (path.contains("LastUpdateTime")) {
       updateLabels();
@@ -272,7 +272,7 @@ void SoftwarePanel::updateLabels() {
 
   versionLbl->setText(getBrandVersion());
   lastUpdateLbl->setText(lastUpdate);
-  updateBtn->setText("CHECK");
+  updateBtn->setText(tr("CHECK"));
   updateBtn->setEnabled(true);
   gitBranchLbl->setText(QString::fromStdString(params.get("GitBranch")));
   gitCommitLbl->setText(QString::fromStdString(params.get("GitCommit")).left(10));
@@ -301,7 +301,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
   )");
 
   // close button
-  QPushButton *close_btn = new QPushButton("×");
+  QPushButton *close_btn = new QPushButton(tr("×"));
   close_btn->setStyleSheet(R"(
     QPushButton {
       font-size: 140px;
@@ -327,15 +327,15 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
   QObject::connect(device, &DevicePanel::showDriverView, this, &SettingsWindow::showDriverView);
 
   QList<QPair<QString, QWidget *>> panels = {
-    {"Device", device},
-    {"Network", network_panel(this)},
-    {"Toggles", new TogglesPanel(this)},
-    {"Software", new SoftwarePanel(this)},
+    {tr("Device"), device},
+    {tr("Network"), network_panel(this)},
+    {tr("Toggles"), new TogglesPanel(this)},
+    {tr("Software"), new SoftwarePanel(this)},
   };
 
 #ifdef ENABLE_MAPS
   auto map_panel = new MapPanel(this);
-  panels.push_back({"Navigation", map_panel});
+  panels.push_back({tr("Navigation"), map_panel});
   QObject::connect(map_panel, &MapPanel::closeSettings, this, &SettingsWindow::closeSettings);
 #endif
 
@@ -367,7 +367,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
     nav_btns->addButton(btn);
     sidebar_layout->addWidget(btn, 0, Qt::AlignRight);
 
-    const int lr_margin = name != "Network" ? 50 : 0;  // Network panel handles its own margins
+    const int lr_margin = name != tr("Network") ? 50 : 0;  // Network panel handles its own margins
     panel->setContentsMargins(lr_margin, 25, lr_margin, 25);
 
     ScrollView *panel_frame = new ScrollView(panel, this);
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index ce61c094bd..604d3c09a9 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -146,18 +146,18 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
   p.setPen(QColor(0xff, 0xff, 0xff));
   p.setRenderHint(QPainter::TextAntialiasing);
   if (alert.size == cereal::ControlsState::AlertSize::SMALL) {
-    configFont(p, "Open Sans", 74, "SemiBold");
+    configFont(p, "Inter", 74, "SemiBold");
     p.drawText(r, Qt::AlignCenter, alert.text1);
   } else if (alert.size == cereal::ControlsState::AlertSize::MID) {
-    configFont(p, "Open Sans", 88, "Bold");
+    configFont(p, "Inter", 88, "Bold");
     p.drawText(QRect(0, c.y() - 125, width(), 150), Qt::AlignHCenter | Qt::AlignTop, alert.text1);
-    configFont(p, "Open Sans", 66, "Regular");
+    configFont(p, "Inter", 66, "Regular");
     p.drawText(QRect(0, c.y() + 21, width(), 90), Qt::AlignHCenter, alert.text2);
   } else if (alert.size == cereal::ControlsState::AlertSize::FULL) {
     bool l = alert.text1.length() > 15;
-    configFont(p, "Open Sans", l ? 132 : 177, "Bold");
+    configFont(p, "Inter", l ? 132 : 177, "Bold");
     p.drawText(QRect(0, r.y() + (l ? 240 : 270), width(), 600), Qt::AlignHCenter | Qt::TextWordWrap, alert.text1);
-    configFont(p, "Open Sans", 88, "Regular");
+    configFont(p, "Inter", 88, "Regular");
     p.drawText(QRect(0, r.height() - (l ? 361 : 420), width(), 300), Qt::AlignHCenter | Qt::TextWordWrap, alert.text2);
   }
 }
@@ -172,20 +172,34 @@ NvgWindow::NvgWindow(VisionStreamType type, QWidget* parent) : fps_filter(UI_FRE
 void NvgWindow::updateState(const UIState &s) {
   const int SET_SPEED_NA = 255;
   const SubMaster &sm = *(s.sm);
+
+  const bool cs_alive = sm.alive("controlsState");
+  const bool nav_alive = sm.alive("navInstruction") && sm["navInstruction"].getValid();
+
   const auto cs = sm["controlsState"].getControlsState();
 
-  float maxspeed = cs.getVCruise();
-  bool cruise_set = maxspeed > 0 && (int)maxspeed != SET_SPEED_NA;
+  float set_speed = cs_alive ? cs.getVCruise() : SET_SPEED_NA;
+  bool cruise_set = set_speed > 0 && (int)set_speed != SET_SPEED_NA;
   if (cruise_set && !s.scene.is_metric) {
-    maxspeed *= KM_TO_MILE;
+    set_speed *= KM_TO_MILE;
   }
-  QString maxspeed_str = cruise_set ? QString::number(std::nearbyint(maxspeed)) : "N/A";
-  float cur_speed = std::max(0.0, sm["carState"].getCarState().getVEgo() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH));
+
+  float cur_speed = cs_alive ? std::max<float>(0.0, sm["carState"].getCarState().getVEgo()) : 0.0;
+  cur_speed  *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
+
+  auto speed_limit_sign = sm["navInstruction"].getNavInstruction().getSpeedLimitSign();
+  float speed_limit = nav_alive ? sm["navInstruction"].getNavInstruction().getSpeedLimit() : 0.0;
+  speed_limit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH);
+
+  setProperty("speedLimit", speed_limit);
+  setProperty("has_us_speed_limit", nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD);
+  setProperty("has_eu_speed_limit", nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA);
 
   setProperty("is_cruise_set", cruise_set);
-  setProperty("speed", QString::number(std::nearbyint(cur_speed)));
-  setProperty("maxSpeed", maxspeed_str);
-  setProperty("speedUnit", s.scene.is_metric ? "km/h" : "mph");
+  setProperty("is_metric", s.scene.is_metric);
+  setProperty("speed", cur_speed);
+  setProperty("setSpeed", set_speed);
+  setProperty("speedUnit", s.scene.is_metric ? tr("km/h") : tr("mph"));
   setProperty("hideDM", cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE);
   setProperty("status", s.status);
 
@@ -194,6 +208,12 @@ void NvgWindow::updateState(const UIState &s) {
     setProperty("engageable", cs.getEngageable() || cs.getEnabled());
     setProperty("dmActive", sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode());
   }
+
+  if (s.scene.calibration_valid) {
+    CameraViewWidget::updateCalibration(s.scene.view_from_calib);
+  } else {
+    CameraViewWidget::updateCalibration(DEFAULT_CALIBRATION);
+  }
 }
 
 void NvgWindow::drawHud(QPainter &p) {
@@ -205,27 +225,142 @@ void NvgWindow::drawHud(QPainter &p) {
   bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0));
   p.fillRect(0, 0, width(), header_h, bg);
 
-  // max speed
-  QRect rc(bdr_s * 2, bdr_s * 1.5, 184, 202);
-  p.setPen(QPen(QColor(0xff, 0xff, 0xff, 100), 10));
-  p.setBrush(QColor(0, 0, 0, 100));
-  p.drawRoundedRect(rc, 20, 20);
-  p.setPen(Qt::NoPen);
+  QString speedLimitStr = (speedLimit > 1) ? QString::number(std::nearbyint(speedLimit)) : "–";
+  QString speedStr = QString::number(std::nearbyint(speed));
+  QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed)) : "–";
+
+  // Draw outer box + border to contain set speed and speed limit
+  int default_rect_width = 172;
+  int rect_width = default_rect_width;
+  if (is_metric || has_eu_speed_limit) rect_width = 200;
+  if (has_us_speed_limit && speedLimitStr.size() >= 3) rect_width = 223;
+
+  int rect_height = 204;
+  if (has_us_speed_limit) rect_height = 402;
+  else if (has_eu_speed_limit) rect_height = 392;
+
+  int top_radius = 32;
+  int bottom_radius = has_eu_speed_limit ? 100 : 32;
+
+  QRect set_speed_rect(60 + default_rect_width / 2 - rect_width / 2, 45, rect_width, rect_height);
+  p.setPen(QPen(whiteColor(75), 6));
+  p.setBrush(blackColor(166));
+  drawRoundedRect(p, set_speed_rect, top_radius, top_radius, bottom_radius, bottom_radius);
 
-  configFont(p, "Open Sans", 48, "Regular");
-  drawText(p, rc.center().x(), 118, "MAX", is_cruise_set ? 200 : 100);
+  // Draw MAX
   if (is_cruise_set) {
-    configFont(p, "Open Sans", 88, "Bold");
-    drawText(p, rc.center().x(), 212, maxSpeed, 255);
+    if (status == STATUS_DISENGAGED) {
+      p.setPen(whiteColor());
+    } else if (status == STATUS_OVERRIDE) {
+      p.setPen(QColor(0x91, 0x9b, 0x95, 0xff));
+    } else if (speedLimit > 0) {
+      p.setPen(interpColor(
+        setSpeed,
+        {speedLimit + 5, speedLimit + 15, speedLimit + 25},
+        {QColor(0x80, 0xd8, 0xa6, 0xff), QColor(0xff, 0xe4, 0xbf, 0xff), QColor(0xff, 0xbf, 0xbf, 0xff)}
+      ));
+    } else {
+      p.setPen(QColor(0x80, 0xd8, 0xa6, 0xff));
+    }
   } else {
-    configFont(p, "Open Sans", 80, "SemiBold");
-    drawText(p, rc.center().x(), 212, maxSpeed, 100);
+    p.setPen(QColor(0xa6, 0xa6, 0xa6, 0xff));
+  }
+  configFont(p, "Inter", 40, "SemiBold");
+  QRect max_rect = getTextRect(p, Qt::AlignCenter, tr("MAX"));
+  max_rect.moveCenter({set_speed_rect.center().x(), 0});
+  max_rect.moveTop(set_speed_rect.top() + 27);
+  p.drawText(max_rect, Qt::AlignCenter, tr("MAX"));
+
+  // Draw set speed
+  if (is_cruise_set) {
+    if (speedLimit > 0 && status != STATUS_DISENGAGED && status != STATUS_OVERRIDE) {
+      p.setPen(interpColor(
+        setSpeed,
+        {speedLimit + 5, speedLimit + 15, speedLimit + 25},
+        {whiteColor(), QColor(0xff, 0x95, 0x00, 0xff), QColor(0xff, 0x00, 0x00, 0xff)}
+      ));
+    } else {
+      p.setPen(whiteColor());
+    }
+  } else {
+    p.setPen(QColor(0x72, 0x72, 0x72, 0xff));
+  }
+  configFont(p, "Inter", 90, "Bold");
+  QRect speed_rect = getTextRect(p, Qt::AlignCenter, setSpeedStr);
+  speed_rect.moveCenter({set_speed_rect.center().x(), 0});
+  speed_rect.moveTop(set_speed_rect.top() + 77);
+  p.drawText(speed_rect, Qt::AlignCenter, setSpeedStr);
+
+
+
+  // US/Canada (MUTCD style) sign
+  if (has_us_speed_limit) {
+    const int border_width = 6;
+    const int sign_width = (speedLimitStr.size() >= 3) ? 199 : 148;
+    const int sign_height = 186;
+
+    // White outer square
+    QRect sign_rect_outer(set_speed_rect.left() + 12, set_speed_rect.bottom() - 11 - sign_height, sign_width, sign_height);
+    p.setPen(Qt::NoPen);
+    p.setBrush(whiteColor());
+    p.drawRoundedRect(sign_rect_outer, 24, 24);
+
+    // Smaller white square with black border
+    QRect sign_rect(sign_rect_outer.left() + 1.5 * border_width, sign_rect_outer.top() + 1.5 * border_width, sign_width - 3 * border_width, sign_height - 3 * border_width);
+    p.setPen(QPen(blackColor(), border_width));
+    p.setBrush(whiteColor());
+    p.drawRoundedRect(sign_rect, 16, 16);
+
+    // "SPEED"
+    configFont(p, "Inter", 28, "SemiBold");
+    QRect text_speed_rect = getTextRect(p, Qt::AlignCenter, tr("SPEED"));
+    text_speed_rect.moveCenter({sign_rect.center().x(), 0});
+    text_speed_rect.moveTop(sign_rect_outer.top() + 22);
+    p.drawText(text_speed_rect, Qt::AlignCenter, tr("SPEED"));
+
+    // "LIMIT"
+    QRect text_limit_rect = getTextRect(p, Qt::AlignCenter, tr("LIMIT"));
+    text_limit_rect.moveCenter({sign_rect.center().x(), 0});
+    text_limit_rect.moveTop(sign_rect_outer.top() + 51);
+    p.drawText(text_limit_rect, Qt::AlignCenter, tr("LIMIT"));
+
+    // Speed limit value
+    configFont(p, "Inter", 70, "Bold");
+    QRect speed_limit_rect = getTextRect(p, Qt::AlignCenter, speedLimitStr);
+    speed_limit_rect.moveCenter({sign_rect.center().x(), 0});
+    speed_limit_rect.moveTop(sign_rect_outer.top() + 85);
+    p.drawText(speed_limit_rect, Qt::AlignCenter, speedLimitStr);
+  }
+
+  // EU (Vienna style) sign
+  if (has_eu_speed_limit) {
+    int outer_radius = 176 / 2;
+    int inner_radius_1 = outer_radius - 6; // White outer border
+    int inner_radius_2 = inner_radius_1 - 20; // Red circle
+
+    // Draw white circle with red border
+    QPoint center(set_speed_rect.center().x() + 1, set_speed_rect.top() + 204 + outer_radius);
+    p.setPen(Qt::NoPen);
+    p.setBrush(whiteColor());
+    p.drawEllipse(center, outer_radius, outer_radius);
+    p.setBrush(QColor(255, 0, 0, 255));
+    p.drawEllipse(center, inner_radius_1, inner_radius_1);
+    p.setBrush(whiteColor());
+    p.drawEllipse(center, inner_radius_2, inner_radius_2);
+
+    // Speed limit value
+    int font_size = (speedLimitStr.size() >= 3) ? 60 : 70;
+    configFont(p, "Inter", font_size, "Bold");
+    QRect speed_limit_rect = getTextRect(p, Qt::AlignCenter, speedLimitStr);
+    speed_limit_rect.moveCenter(center);
+    p.setPen(blackColor());
+    p.drawText(speed_limit_rect, Qt::AlignCenter, speedLimitStr);
   }
 
   // current speed
-  configFont(p, "Open Sans", 176, "Bold");
-  drawText(p, rect().center().x(), 210, speed);
-  configFont(p, "Open Sans", 66, "Regular");
+  configFont(p, "Inter", 176, "Bold");
+  drawText(p, rect().center().x(), 210, speedStr);
+  configFont(p, "Inter", 66, "Regular");
   drawText(p, rect().center().x(), 290, speedUnit, 200);
 
   // engage-ability icon
@@ -237,15 +372,13 @@ void NvgWindow::drawHud(QPainter &p) {
   // dm icon
   if (!hideDM) {
     drawIcon(p, radius / 2 + (bdr_s * 2), rect().bottom() - footer_h / 2,
-             dm_img, QColor(0, 0, 0, 70), dmActive ? 1.0 : 0.2);
+             dm_img, blackColor(70), dmActive ? 1.0 : 0.2);
   }
   p.restore();
 }
 
 void NvgWindow::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
-  QFontMetrics fm(p.font());
-  QRect init_rect = fm.boundingRect(text);
-  QRect real_rect = fm.boundingRect(init_rect, 0, text);
+  QRect real_rect = getTextRect(p, 0, text);
   real_rect.moveCenter({x, y - real_rect.height() / 2});
 
   p.setPen(QColor(0xff, 0xff, 0xff, alpha));
@@ -272,23 +405,20 @@ void NvgWindow::initializeGL() {
   setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
 }
 
-void NvgWindow::updateFrameMat(int w, int h) {
-  CameraViewWidget::updateFrameMat(w, h);
-
+void NvgWindow::updateFrameMat() {
+  CameraViewWidget::updateFrameMat();
   UIState *s = uiState();
+  int w = width(), h = height();
+
   s->fb_w = w;
   s->fb_h = h;
-  auto intrinsic_matrix = s->wide_camera ? ecam_intrinsic_matrix : fcam_intrinsic_matrix;
-  float zoom = ZOOM / intrinsic_matrix.v[0];
-  if (s->wide_camera) {
-    zoom *= 0.5;
-  }
+
   // Apply transformation such that video pixel coordinates match video
   // 1) Put (0, 0) in the middle of the video
   // 2) Apply same scaling as video
   // 3) Put (0, 0) in top left corner of video
   s->car_space_transform.reset();
-  s->car_space_transform.translate(w / 2, h / 2 + y_offset)
+  s->car_space_transform.translate(w / 2 - x_offset, h / 2 - y_offset)
       .scale(zoom, zoom)
       .translate(-intrinsic_matrix.v[2], -intrinsic_matrix.v[5]);
 }
@@ -300,13 +430,13 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) {
   // lanelines
   for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
     painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7)));
-    painter.drawPolygon(scene.lane_line_vertices[i].v, scene.lane_line_vertices[i].cnt);
+    painter.drawPolygon(scene.lane_line_vertices[i]);
   }
 
   // road edges
   for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) {
     painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0)));
-    painter.drawPolygon(scene.road_edge_vertices[i].v, scene.road_edge_vertices[i].cnt);
+    painter.drawPolygon(scene.road_edge_vertices[i]);
   }
 
   // paint path
@@ -325,7 +455,7 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) {
   bg.setColorAt(0.75 / 1.5, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.35));
   bg.setColorAt(1.0, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.0));
   painter.setBrush(bg);
-  painter.drawPolygon(scene.track_vertices.v, scene.track_vertices.cnt);
+  painter.drawPolygon(scene.track_vertices);
 
   painter.restore();
 }
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 6ca2b3c738..dc1e69da2a 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -27,10 +27,15 @@ private:
 // container window for the NVG UI
 class NvgWindow : public CameraViewWidget {
   Q_OBJECT
-  Q_PROPERTY(QString speed MEMBER speed);
+  Q_PROPERTY(float speed MEMBER speed);
   Q_PROPERTY(QString speedUnit MEMBER speedUnit);
-  Q_PROPERTY(QString maxSpeed MEMBER maxSpeed);
+  Q_PROPERTY(float setSpeed MEMBER setSpeed);
+  Q_PROPERTY(float speedLimit MEMBER speedLimit);
   Q_PROPERTY(bool is_cruise_set MEMBER is_cruise_set);
+  Q_PROPERTY(bool has_eu_speed_limit MEMBER has_eu_speed_limit);
+  Q_PROPERTY(bool has_us_speed_limit MEMBER has_us_speed_limit);
+  Q_PROPERTY(bool is_metric MEMBER is_metric);
+
   Q_PROPERTY(bool engageable MEMBER engageable);
   Q_PROPERTY(bool dmActive MEMBER dmActive);
   Q_PROPERTY(bool hideDM MEMBER hideDM);
@@ -48,25 +53,30 @@ private:
   QPixmap dm_img;
   const int radius = 192;
   const int img_size = (radius / 2) * 1.5;
-  QString speed;
+  float speed;
   QString speedUnit;
-  QString maxSpeed;
+  float setSpeed;
+  float speedLimit;
   bool is_cruise_set = false;
+  bool is_metric = false;
   bool engageable = false;
   bool dmActive = false;
   bool hideDM = false;
+  bool has_us_speed_limit = false;
+  bool has_eu_speed_limit = false;
   int status = STATUS_DISENGAGED;
 
 protected:
   void paintGL() override;
   void initializeGL() override;
   void showEvent(QShowEvent *event) override;
-  void updateFrameMat(int w, int h) override;
+  void updateFrameMat() override;
   void drawLaneLines(QPainter &painter, const UIState *s);
   void drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd);
   void drawHud(QPainter &p);
   inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); }
   inline QColor whiteColor(int alpha = 255) { return QColor(255, 255, 255, alpha); }
+  inline QColor blackColor(int alpha = 255) { return QColor(0, 0, 0, alpha); }
 
   double prev_draw_t = 0;
   FirstOrderFilter fps_filter;
diff --git a/selfdrive/ui/qt/qt_window.h b/selfdrive/ui/qt/qt_window.h
index 2c9a24e55b..02d127e7ff 100644
--- a/selfdrive/ui/qt/qt_window.h
+++ b/selfdrive/ui/qt/qt_window.h
@@ -12,7 +12,7 @@
 #include <QPlatformSurfaceEvent>
 #endif
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 const QString ASSET_PATH = ":/";
 
diff --git a/selfdrive/ui/qt/setup/reset.cc b/selfdrive/ui/qt/setup/reset.cc
index 9ffcf7f6cf..582217c1d7 100644
--- a/selfdrive/ui/qt/setup/reset.cc
+++ b/selfdrive/ui/qt/setup/reset.cc
@@ -26,16 +26,16 @@ void Reset::doReset() {
   if (rm == 0 || fmt == 0) {
     std::system("sudo reboot");
   }
-  body->setText("Reset failed. Reboot to try again.");
+  body->setText(tr("Reset failed. Reboot to try again."));
   rebootBtn->show();
 }
 
 void Reset::confirm() {
-  const QString confirm_txt = "Are you sure you want to reset your device?";
+  const QString confirm_txt = tr("Are you sure you want to reset your device?");
   if (body->text() != confirm_txt) {
     body->setText(confirm_txt);
   } else {
-    body->setText("Resetting device...");
+    body->setText(tr("Resetting device..."));
     rejectBtn->hide();
     rebootBtn->hide();
     confirmBtn->hide();
@@ -50,13 +50,13 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) {
   main_layout->setContentsMargins(45, 220, 45, 45);
   main_layout->setSpacing(0);
 
-  QLabel *title = new QLabel("System Reset");
+  QLabel *title = new QLabel(tr("System Reset"));
   title->setStyleSheet("font-size: 90px; font-weight: 600;");
   main_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
 
   main_layout->addSpacing(60);
 
-  body = new QLabel("System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.");
+  body = new QLabel(tr("System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot."));
   body->setWordWrap(true);
   body->setStyleSheet("font-size: 80px; font-weight: light;");
   main_layout->addWidget(body, 1, Qt::AlignTop | Qt::AlignLeft);
@@ -65,11 +65,11 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) {
   main_layout->addLayout(blayout);
   blayout->setSpacing(50);
 
-  rejectBtn = new QPushButton("Cancel");
+  rejectBtn = new QPushButton(tr("Cancel"));
   blayout->addWidget(rejectBtn);
   QObject::connect(rejectBtn, &QPushButton::clicked, QCoreApplication::instance(), &QCoreApplication::quit);
 
-  rebootBtn = new QPushButton("Reboot");
+  rebootBtn = new QPushButton(tr("Reboot"));
   blayout->addWidget(rebootBtn);
 #ifdef __aarch64__
   QObject::connect(rebootBtn, &QPushButton::clicked, [=]{
@@ -77,7 +77,7 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) {
   });
 #endif
 
-  confirmBtn = new QPushButton("Confirm");
+  confirmBtn = new QPushButton(tr("Confirm"));
   confirmBtn->setStyleSheet("background-color: #465BEA;");
   blayout->addWidget(confirmBtn);
   QObject::connect(confirmBtn, &QPushButton::clicked, this, &Reset::confirm);
@@ -85,7 +85,7 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) {
   rejectBtn->setVisible(!recover);
   rebootBtn->setVisible(recover);
   if (recover) {
-    body->setText("Unable to mount data partition. Press confirm to reset your device.");
+    body->setText(tr("Unable to mount data partition. Press confirm to reset your device."));
   }
 
   setStyleSheet(R"(
diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc
index 0da1752fed..69dafcf741 100644
--- a/selfdrive/ui/qt/setup/setup.cc
+++ b/selfdrive/ui/qt/setup/setup.cc
@@ -11,7 +11,7 @@
 #include <curl/curl.h>
 
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/api.h"
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/offroad/networking.h"
@@ -70,13 +70,13 @@ QWidget * Setup::low_voltage() {
   inner_layout->addWidget(triangle, 0, Qt::AlignTop | Qt::AlignLeft);
   inner_layout->addSpacing(80);
 
-  QLabel *title = new QLabel("WARNING: Low Voltage");
+  QLabel *title = new QLabel(tr("WARNING: Low Voltage"));
   title->setStyleSheet("font-size: 90px; font-weight: 500; color: #FF594F;");
   inner_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
 
   inner_layout->addSpacing(25);
 
-  QLabel *body = new QLabel("Power your device in a car with a harness or proceed at your own risk.");
+  QLabel *body = new QLabel(tr("Power your device in a car with a harness or proceed at your own risk."));
   body->setWordWrap(true);
   body->setAlignment(Qt::AlignTop | Qt::AlignLeft);
   body->setStyleSheet("font-size: 80px; font-weight: 300;");
@@ -89,14 +89,14 @@ QWidget * Setup::low_voltage() {
   blayout->setSpacing(50);
   main_layout->addLayout(blayout, 0);
 
-  QPushButton *poweroff = new QPushButton("Power off");
+  QPushButton *poweroff = new QPushButton(tr("Power off"));
   poweroff->setObjectName("navBtn");
   blayout->addWidget(poweroff);
   QObject::connect(poweroff, &QPushButton::clicked, this, [=]() {
     Hardware::poweroff();
   });
 
-  QPushButton *cont = new QPushButton("Continue");
+  QPushButton *cont = new QPushButton(tr("Continue"));
   cont->setObjectName("navBtn");
   blayout->addWidget(cont);
   QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage);
@@ -114,12 +114,12 @@ QWidget * Setup::getting_started() {
   vlayout->setContentsMargins(165, 280, 100, 0);
   main_layout->addLayout(vlayout);
 
-  QLabel *title = new QLabel("Getting Started");
+  QLabel *title = new QLabel(tr("Getting Started"));
   title->setStyleSheet("font-size: 90px; font-weight: 500;");
   vlayout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
 
   vlayout->addSpacing(90);
-  QLabel *desc = new QLabel("Before we get on the road, let’s finish installation and cover some details.");
+  QLabel *desc = new QLabel(tr("Before we get on the road, let’s finish installation and cover some details."));
   desc->setWordWrap(true);
   desc->setStyleSheet("font-size: 80px; font-weight: 300;");
   vlayout->addWidget(desc, 0, Qt::AlignTop | Qt::AlignLeft);
@@ -144,7 +144,7 @@ QWidget * Setup::network_setup() {
   main_layout->setContentsMargins(55, 50, 55, 50);
 
   // title
-  QLabel *title = new QLabel("Connect to Wi-Fi");
+  QLabel *title = new QLabel(tr("Connect to Wi-Fi"));
   title->setStyleSheet("font-size: 90px; font-weight: 500;");
   main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
 
@@ -162,7 +162,7 @@ QWidget * Setup::network_setup() {
   main_layout->addLayout(blayout);
   blayout->setSpacing(50);
 
-  QPushButton *back = new QPushButton("Back");
+  QPushButton *back = new QPushButton(tr("Back"));
   back->setObjectName("navBtn");
   QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage);
   blayout->addWidget(back);
@@ -179,9 +179,9 @@ QWidget * Setup::network_setup() {
     cont->setEnabled(success);
     if (success) {
       const bool cell = networking->wifi->currentNetworkType() == NetworkType::CELL;
-      cont->setText(cell ? "Continue without Wi-Fi" : "Continue");
+      cont->setText(cell ? tr("Continue without Wi-Fi") : tr("Continue"));
     } else {
-      cont->setText("Waiting for internet");
+      cont->setText(tr("Waiting for internet"));
     }
     repaint();
   });
@@ -235,7 +235,7 @@ QWidget * Setup::software_selection() {
   main_layout->setSpacing(0);
 
   // title
-  QLabel *title = new QLabel("Choose Software to Install");
+  QLabel *title = new QLabel(tr("Choose Software to Install"));
   title->setStyleSheet("font-size: 90px; font-weight: 500;");
   main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
 
@@ -245,12 +245,12 @@ QWidget * Setup::software_selection() {
   QButtonGroup *group = new QButtonGroup(widget);
   group->setExclusive(true);
 
-  QWidget *dashcam = radio_button("Dashcam", group);
+  QWidget *dashcam = radio_button(tr("Dashcam"), group);
   main_layout->addWidget(dashcam);
 
   main_layout->addSpacing(30);
 
-  QWidget *custom = radio_button("Custom Software", group);
+  QWidget *custom = radio_button(tr("Custom Software"), group);
   main_layout->addWidget(custom);
 
   main_layout->addStretch();
@@ -260,12 +260,12 @@ QWidget * Setup::software_selection() {
   main_layout->addLayout(blayout);
   blayout->setSpacing(50);
 
-  QPushButton *back = new QPushButton("Back");
+  QPushButton *back = new QPushButton(tr("Back"));
   back->setObjectName("navBtn");
   QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage);
   blayout->addWidget(back);
 
-  QPushButton *cont = new QPushButton("Continue");
+  QPushButton *cont = new QPushButton(tr("Continue"));
   cont->setObjectName("navBtn");
   cont->setEnabled(false);
   cont->setProperty("primary", true);
@@ -278,7 +278,7 @@ QWidget * Setup::software_selection() {
     });
     QString url = DASHCAM_URL;
     if (group->checkedButton() != dashcam) {
-      url = InputDialog::getText("Enter URL", this, "for Custom Software");
+      url = InputDialog::getText(tr("Enter URL"), this, tr("for Custom Software"));
     }
     if (!url.isEmpty()) {
       QTimer::singleShot(1000, this, [=]() {
@@ -300,7 +300,7 @@ QWidget * Setup::software_selection() {
 QWidget * Setup::downloading() {
   QWidget *widget = new QWidget();
   QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  QLabel *txt = new QLabel("Downloading...");
+  QLabel *txt = new QLabel(tr("Downloading..."));
   txt->setStyleSheet("font-size: 90px; font-weight: 500;");
   main_layout->addWidget(txt, 0, Qt::AlignCenter);
   return widget;
@@ -312,13 +312,13 @@ QWidget * Setup::download_failed() {
   main_layout->setContentsMargins(55, 225, 55, 55);
   main_layout->setSpacing(0);
 
-  QLabel *title = new QLabel("Download Failed");
+  QLabel *title = new QLabel(tr("Download Failed"));
   title->setStyleSheet("font-size: 90px; font-weight: 500;");
   main_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
 
   main_layout->addSpacing(67);
 
-  QLabel *body = new QLabel("Ensure the entered URL is valid, and the device’s internet connection is good.");
+  QLabel *body = new QLabel(tr("Ensure the entered URL is valid, and the device’s internet connection is good."));
   body->setWordWrap(true);
   body->setAlignment(Qt::AlignTop | Qt::AlignLeft);
   body->setStyleSheet("font-size: 80px; font-weight: 300; margin-right: 100px;");
@@ -331,14 +331,14 @@ QWidget * Setup::download_failed() {
   blayout->setSpacing(50);
   main_layout->addLayout(blayout, 0);
 
-  QPushButton *reboot = new QPushButton("Reboot device");
+  QPushButton *reboot = new QPushButton(tr("Reboot device"));
   reboot->setObjectName("navBtn");
   blayout->addWidget(reboot);
   QObject::connect(reboot, &QPushButton::clicked, this, [=]() {
     Hardware::reboot();
   });
 
-  QPushButton *restart = new QPushButton("Start over");
+  QPushButton *restart = new QPushButton(tr("Start over"));
   restart->setObjectName("navBtn");
   restart->setProperty("primary", true);
   blayout->addWidget(restart);
diff --git a/selfdrive/ui/qt/setup/updater.cc b/selfdrive/ui/qt/setup/updater.cc
index b906b5739d..fd7148c534 100644
--- a/selfdrive/ui/qt/setup/updater.cc
+++ b/selfdrive/ui/qt/setup/updater.cc
@@ -2,7 +2,7 @@
 #include <QTimer>
 #include <QVBoxLayout>
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/setup/updater.h"
@@ -20,13 +20,13 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid
     QVBoxLayout *layout = new QVBoxLayout(prompt);
     layout->setContentsMargins(100, 250, 100, 100);
 
-    QLabel *title = new QLabel("Update Required");
+    QLabel *title = new QLabel(tr("Update Required"));
     title->setStyleSheet("font-size: 80px; font-weight: bold;");
     layout->addWidget(title);
 
     layout->addSpacing(75);
 
-    QLabel *desc = new QLabel("An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.");
+    QLabel *desc = new QLabel(tr("An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB."));
     desc->setWordWrap(true);
     desc->setStyleSheet("font-size: 65px;");
     layout->addWidget(desc);
@@ -37,14 +37,14 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid
     hlayout->setSpacing(30);
     layout->addLayout(hlayout);
 
-    QPushButton *connect = new QPushButton("Connect to Wi-Fi");
+    QPushButton *connect = new QPushButton(tr("Connect to Wi-Fi"));
     connect->setObjectName("navBtn");
     QObject::connect(connect, &QPushButton::clicked, [=]() {
       setCurrentWidget(wifi);
     });
     hlayout->addWidget(connect);
 
-    QPushButton *install = new QPushButton("Install");
+    QPushButton *install = new QPushButton(tr("Install"));
     install->setObjectName("navBtn");
     install->setStyleSheet("background-color: #465BEA;");
     QObject::connect(install, &QPushButton::clicked, this, &Updater::installUpdate);
@@ -61,7 +61,7 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid
     networking->setStyleSheet("Networking { background-color: #292929; border-radius: 13px; }");
     layout->addWidget(networking, 1);
 
-    QPushButton *back = new QPushButton("Back");
+    QPushButton *back = new QPushButton(tr("Back"));
     back->setObjectName("navBtn");
     back->setStyleSheet("padding-left: 60px; padding-right: 60px;");
     QObject::connect(back, &QPushButton::clicked, [=]() {
@@ -77,7 +77,7 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid
     layout->setContentsMargins(150, 330, 150, 150);
     layout->setSpacing(0);
 
-    text = new QLabel("Loading...");
+    text = new QLabel(tr("Loading..."));
     text->setStyleSheet("font-size: 90px; font-weight: 600;");
     layout->addWidget(text, 0, Qt::AlignTop);
 
@@ -91,7 +91,7 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid
 
     layout->addStretch();
 
-    reboot = new QPushButton("Reboot");
+    reboot = new QPushButton(tr("Reboot"));
     reboot->setObjectName("navBtn");
     reboot->setStyleSheet("padding-left: 60px; padding-right: 60px;");
     QObject::connect(reboot, &QPushButton::clicked, [=]() {
@@ -161,7 +161,7 @@ void Updater::updateFinished(int exitCode, QProcess::ExitStatus exitStatus) {
   if (exitCode == 0) {
     Hardware::reboot();
   } else {
-    text->setText("Update failed");
+    text->setText(tr("Update failed"));
     reboot->show();
   }
 }
diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
index 312d8d8a59..accab67bf0 100644
--- a/selfdrive/ui/qt/sidebar.cc
+++ b/selfdrive/ui/qt/sidebar.cc
@@ -4,13 +4,13 @@
 
 #include "selfdrive/ui/qt/util.h"
 
-void Sidebar::drawMetric(QPainter &p, const QString &label, QColor c, int y) {
-  const QRect rect = {30, y, 240, label.contains("\n") ? 124 : 100};
+void Sidebar::drawMetric(QPainter &p, const QPair<QString, QString> &label, QColor c, int y) {
+  const QRect rect = {30, y, 240, 126};
 
   p.setPen(Qt::NoPen);
   p.setBrush(QBrush(c));
-  p.setClipRect(rect.x() + 6, rect.y(), 18, rect.height(), Qt::ClipOperation::ReplaceClip);
-  p.drawRoundedRect(QRect(rect.x() + 6, rect.y() + 6, 100, rect.height() - 12), 10, 10);
+  p.setClipRect(rect.x() + 4, rect.y(), 18, rect.height(), Qt::ClipOperation::ReplaceClip);
+  p.drawRoundedRect(QRect(rect.x() + 4, rect.y() + 4, 100, 118), 18, 18);
   p.setClipping(false);
 
   QPen pen = QPen(QColor(0xff, 0xff, 0xff, 0x55));
@@ -20,9 +20,16 @@ void Sidebar::drawMetric(QPainter &p, const QString &label, QColor c, int y) {
   p.drawRoundedRect(rect, 20, 20);
 
   p.setPen(QColor(0xff, 0xff, 0xff));
-  configFont(p, "Open Sans", 35, "Bold");
-  const QRect r = QRect(rect.x() + 30, rect.y(), rect.width() - 40, rect.height());
-  p.drawText(r, Qt::AlignCenter, label);
+  configFont(p, "Inter", 35, "SemiBold");
+
+  QRect label_rect = getTextRect(p, Qt::AlignCenter, label.first);
+  label_rect.setWidth(218);
+  label_rect.moveLeft(rect.left() + 22);
+  label_rect.moveTop(rect.top() + 19);
+  p.drawText(label_rect, Qt::AlignCenter, label.first);
+
+  label_rect.moveTop(rect.top() + 65);
+  p.drawText(label_rect, Qt::AlignCenter, label.second);
 }
 
 Sidebar::Sidebar(QWidget *parent) : QFrame(parent) {
@@ -57,26 +64,26 @@ void Sidebar::updateState(const UIState &s) {
   ItemStatus connectStatus;
   auto last_ping = deviceState.getLastAthenaPingTime();
   if (last_ping == 0) {
-    connectStatus = ItemStatus{"CONNECT\nOFFLINE", warning_color};
+    connectStatus = ItemStatus{{tr("CONNECT"), tr("OFFLINE")}, warning_color};
   } else {
-    connectStatus = nanos_since_boot() - last_ping < 80e9 ? ItemStatus{"CONNECT\nONLINE", good_color} : ItemStatus{"CONNECT\nERROR", danger_color};
+    connectStatus = nanos_since_boot() - last_ping < 80e9 ? ItemStatus{{tr("CONNECT"), tr("ONLINE")}, good_color} : ItemStatus{{tr("CONNECT"), tr("ERROR")}, danger_color};
   }
   setProperty("connectStatus", QVariant::fromValue(connectStatus));
 
-  ItemStatus tempStatus = {"TEMP\nHIGH", danger_color};
+  ItemStatus tempStatus = {{tr("TEMP"), tr("HIGH")}, danger_color};
   auto ts = deviceState.getThermalStatus();
   if (ts == cereal::DeviceState::ThermalStatus::GREEN) {
-    tempStatus = {"TEMP\nGOOD", good_color};
+    tempStatus = {{tr("TEMP"), tr("GOOD")}, good_color};
   } else if (ts == cereal::DeviceState::ThermalStatus::YELLOW) {
-    tempStatus = {"TEMP\nOK", warning_color};
+    tempStatus = {{tr("TEMP"), tr("OK")}, warning_color};
   }
   setProperty("tempStatus", QVariant::fromValue(tempStatus));
 
-  ItemStatus pandaStatus = {"VEHICLE\nONLINE", good_color};
+  ItemStatus pandaStatus = {{tr("VEHICLE"), tr("ONLINE")}, good_color};
   if (s.scene.pandaType == cereal::PandaState::PandaType::UNKNOWN) {
-    pandaStatus = {"NO\nPANDA", danger_color};
+    pandaStatus = {{tr("NO"), tr("PANDA")}, danger_color};
   } else if (s.scene.started && !sm["liveLocationKalman"].getLiveLocationKalman().getGpsOK()) {
-    pandaStatus = {"GPS\nSEARCH", warning_color};
+    pandaStatus = {{tr("GPS"), tr("SEARCH")}, warning_color};
   }
   setProperty("pandaStatus", QVariant::fromValue(pandaStatus));
 }
@@ -103,7 +110,7 @@ void Sidebar::paintEvent(QPaintEvent *event) {
     x += 37;
   }
 
-  configFont(p, "Open Sans", 35, "Regular");
+  configFont(p, "Inter", 35, "Regular");
   p.setPen(QColor(0xff, 0xff, 0xff));
   const QRect r = QRect(50, 247, 100, 50);
   p.drawText(r, Qt::AlignCenter, net_type);
diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h
index ab3e990e61..98ae6564d6 100644
--- a/selfdrive/ui/qt/sidebar.h
+++ b/selfdrive/ui/qt/sidebar.h
@@ -6,7 +6,7 @@
 #include "common/params.h"
 #include "selfdrive/ui/ui.h"
 
-typedef QPair<QString, QColor> ItemStatus;
+typedef QPair<QPair<QString, QString>, QColor> ItemStatus;
 Q_DECLARE_METATYPE(ItemStatus);
 
 class Sidebar : public QFrame {
@@ -30,7 +30,7 @@ public slots:
 protected:
   void paintEvent(QPaintEvent *event) override;
   void mouseReleaseEvent(QMouseEvent *event) override;
-  void drawMetric(QPainter &p, const QString &label, QColor c, int y);
+  void drawMetric(QPainter &p, const QPair<QString, QString> &label, QColor c, int y);
 
   QPixmap home_img, settings_img;
   const QMap<cereal::DeviceState::NetworkType, QString> network_type = {
diff --git a/selfdrive/ui/qt/spinner.cc b/selfdrive/ui/qt/spinner.cc
index e0b263227b..8f13576fb2 100644
--- a/selfdrive/ui/qt/spinner.cc
+++ b/selfdrive/ui/qt/spinner.cc
@@ -10,7 +10,7 @@
 #include <QString>
 #include <QTransform>
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/util.h"
 
diff --git a/selfdrive/ui/qt/text.cc b/selfdrive/ui/qt/text.cc
index 04fda35483..21ec5eedcf 100644
--- a/selfdrive/ui/qt/text.cc
+++ b/selfdrive/ui/qt/text.cc
@@ -5,7 +5,7 @@
 #include <QVBoxLayout>
 #include <QWidget>
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"
@@ -33,12 +33,12 @@ int main(int argc, char *argv[]) {
 
   QPushButton *btn = new QPushButton();
 #ifdef __aarch64__
-  btn->setText("Reboot");
+  btn->setText(QObject::tr("Reboot"));
   QObject::connect(btn, &QPushButton::clicked, [=]() {
     Hardware::reboot();
   });
 #else
-  btn->setText("Exit");
+  btn->setText(QObject::tr("Exit"));
   QObject::connect(btn, &QPushButton::clicked, &a, &QApplication::quit);
 #endif
   main_layout->addWidget(btn, 0, 0, Qt::AlignRight | Qt::AlignBottom);
diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc
index 7ce7a267df..cab7299cd6 100644
--- a/selfdrive/ui/qt/util.cc
+++ b/selfdrive/ui/qt/util.cc
@@ -3,10 +3,11 @@
 #include <QApplication>
 #include <QLayoutItem>
 #include <QStyleOption>
+#include <QPainterPath>
 
 #include "common/params.h"
 #include "common/swaglog.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 QString getVersion() {
   static QString version =  QString::fromStdString(Params().get("Version"));
@@ -14,7 +15,7 @@ QString getVersion() {
 }
 
 QString getBrand() {
-  return Params().getBool("Passive") ? "dashcam" : "openpilot";
+  return Params().getBool("Passive") ? QObject::tr("dashcam") : QObject::tr("openpilot");
 }
 
 QString getBrandVersion() {
@@ -62,13 +63,13 @@ QString timeAgo(const QDateTime &date) {
     s = "now";
   } else if (diff < 60 * 60) {
     int minutes = diff / 60;
-    s = QString("%1 minute%2 ago").arg(minutes).arg(minutes > 1 ? "s" : "");
+    s = QObject::tr("%1 minute%2 ago").arg(minutes).arg(minutes > 1 ? "s" : "");
   } else if (diff < 60 * 60 * 24) {
     int hours = diff / (60 * 60);
-    s = QString("%1 hour%2 ago").arg(hours).arg(hours > 1 ? "s" : "");
+    s = QObject::tr("%1 hour%2 ago").arg(hours).arg(hours > 1 ? "s" : "");
   } else if (diff < 3600 * 24 * 7) {
     int days = diff / (60 * 60 * 24);
-    s = QString("%1 day%2 ago").arg(days).arg(days > 1 ? "s" : "");
+    s = QObject::tr("%1 day%2 ago").arg(days).arg(days > 1 ? "s" : "");
   } else {
     s = date.date().toString();
   }
@@ -135,3 +136,64 @@ QPixmap loadPixmap(const QString &fileName, const QSize &size, Qt::AspectRatioMo
     return QPixmap(fileName).scaled(size, aspectRatioMode, Qt::SmoothTransformation);
   }
 }
+
+QRect getTextRect(QPainter &p, int flags, QString text) {
+  QFontMetrics fm(p.font());
+  QRect init_rect = fm.boundingRect(text);
+  return fm.boundingRect(init_rect, flags, text);
+}
+
+void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom){
+  qreal w_2 = rect.width() / 2;
+  qreal h_2 = rect.height() / 2;
+
+  xRadiusTop = 100 * qMin(xRadiusTop, w_2) / w_2;
+  yRadiusTop = 100 * qMin(yRadiusTop, h_2) / h_2;
+
+  xRadiusBottom = 100 * qMin(xRadiusBottom, w_2) / w_2;
+  yRadiusBottom = 100 * qMin(yRadiusBottom, h_2) / h_2;
+
+  qreal x = rect.x();
+  qreal y = rect.y();
+  qreal w = rect.width();
+  qreal h = rect.height();
+
+  qreal rxx2Top = w*xRadiusTop/100;
+  qreal ryy2Top = h*yRadiusTop/100;
+
+  qreal rxx2Bottom = w*xRadiusBottom/100;
+  qreal ryy2Bottom = h*yRadiusBottom/100;
+
+  QPainterPath path;
+  path.arcMoveTo(x, y, rxx2Top, ryy2Top, 180);
+  path.arcTo(x, y, rxx2Top, ryy2Top, 180, -90);
+  path.arcTo(x+w-rxx2Top, y, rxx2Top, ryy2Top, 90, -90);
+  path.arcTo(x+w-rxx2Bottom, y+h-ryy2Bottom, rxx2Bottom, ryy2Bottom, 0, -90);
+  path.arcTo(x, y+h-ryy2Bottom, rxx2Bottom, ryy2Bottom, 270, -90);
+  path.closeSubpath();
+
+  painter.drawPath(path);
+}
+
+QColor interpColor(float xv, std::vector<float> xp, std::vector<QColor> fp) {
+  assert(xp.size() == fp.size());
+
+  int N = xp.size();
+  int hi = 0;
+
+  while (hi < N and xv > xp[hi]) hi++;
+  int low = hi - 1;
+
+  if (hi == N && xv > xp[low]) {
+    return fp[fp.size() - 1];
+  } else if (hi == 0){
+    return fp[0];
+  } else {
+    return QColor(
+      (xv - xp[low]) * (fp[hi].red() - fp[low].red()) / (xp[hi] - xp[low]) + fp[low].red(),
+      (xv - xp[low]) * (fp[hi].green() - fp[low].green()) / (xp[hi] - xp[low]) + fp[low].green(),
+      (xv - xp[low]) * (fp[hi].blue() - fp[low].blue()) / (xp[hi] - xp[low]) + fp[low].blue(),
+      (xv - xp[low]) * (fp[hi].alpha() - fp[low].alpha()) / (xp[hi] - xp[low]) + fp[low].alpha()
+    );
+  }
+}
diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h
index 813777710a..9491c6798e 100644
--- a/selfdrive/ui/qt/util.h
+++ b/selfdrive/ui/qt/util.h
@@ -22,3 +22,7 @@ void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, co
 void initApp(int argc, char *argv[]);
 QWidget* topWidget (QWidget* widget);
 QPixmap loadPixmap(const QString &fileName, const QSize &size = {}, Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio);
+
+QRect getTextRect(QPainter &p, int flags, QString text);
+void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom);
+QColor interpColor(float xv, std::vector<float> xp, std::vector<QColor> fp);
diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index f16e8e4e0d..63d15660a0 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -6,6 +6,8 @@
 #include <GLES3/gl3.h>
 #endif
 
+#include <cmath>
+
 #include <QOpenGLBuffer>
 #include <QOffscreenSurface>
 
@@ -26,6 +28,18 @@ const char frame_vertex_shader[] =
   "  vTexCoord = aTexCoord;\n"
   "}\n";
 
+#ifdef QCOM2
+const char frame_fragment_shader[] =
+  "#version 300 es\n"
+  "#extension GL_OES_EGL_image_external_essl3 : enable\n"
+  "precision mediump float;\n"
+  "uniform samplerExternalOES uTexture;\n"
+  "in vec2 vTexCoord;\n"
+  "out vec4 colorOut;\n"
+  "void main() {\n"
+  "  colorOut = texture(uTexture, vTexCoord);\n"
+  "}\n";
+#else
 const char frame_fragment_shader[] =
 #ifdef __APPLE__
   "#version 330 core\n"
@@ -45,25 +59,18 @@ const char frame_fragment_shader[] =
   "  float b = y + 1.772 * uv.x;\n"
   "  colorOut = vec4(r, g, b, 1.0);\n"
   "}\n";
-
-const mat4 device_transform = {{
-  1.0,  0.0, 0.0, 0.0,
-  0.0,  1.0, 0.0, 0.0,
-  0.0,  0.0, 1.0, 0.0,
-  0.0,  0.0, 0.0, 1.0,
-}};
+#endif
 
 mat4 get_driver_view_transform(int screen_width, int screen_height, int stream_width, int stream_height) {
-  const float driver_view_ratio = 1.333;
-  const float yscale = stream_height * driver_view_ratio / tici_dm_crop::width;
+  const float driver_view_ratio = 2.0;
+  const float yscale = stream_height * driver_view_ratio / stream_width;
   const float xscale = yscale*screen_height/screen_width*stream_width/stream_height;
   mat4 transform = (mat4){{
-    xscale,  0.0, 0.0, xscale*tici_dm_crop::x_offset/stream_width*2,
-    0.0,  yscale, 0.0, yscale*tici_dm_crop::y_offset/stream_height*2,
+    xscale,  0.0, 0.0, 0.0,
+    0.0,  yscale, 0.0, 0.0,
     0.0,  0.0, 1.0, 0.0,
     0.0,  0.0, 0.0, 1.0,
   }};
-
   return transform;
 }
 
@@ -99,7 +106,7 @@ CameraViewWidget::~CameraViewWidget() {
     glDeleteVertexArrays(1, &frame_vao);
     glDeleteBuffers(1, &frame_vbo);
     glDeleteBuffers(1, &frame_ibo);
-    glDeleteBuffers(3, textures);
+    glDeleteBuffers(2, textures);
   }
   doneCurrent();
 }
@@ -143,10 +150,15 @@ void CameraViewWidget::initializeGL() {
   glBindBuffer(GL_ARRAY_BUFFER, 0);
   glBindVertexArray(0);
 
-  glGenTextures(3, textures);
   glUseProgram(program->programId());
+
+#ifdef QCOM2
+  glUniform1i(program->uniformLocation("uTexture"), 0);
+#else
+  glGenTextures(2, textures);
   glUniform1i(program->uniformLocation("uTextureY"), 0);
   glUniform1i(program->uniformLocation("uTextureUV"), 1);
+#endif
 }
 
 void CameraViewWidget::showEvent(QShowEvent *event) {
@@ -168,68 +180,102 @@ void CameraViewWidget::hideEvent(QHideEvent *event) {
   }
 }
 
-void CameraViewWidget::updateFrameMat(int w, int h) {
+void CameraViewWidget::updateFrameMat() {
+  int w = width(), h = height();
+
   if (zoomed_view) {
     if (stream_type == VISION_STREAM_DRIVER) {
-      frame_mat = matmul(device_transform, get_driver_view_transform(w, h, stream_width, stream_height));
+      frame_mat = get_driver_view_transform(w, h, stream_width, stream_height);
     } else {
-      auto intrinsic_matrix = stream_type == VISION_STREAM_WIDE_ROAD ? ecam_intrinsic_matrix : fcam_intrinsic_matrix;
-      float zoom = ZOOM / intrinsic_matrix.v[0];
-      if (stream_type == VISION_STREAM_WIDE_ROAD) {
-        zoom *= 0.5;
-      }
+      intrinsic_matrix = (stream_type == VISION_STREAM_WIDE_ROAD) ? ecam_intrinsic_matrix : fcam_intrinsic_matrix;
+      zoom = (stream_type == VISION_STREAM_WIDE_ROAD) ? 2.5 : 1.1;
+
+      // Project point at "infinity" to compute x and y offsets
+      // to ensure this ends up in the middle of the screen
+      // TODO: use proper perspective transform?
+      const vec3 inf = {{1000., 0., 0.}};
+      const vec3 Ep = matvecmul3(calibration, inf);
+      const vec3 Kep = matvecmul3(intrinsic_matrix, Ep);
+
+      float x_offset_ = (Kep.v[0] / Kep.v[2] - intrinsic_matrix.v[2]) * zoom;
+      float y_offset_ = (Kep.v[1] / Kep.v[2] - intrinsic_matrix.v[5]) * zoom;
+
+      float max_x_offset = intrinsic_matrix.v[2] * zoom - w / 2 - 5;
+      float max_y_offset = intrinsic_matrix.v[5] * zoom - h / 2 - 5;
+
+      x_offset = std::clamp(x_offset_, -max_x_offset, max_x_offset);
+      y_offset = std::clamp(y_offset_, -max_y_offset, max_y_offset);
+
       float zx = zoom * 2 * intrinsic_matrix.v[2] / width();
       float zy = zoom * 2 * intrinsic_matrix.v[5] / height();
-
       const mat4 frame_transform = {{
-        zx, 0.0, 0.0, 0.0,
-        0.0, zy, 0.0, -y_offset / height() * 2,
+        zx, 0.0, 0.0, -x_offset / width() * 2,
+        0.0, zy, 0.0, y_offset / height() * 2,
         0.0, 0.0, 1.0, 0.0,
         0.0, 0.0, 0.0, 1.0,
       }};
-      frame_mat = matmul(device_transform, frame_transform);
+      frame_mat = frame_transform;
     }
   } else if (stream_width > 0 && stream_height > 0) {
     // fit frame to widget size
     float widget_aspect_ratio = (float)width() / height();
     float frame_aspect_ratio = (float)stream_width  / stream_height;
-    frame_mat = matmul(device_transform, get_fit_view_transform(widget_aspect_ratio, frame_aspect_ratio));
+    frame_mat = get_fit_view_transform(widget_aspect_ratio, frame_aspect_ratio);
   }
 }
 
+void CameraViewWidget::updateCalibration(const mat3 &calib) {
+  calibration = calib;
+  updateFrameMat();
+}
+
 void CameraViewWidget::paintGL() {
   glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF());
   glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
 
   if (frames.empty()) return;
 
-  int frame_idx;
-  for (frame_idx = 0; frame_idx < frames.size() - 1; frame_idx++) {
-    if (frames[frame_idx].first == draw_frame_id) break;
+  int frame_idx = frames.size() - 1;
+
+  // Always draw latest frame until sync logic is more stable
+  // for (frame_idx = 0; frame_idx < frames.size() - 1; frame_idx++) {
+  //   if (frames[frame_idx].first == draw_frame_id) break;
+  // }
+
+  // Log duplicate/dropped frames
+  if (frames[frame_idx].first == prev_frame_id) {
+    qDebug() << "Drawing same frame twice" << frames[frame_idx].first;
+  } else if (frames[frame_idx].first != prev_frame_id + 1) {
+    qDebug() << "Skipped frame" << frames[frame_idx].first;
   }
-  VisionBuf *frame = frames[frame_idx].second;
+  prev_frame_id = frames[frame_idx].first;
 
-  glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
-  glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride);
   glViewport(0, 0, width(), height());
   glBindVertexArray(frame_vao);
-
   glUseProgram(program->programId());
+  glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
+
+  VisionBuf *frame = frames[frame_idx].second;
 
+#ifdef QCOM2
+  glActiveTexture(GL_TEXTURE0);
+  glEGLImageTargetTexture2DOES(GL_TEXTURE_EXTERNAL_OES, egl_images[frame->idx]);
+  assert(glGetError() == GL_NO_ERROR);
+#else
+  glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride);
   glActiveTexture(GL_TEXTURE0);
   glBindTexture(GL_TEXTURE_2D, textures[0]);
   glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width, stream_height, GL_RED, GL_UNSIGNED_BYTE, frame->y);
   assert(glGetError() == GL_NO_ERROR);
 
   glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride/2);
-
   glActiveTexture(GL_TEXTURE0 + 1);
   glBindTexture(GL_TEXTURE_2D, textures[1]);
   glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width/2, stream_height/2, GL_RG, GL_UNSIGNED_BYTE, frame->uv);
   assert(glGetError() == GL_NO_ERROR);
+#endif
 
   glUniformMatrix4fv(program->uniformLocation("uTransform"), 1, GL_TRUE, frame_mat.v);
-  assert(glGetError() == GL_NO_ERROR);
   glEnableVertexAttribArray(0);
   glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, (const void *)0);
   glDisableVertexAttribArray(0);
@@ -247,6 +293,32 @@ void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) {
   stream_height = vipc_client->buffers[0].height;
   stream_stride = vipc_client->buffers[0].stride;
 
+#ifdef QCOM2
+  egl_display = eglGetCurrentDisplay();
+
+  for (auto &pair : egl_images) {
+    eglDestroyImageKHR(egl_display, pair.second);
+  }
+  egl_images.clear();
+
+  for (int i = 0; i < vipc_client->num_buffers; i++) {  // import buffers into OpenGL
+    int fd = dup(vipc_client->buffers[i].fd);  // eglDestroyImageKHR will close, so duplicate
+    EGLint img_attrs[] = {
+      EGL_WIDTH, (int)vipc_client->buffers[i].width,
+      EGL_HEIGHT, (int)vipc_client->buffers[i].height,
+      EGL_LINUX_DRM_FOURCC_EXT, DRM_FORMAT_NV12,
+      EGL_DMA_BUF_PLANE0_FD_EXT, fd,
+      EGL_DMA_BUF_PLANE0_OFFSET_EXT, 0,
+      EGL_DMA_BUF_PLANE0_PITCH_EXT, (int)vipc_client->buffers[i].stride,
+      EGL_DMA_BUF_PLANE1_FD_EXT, fd,
+      EGL_DMA_BUF_PLANE1_OFFSET_EXT, (int)vipc_client->buffers[i].uv_offset,
+      EGL_DMA_BUF_PLANE1_PITCH_EXT, (int)vipc_client->buffers[i].stride,
+      EGL_NONE
+    };
+    egl_images[i] = eglCreateImageKHR(egl_display, EGL_NO_CONTEXT, EGL_LINUX_DMA_BUF_EXT, 0, img_attrs);
+    assert(eglGetError() == EGL_SUCCESS);
+  }
+#else
   glBindTexture(GL_TEXTURE_2D, textures[0]);
   glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
   glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
@@ -262,8 +334,9 @@ void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) {
   glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
   glTexImage2D(GL_TEXTURE_2D, 0, GL_RG8, stream_width/2, stream_height/2, 0, GL_RG, GL_UNSIGNED_BYTE, nullptr);
   assert(glGetError() == GL_NO_ERROR);
+#endif
 
-  updateFrameMat(width(), height());
+  updateFrameMat();
 }
 
 void CameraViewWidget::vipcFrameReceived(VisionBuf *buf, uint32_t frame_id) {
@@ -297,4 +370,11 @@ void CameraViewWidget::vipcThread() {
       emit vipcThreadFrameReceived(buf, meta_main.frame_id);
     }
   }
+
+#ifdef QCOM2
+  for (auto &pair : egl_images) {
+    eglDestroyImageKHR(egl_display, pair.second);
+  }
+  egl_images.clear();
+#endif
 }
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index 953cbed00b..016522b05c 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -6,8 +6,18 @@
 #include <QOpenGLShaderProgram>
 #include <QOpenGLWidget>
 #include <QThread>
+
+#ifdef QCOM2
+#define EGL_EGLEXT_PROTOTYPES
+#define EGL_NO_X11
+#define GL_TEXTURE_EXTERNAL_OES 0x8D65
+#include <EGL/egl.h>
+#include <EGL/eglext.h>
+#include <drm/drm_fourcc.h>
+#endif
+
 #include "cereal/visionipc/visionipc_client.h"
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 #include "selfdrive/ui/ui.h"
 
 const int FRAME_BUFFER_SIZE = 5;
@@ -32,20 +42,26 @@ signals:
 protected:
   void paintGL() override;
   void initializeGL() override;
-  void resizeGL(int w, int h) override { updateFrameMat(w, h); }
+  void resizeGL(int w, int h) override { updateFrameMat(); }
   void showEvent(QShowEvent *event) override;
   void hideEvent(QHideEvent *event) override;
   void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); }
-  virtual void updateFrameMat(int w, int h);
+  virtual void updateFrameMat();
+  void updateCalibration(const mat3 &calib);
   void vipcThread();
 
   bool zoomed_view;
   GLuint frame_vao, frame_vbo, frame_ibo;
-  GLuint textures[3];
+  GLuint textures[2];
   mat4 frame_mat;
   std::unique_ptr<QOpenGLShaderProgram> program;
   QColor bg = QColor("#000000");
 
+#ifdef QCOM2
+  EGLDisplay egl_display;
+  std::map<int, EGLImageKHR> egl_images;
+#endif
+
   std::string stream_name;
   int stream_width = 0;
   int stream_height = 0;
@@ -53,8 +69,16 @@ protected:
   std::atomic<VisionStreamType> stream_type;
   QThread *vipc_thread = nullptr;
 
+  // Calibration
+  float x_offset = 0;
+  float y_offset = 0;
+  float zoom = 1.0;
+  mat3 calibration = DEFAULT_CALIBRATION;
+  mat3 intrinsic_matrix = fcam_intrinsic_matrix;
+
   std::deque<std::pair<uint32_t, VisionBuf*>> frames;
   uint32_t draw_frame_id = 0;
+  int prev_frame_id = 0;
 
 protected slots:
   void vipcConnected(VisionIpcClient *vipc_client);
diff --git a/selfdrive/ui/qt/widgets/drive_stats.cc b/selfdrive/ui/qt/widgets/drive_stats.cc
index 61d47db1c3..31009f03ca 100644
--- a/selfdrive/ui/qt/widgets/drive_stats.cc
+++ b/selfdrive/ui/qt/widgets/drive_stats.cc
@@ -34,16 +34,16 @@ DriveStats::DriveStats(QWidget* parent) : QFrame(parent) {
     grid_layout->addWidget(labels.distance = newLabel("0", "number"), row, 1, Qt::AlignLeft);
     grid_layout->addWidget(labels.hours = newLabel("0", "number"), row, 2, Qt::AlignLeft);
 
-    grid_layout->addWidget(newLabel("Drives", "unit"), row + 1, 0, Qt::AlignLeft);
+    grid_layout->addWidget(newLabel((tr("Drives")), "unit"), row + 1, 0, Qt::AlignLeft);
     grid_layout->addWidget(labels.distance_unit = newLabel(getDistanceUnit(), "unit"), row + 1, 1, Qt::AlignLeft);
-    grid_layout->addWidget(newLabel("Hours ", "unit"), row + 1, 2, Qt::AlignLeft);
+    grid_layout->addWidget(newLabel(tr("Hours"), "unit"), row + 1, 2, Qt::AlignLeft);
 
     main_layout->addLayout(grid_layout);
   };
 
-  add_stats_layouts("ALL TIME", all_);
+  add_stats_layouts(tr("ALL TIME"), all_);
   main_layout->addStretch();
-  add_stats_layouts("PAST WEEK", week_);
+  add_stats_layouts(tr("PAST WEEK"), week_);
 
   if (auto dongleId = getDongleId()) {
     QString url = CommaApi::BASE_URL + "/v1.1/devices/" + *dongleId + "/stats";
diff --git a/selfdrive/ui/qt/widgets/drive_stats.h b/selfdrive/ui/qt/widgets/drive_stats.h
index 9446294516..5e2d96b240 100644
--- a/selfdrive/ui/qt/widgets/drive_stats.h
+++ b/selfdrive/ui/qt/widgets/drive_stats.h
@@ -12,7 +12,7 @@ public:
 private:
   void showEvent(QShowEvent *event) override;
   void updateStats();
-  inline QString getDistanceUnit() const { return metric_ ? "KM" : "Miles"; }
+  inline QString getDistanceUnit() const { return metric_ ? tr("KM") : tr("Miles"); }
 
   bool metric_;
   QJsonDocument stats_;
diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc
index 1122faf4c7..755ccfe8c5 100644
--- a/selfdrive/ui/qt/widgets/input.cc
+++ b/selfdrive/ui/qt/widgets/input.cc
@@ -2,7 +2,7 @@
 
 #include <QPushButton>
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"
@@ -67,7 +67,7 @@ InputDialog::InputDialog(const QString &title, QWidget *parent, const QString &s
     vlayout->addWidget(sublabel, 1, Qt::AlignTop | Qt::AlignLeft);
   }
 
-  QPushButton* cancel_btn = new QPushButton("Cancel");
+  QPushButton* cancel_btn = new QPushButton(tr("Cancel"));
   cancel_btn->setFixedSize(386, 125);
   cancel_btn->setStyleSheet(R"(
     font-size: 48px;
@@ -164,7 +164,7 @@ void InputDialog::handleEnter() {
     done(QDialog::Accepted);
     emitText(line->text());
   } else {
-    setMessage("Need at least "+QString::number(minLength)+" characters!", false);
+    setMessage(tr("Need at least ") + QString::number(minLength) + tr(" characters!"), false);
   }
 }
 
@@ -217,12 +217,12 @@ ConfirmationDialog::ConfirmationDialog(const QString &prompt_text, const QString
 }
 
 bool ConfirmationDialog::alert(const QString &prompt_text, QWidget *parent) {
-  ConfirmationDialog d = ConfirmationDialog(prompt_text, "Ok", "", parent);
+  ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Ok"), "", parent);
   return d.exec();
 }
 
 bool ConfirmationDialog::confirm(const QString &prompt_text, QWidget *parent) {
-  ConfirmationDialog d = ConfirmationDialog(prompt_text, "Ok", "Cancel", parent);
+  ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Ok"), tr("Cancel"), parent);
   return d.exec();
 }
 
@@ -254,6 +254,6 @@ RichTextDialog::RichTextDialog(const QString &prompt_text, const QString &btn_te
 }
 
 bool RichTextDialog::alert(const QString &prompt_text, QWidget *parent) {
-  auto d = RichTextDialog(prompt_text, "Ok", parent);
+  auto d = RichTextDialog(prompt_text, tr("Ok"), parent);
   return d.exec();
 }
diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.cc b/selfdrive/ui/qt/widgets/offroad_alerts.cc
index 53f7eb677c..937ea02f86 100644
--- a/selfdrive/ui/qt/widgets/offroad_alerts.cc
+++ b/selfdrive/ui/qt/widgets/offroad_alerts.cc
@@ -5,7 +5,7 @@
 #include <QJsonObject>
 
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"
 
 AbstractAlert::AbstractAlert(bool hasRebootBtn, QWidget *parent) : QFrame(parent) {
@@ -22,12 +22,12 @@ AbstractAlert::AbstractAlert(bool hasRebootBtn, QWidget *parent) : QFrame(parent
   QHBoxLayout *footer_layout = new QHBoxLayout();
   main_layout->addLayout(footer_layout);
 
-  QPushButton *dismiss_btn = new QPushButton("Close");
+  QPushButton *dismiss_btn = new QPushButton(tr("Close"));
   dismiss_btn->setFixedSize(400, 125);
   footer_layout->addWidget(dismiss_btn, 0, Qt::AlignBottom | Qt::AlignLeft);
   QObject::connect(dismiss_btn, &QPushButton::clicked, this, &AbstractAlert::dismiss);
 
-  snooze_btn = new QPushButton("Snooze Update");
+  snooze_btn = new QPushButton(tr("Snooze Update"));
   snooze_btn->setVisible(false);
   snooze_btn->setFixedSize(550, 125);
   footer_layout->addWidget(snooze_btn, 0, Qt::AlignBottom | Qt::AlignRight);
@@ -38,7 +38,7 @@ AbstractAlert::AbstractAlert(bool hasRebootBtn, QWidget *parent) : QFrame(parent
   snooze_btn->setStyleSheet(R"(color: white; background-color: #4F4F4F;)");
 
   if (hasRebootBtn) {
-    QPushButton *rebootBtn = new QPushButton("Reboot and Update");
+    QPushButton *rebootBtn = new QPushButton(tr("Reboot and Update"));
     rebootBtn->setFixedSize(600, 125);
     footer_layout->addWidget(rebootBtn, 0, Qt::AlignBottom | Qt::AlignRight);
     QObject::connect(rebootBtn, &QPushButton::clicked, [=]() { Hardware::reboot(); });
diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc
index 8a208bf3cf..d2529821f4 100644
--- a/selfdrive/ui/qt/widgets/prime.cc
+++ b/selfdrive/ui/qt/widgets/prime.cc
@@ -83,18 +83,18 @@ PairingPopup::PairingPopup(QWidget *parent) : QDialogBase(parent) {
 
     vlayout->addSpacing(30);
 
-    QLabel *title = new QLabel("Pair your device to your comma account", this);
+    QLabel *title = new QLabel(tr("Pair your device to your comma account"), this);
     title->setStyleSheet("font-size: 75px; color: black;");
     title->setWordWrap(true);
     vlayout->addWidget(title);
 
-    QLabel *instructions = new QLabel(R"(
+    QLabel *instructions = new QLabel(tr(R"(
       <ol type='1' style='margin-left: 15px;'>
         <li style='margin-bottom: 50px;'>Go to https://connect.comma.ai on your phone</li>
         <li style='margin-bottom: 50px;'>Click "add new device" and scan the QR code on the right</li>
         <li style='margin-bottom: 50px;'>Bookmark connect.comma.ai to your home screen to use it like an app</li>
       </ol>
-    )", this);
+    )"), this);
     instructions->setStyleSheet("font-size: 47px; font-weight: bold; color: black;");
     instructions->setWordWrap(true);
     vlayout->addWidget(instructions);
@@ -120,19 +120,19 @@ PrimeUserWidget::PrimeUserWidget(QWidget* parent) : QWidget(parent) {
   primeLayout->setMargin(0);
   primeWidget->setContentsMargins(60, 50, 60, 50);
 
-  QLabel* subscribed = new QLabel("✓ SUBSCRIBED");
+  QLabel* subscribed = new QLabel(tr("✓ SUBSCRIBED"));
   subscribed->setStyleSheet("font-size: 41px; font-weight: bold; color: #86FF4E;");
   primeLayout->addWidget(subscribed, 0, Qt::AlignTop);
 
   primeLayout->addSpacing(60);
 
-  QLabel* commaPrime = new QLabel("comma prime");
+  QLabel* commaPrime = new QLabel(tr("comma prime"));
   commaPrime->setStyleSheet("font-size: 75px; font-weight: bold;");
   primeLayout->addWidget(commaPrime, 0, Qt::AlignTop);
 
   primeLayout->addSpacing(20);
 
-  QLabel* connectUrl = new QLabel("CONNECT.COMMA.AI");
+  QLabel* connectUrl = new QLabel(tr("CONNECT.COMMA.AI"));
   connectUrl->setStyleSheet("font-size: 41px; font-family: Inter SemiBold; color: #A0A0A0;");
   primeLayout->addWidget(connectUrl, 0, Qt::AlignTop);
 
@@ -145,7 +145,7 @@ PrimeUserWidget::PrimeUserWidget(QWidget* parent) : QWidget(parent) {
   pointsLayout->setMargin(0);
   pointsWidget->setContentsMargins(60, 50, 60, 50);
 
-  QLabel* commaPoints = new QLabel("COMMA POINTS");
+  QLabel* commaPoints = new QLabel(tr("COMMA POINTS"));
   commaPoints->setStyleSheet("font-size: 41px; font-family: Inter SemiBold;");
   pointsLayout->addWidget(commaPoints, 0, Qt::AlignTop);
 
@@ -181,24 +181,24 @@ PrimeAdWidget::PrimeAdWidget(QWidget* parent) : QFrame(parent) {
   main_layout->setContentsMargins(80, 90, 80, 60);
   main_layout->setSpacing(0);
 
-  QLabel *upgrade = new QLabel("Upgrade Now");
+  QLabel *upgrade = new QLabel(tr("Upgrade Now"));
   upgrade->setStyleSheet("font-size: 75px; font-weight: bold;");
   main_layout->addWidget(upgrade, 0, Qt::AlignTop);
   main_layout->addSpacing(50);
 
-  QLabel *description = new QLabel("Become a comma prime member at connect.comma.ai");
+  QLabel *description = new QLabel(tr("Become a comma prime member at connect.comma.ai"));
   description->setStyleSheet("font-size: 60px; font-weight: light; color: white;");
   description->setWordWrap(true);
   main_layout->addWidget(description, 0, Qt::AlignTop);
 
   main_layout->addStretch();
 
-  QLabel *features = new QLabel("PRIME FEATURES:");
+  QLabel *features = new QLabel(tr("PRIME FEATURES:"));
   features->setStyleSheet("font-size: 41px; font-weight: bold; color: #E5E5E5;");
   main_layout->addWidget(features, 0, Qt::AlignBottom);
   main_layout->addSpacing(30);
 
-  QVector<QString> bullets = {"Remote access", "1 year of storage", "Developer perks"};
+  QVector<QString> bullets = {tr("Remote access"), tr("1 year of storage"), tr("Developer perks")};
   for (auto &b: bullets) {
     const QString check = "<b><font color='#465BEA'>✓</font></b> ";
     QLabel *l = new QLabel(check + b);
@@ -227,20 +227,20 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
   finishRegistationLayout->setContentsMargins(30, 75, 30, 45);
   finishRegistationLayout->setSpacing(0);
 
-  QLabel* registrationTitle = new QLabel("Finish Setup");
+  QLabel* registrationTitle = new QLabel(tr("Finish Setup"));
   registrationTitle->setStyleSheet("font-size: 75px; font-weight: bold; margin-left: 55px;");
   finishRegistationLayout->addWidget(registrationTitle);
 
   finishRegistationLayout->addSpacing(30);
 
-  QLabel* registrationDescription = new QLabel("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.");
+  QLabel* registrationDescription = new QLabel(tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."));
   registrationDescription->setWordWrap(true);
   registrationDescription->setStyleSheet("font-size: 55px; font-weight: light; margin-left: 55px;");
   finishRegistationLayout->addWidget(registrationDescription);
 
   finishRegistationLayout->addStretch();
 
-  QPushButton* pair = new QPushButton("Pair device");
+  QPushButton* pair = new QPushButton(tr("Pair device"));
   pair->setFixedHeight(220);
   pair->setStyleSheet(R"(
     QPushButton {
diff --git a/selfdrive/ui/qt/widgets/ssh_keys.cc b/selfdrive/ui/qt/widgets/ssh_keys.cc
index 46ccf6aee3..f17604b3e5 100644
--- a/selfdrive/ui/qt/widgets/ssh_keys.cc
+++ b/selfdrive/ui/qt/widgets/ssh_keys.cc
@@ -4,16 +4,16 @@
 #include "selfdrive/ui/qt/api.h"
 #include "selfdrive/ui/qt/widgets/input.h"
 
-SshControl::SshControl() : ButtonControl("SSH Keys", "", "Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.") {
+SshControl::SshControl() : ButtonControl(tr("SSH Keys"), "", tr("Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.")) {
   username_label.setAlignment(Qt::AlignRight | Qt::AlignVCenter);
   username_label.setStyleSheet("color: #aaaaaa");
   hlayout->insertWidget(1, &username_label);
 
   QObject::connect(this, &ButtonControl::clicked, [=]() {
-    if (text() == "ADD") {
-      QString username = InputDialog::getText("Enter your GitHub username", this);
+    if (text() == tr("ADD")) {
+      QString username = InputDialog::getText(tr("Enter your GitHub username"), this);
       if (username.length() > 0) {
-        setText("LOADING");
+        setText(tr("LOADING"));
         setEnabled(false);
         getUserKeys(username);
       }
@@ -31,10 +31,10 @@ void SshControl::refresh() {
   QString param = QString::fromStdString(params.get("GithubSshKeys"));
   if (param.length()) {
     username_label.setText(QString::fromStdString(params.get("GithubUsername")));
-    setText("REMOVE");
+    setText(tr("REMOVE"));
   } else {
     username_label.setText("");
-    setText("ADD");
+    setText(tr("ADD"));
   }
   setEnabled(true);
 }
@@ -47,13 +47,13 @@ void SshControl::getUserKeys(const QString &username) {
         params.put("GithubUsername", username.toStdString());
         params.put("GithubSshKeys", resp.toStdString());
       } else {
-        ConfirmationDialog::alert(QString("Username '%1' has no keys on GitHub").arg(username), this);
+        ConfirmationDialog::alert(tr("Username '%1' has no keys on GitHub").arg(username), this);
       }
     } else {
       if (request->timeout()) {
-        ConfirmationDialog::alert("Request timed out", this);
+        ConfirmationDialog::alert(tr("Request timed out"), this);
       } else {
-        ConfirmationDialog::alert(QString("Username '%1' doesn't exist on GitHub").arg(username), this);
+        ConfirmationDialog::alert(tr("Username '%1' doesn't exist on GitHub").arg(username), this);
       }
     }
 
diff --git a/selfdrive/ui/qt/widgets/ssh_keys.h b/selfdrive/ui/qt/widgets/ssh_keys.h
index 0614e8c1d8..01e2ab83ce 100644
--- a/selfdrive/ui/qt/widgets/ssh_keys.h
+++ b/selfdrive/ui/qt/widgets/ssh_keys.h
@@ -2,7 +2,7 @@
 
 #include <QPushButton>
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
 
 // SSH enable toggle
@@ -10,7 +10,7 @@ class SshToggle : public ToggleControl {
   Q_OBJECT
 
 public:
-  SshToggle() : ToggleControl("Enable SSH", "", "", Hardware::get_ssh_enabled()) {
+  SshToggle() : ToggleControl(tr("Enable SSH"), "", "", Hardware::get_ssh_enabled()) {
     QObject::connect(this, &SshToggle::toggleFlipped, [=](bool state) {
       Hardware::set_ssh_enabled(state);
     });
diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc
index fb21f6f7af..04ce15ef23 100644
--- a/selfdrive/ui/qt/window.cc
+++ b/selfdrive/ui/qt/window.cc
@@ -2,7 +2,7 @@
 
 #include <QFontDatabase>
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
   main_layout = new QStackedLayout(this);
@@ -45,9 +45,6 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
   });
 
   // load fonts
-  QFontDatabase::addApplicationFont("../assets/fonts/opensans_regular.ttf");
-  QFontDatabase::addApplicationFont("../assets/fonts/opensans_bold.ttf");
-  QFontDatabase::addApplicationFont("../assets/fonts/opensans_semibold.ttf");
   QFontDatabase::addApplicationFont("../assets/fonts/Inter-Black.ttf");
   QFontDatabase::addApplicationFont("../assets/fonts/Inter-Bold.ttf");
   QFontDatabase::addApplicationFont("../assets/fonts/Inter-ExtraBold.ttf");
diff --git a/selfdrive/ui/soundd/sound.h b/selfdrive/ui/soundd/sound.h
index 82b360fd38..7e009d28ad 100644
--- a/selfdrive/ui/soundd/sound.h
+++ b/selfdrive/ui/soundd/sound.h
@@ -2,7 +2,7 @@
 #include <QSoundEffect>
 #include <QString>
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/ui.h"
 
 const std::tuple<AudibleAlert, QString, int> sound_list[] = {
diff --git a/selfdrive/ui/tests/.gitignore b/selfdrive/ui/tests/.gitignore
index 7765bab17d..26335744f3 100644
--- a/selfdrive/ui/tests/.gitignore
+++ b/selfdrive/ui/tests/.gitignore
@@ -1,3 +1,4 @@
 test
 playsound
 test_sound
+test_translations
diff --git a/selfdrive/ui/tests/create_test_translations.sh b/selfdrive/ui/tests/create_test_translations.sh
new file mode 100755
index 0000000000..451a3cbfb0
--- /dev/null
+++ b/selfdrive/ui/tests/create_test_translations.sh
@@ -0,0 +1,18 @@
+#!/bin/bash
+
+set -e
+
+UI_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"/..
+TEST_TEXT="(WRAPPED_SOURCE_TEXT)"
+TEST_TS_FILE=$UI_DIR/translations/main_test_en.ts
+TEST_QM_FILE=$UI_DIR/translations/main_test_en.qm
+
+# translation strings
+UNFINISHED="<translation type=\"unfinished\"><\/translation>"
+TRANSLATED="<translation>$TEST_TEXT<\/translation>"
+
+mkdir -p $UI_DIR/translations
+rm -f $TEST_TS_FILE $TEST_QM_FILE
+lupdate -recursive "$UI_DIR" -ts $TEST_TS_FILE
+sed -i "s/$UNFINISHED/$TRANSLATED/" $TEST_TS_FILE
+lrelease $TEST_TS_FILE
diff --git a/selfdrive/ui/tests/test_runner.cc b/selfdrive/ui/tests/test_runner.cc
index b20ac86c64..ac63139d17 100644
--- a/selfdrive/ui/tests/test_runner.cc
+++ b/selfdrive/ui/tests/test_runner.cc
@@ -1,10 +1,25 @@
 #define CATCH_CONFIG_RUNNER
 #include "catch2/catch.hpp"
-#include <QCoreApplication>
+
+#include <QApplication>
+#include <QDebug>
+#include <QDir>
+#include <QTranslator>
 
 int main(int argc, char **argv) {
   // unit tests for Qt
-  QCoreApplication app(argc, argv);
+  QApplication app(argc, argv);
+
+  QString language_file = "main_test_en";
+  qDebug() << "Loading language:" << language_file;
+
+  QTranslator translator;
+  QString translationsPath = QDir::cleanPath(qApp->applicationDirPath() + "/../translations");
+  if (!translator.load(language_file, translationsPath)) {
+    qDebug() << "Failed to load translation file!";
+  }
+  app.installTranslator(&translator);
+
   const int res = Catch::Session().run(argc, argv);
   return (res < 0xff ? res : 0xff);
 }
diff --git a/selfdrive/ui/tests/test_soundd.py b/selfdrive/ui/tests/test_soundd.py
index cba0f6dbd1..8cc9215b74 100755
--- a/selfdrive/ui/tests/test_soundd.py
+++ b/selfdrive/ui/tests/test_soundd.py
@@ -8,7 +8,7 @@ import cereal.messaging as messaging
 from selfdrive.test.helpers import phone_only, with_processes
 # TODO: rewrite for unittest
 from common.realtime import DT_CTRL
-from selfdrive.hardware import HARDWARE
+from system.hardware import HARDWARE
 
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
 
diff --git a/selfdrive/ui/tests/test_translations.cc b/selfdrive/ui/tests/test_translations.cc
new file mode 100644
index 0000000000..fecb9da44a
--- /dev/null
+++ b/selfdrive/ui/tests/test_translations.cc
@@ -0,0 +1,51 @@
+#include "catch2/catch.hpp"
+
+#include "common/params.h"
+#include "selfdrive/ui/qt/window.h"
+
+const QString TEST_TEXT = "(WRAPPED_SOURCE_TEXT)";  // what each string should be translated to
+QRegExp RE_NUM("\\d*");
+
+QStringList getParentWidgets(QWidget* widget){
+  QStringList parentWidgets;
+  while (widget->parentWidget() != Q_NULLPTR) {
+    widget = widget->parentWidget();
+    parentWidgets.append(widget->metaObject()->className());
+  }
+  return parentWidgets;
+}
+
+template <typename T>
+void checkWidgetTrWrap(MainWindow &w) {
+  int i = 0;
+  for (auto widget : w.findChildren<T>()) {
+    const QString text = widget->text();
+    SECTION(text.toStdString() + "-" + std::to_string(i)) {
+      bool isNumber = RE_NUM.exactMatch(text);
+      bool wrapped = text.contains(TEST_TEXT);
+      QString parentWidgets = getParentWidgets(widget).join("->");
+
+      if (!text.isEmpty() && !isNumber && !wrapped) {
+        FAIL(("\"" + text + "\" must be wrapped. Parent widgets: " + parentWidgets).toStdString());
+      }
+
+      // warn if source string wrapped, but UI adds text
+      // TODO: add way to ignore this
+      if (wrapped && text != TEST_TEXT) {
+        WARN(("\"" + text + "\" is dynamic and needs a custom retranslate function. Parent widgets: " + parentWidgets).toStdString());
+      }
+    }
+    i++;
+  }
+}
+
+// Tests all strings in the UI are wrapped with tr()
+TEST_CASE("UI: test all strings wrapped") {
+  Params().remove("HardwareSerial");
+  Params().remove("DongleId");
+  qputenv("TICI", "1");
+
+  MainWindow w;
+  checkWidgetTrWrap<QPushButton*>(w);
+  checkWidgetTrWrap<QLabel*>(w);
+}
diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py
new file mode 100755
index 0000000000..ccea748e24
--- /dev/null
+++ b/selfdrive/ui/tests/test_translations.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+import json
+import os
+import unittest
+
+from selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations
+
+
+class TestTranslations(unittest.TestCase):
+  @classmethod
+  def setUpClass(cls):
+    with open(LANGUAGES_FILE, "r") as f:
+      cls.translation_files = json.load(f)
+
+  def test_missing_translation_files(self):
+    for name, file in self.translation_files.items():
+      with self.subTest(name=name, file=file):
+        if not len(file):
+          self.skipTest(f"{name} translation has no file")
+
+        self.assertTrue(os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")),
+                        f"{name} has no XML translation file, run selfdrive/ui/update_translations.py")
+        self.assertTrue(os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.qm")),
+                        f"{name} has no compiled QM translation file, run selfdrive/ui/update_translations.py --release")
+
+  def test_translations_updated(self):
+    suffix = "_test"
+    update_translations(suffix=suffix)
+
+    for name, file in self.translation_files.items():
+      with self.subTest(name=name, file=file):
+        cur_tr_file = os.path.join(TRANSLATIONS_DIR, f"{file}.ts")
+        new_tr_file = os.path.join(TRANSLATIONS_DIR, f"{file}{suffix}.ts")
+
+        if not len(file):
+          self.skipTest(f"{name} translation has no file")
+        elif not os.path.exists(cur_tr_file):
+          self.skipTest(f"{name} missing translation file")  # caught by test_missing_translation_files
+
+        with open(cur_tr_file, "r") as f:
+          cur_translations = f.read()
+        with open(new_tr_file, "r") as f:
+          new_translations = f.read()
+
+        self.assertEqual(cur_translations, new_translations,
+                         f"{name} translation file out of date. Run selfdrive/ui/update_translations.py to update the translation files")
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json
new file mode 100644
index 0000000000..f2f9400d64
--- /dev/null
+++ b/selfdrive/ui/translations/languages.json
@@ -0,0 +1,3 @@
+{
+  "English": ""
+}
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index c1af4ed6f4..f6193f97a6 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -10,7 +10,7 @@
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "common/watchdog.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 #define BACKLIGHT_DT 0.05
 #define BACKLIGHT_TS 10.00
@@ -55,10 +55,13 @@ static void update_leads(UIState *s, const cereal::RadarState::Reader &radar_sta
 }
 
 static void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Reader &line,
-                             float y_off, float z_off, line_vertices_data *pvd, int max_idx, bool allow_invert=true) {
+                             float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert=true) {
   const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ();
 
-  std::vector<QPointF> left_points, right_points;
+  QPolygonF left_points, right_points;
+  left_points.reserve(max_idx + 1);
+  right_points.reserve(max_idx + 1);
+
   for (int i = 0; i <= max_idx; i++) {
     QPointF left, right;
     bool l = calib_frame_to_full_frame(s, line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left);
@@ -69,19 +72,10 @@ static void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTDa
         continue;
       }
       left_points.push_back(left);
-      right_points.push_back(right);
+      right_points.push_front(right);
     }
   }
-
-  pvd->cnt = 2 * left_points.size();
-  assert(left_points.size() == right_points.size());
-  assert(pvd->cnt <= std::size(pvd->v));
-
-  for (int left_idx = 0; left_idx < left_points.size(); left_idx++){
-    int right_idx = 2 * left_points.size() - left_idx - 1;
-    pvd->v[left_idx] = left_points[left_idx];
-    pvd->v[right_idx] = right_points[left_idx];
-  }
+  *pvd = left_points + right_points;
 }
 
 static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
@@ -140,6 +134,7 @@ static void update_state(UIState *s) {
         scene.view_from_calib.v[i*3 + j] = view_from_calib(i,j);
       }
     }
+    scene.calibration_valid = sm["liveCalibration"].getLiveCalibration().getCalStatus() == 1;
   }
   if (s->worldObjectsVisible()) {
     if (sm.updated("modelV2")) {
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 192a353ad1..1aee3df9a1 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -8,6 +8,7 @@
 #include <QTimer>
 #include <QColor>
 #include <QFuture>
+#include <QPolygonF>
 #include <QTransform>
 
 #include "cereal/messaging/messaging.h"
@@ -22,10 +23,7 @@ const int footer_h = 280;
 const int UI_FREQ = 20;   // Hz
 typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert;
 
-// TODO: this is also hardcoded in common/transformations/camera.py
-// TODO: choose based on frame input size
-const float y_offset = 150.0;
-const float ZOOM = 2912.8;
+const mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }};
 
 struct Alert {
   QString text1;
@@ -54,7 +52,7 @@ struct Alert {
         return {"openpilot Unavailable", "Waiting for controls to start",
                 "controlsWaiting", cereal::ControlsState::AlertSize::MID,
                 AudibleAlert::NONE};
-      } else if (controls_missing > CONTROLS_TIMEOUT) {
+      } else if (controls_missing > CONTROLS_TIMEOUT && !Hardware::PC()) {
         // car is started, but controls is lagging or died
         if (cs.getEnabled() && (controls_missing - CONTROLS_TIMEOUT) < 10) {
           return {"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive",
@@ -87,21 +85,17 @@ const QColor bg_colors [] = {
   [STATUS_ALERT] = QColor(0xC9, 0x22, 0x31, 0xf1),
 };
 
-typedef struct {
-  QPointF v[TRAJECTORY_SIZE * 2];
-  int cnt;
-} line_vertices_data;
-
 typedef struct UIScene {
-  mat3 view_from_calib;
+  bool calibration_valid = false;
+  mat3 view_from_calib = DEFAULT_CALIBRATION;
   cereal::PandaState::PandaType pandaType;
 
   // modelV2
   float lane_line_probs[4];
   float road_edge_stds[2];
-  line_vertices_data track_vertices;
-  line_vertices_data lane_line_vertices[4];
-  line_vertices_data road_edge_vertices[2];
+  QPolygonF track_vertices;
+  QPolygonF lane_line_vertices[4];
+  QPolygonF road_edge_vertices[2];
 
   // lead
   QPointF lead_vertices[2];
diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py
new file mode 100755
index 0000000000..5d57fa39d2
--- /dev/null
+++ b/selfdrive/ui/update_translations.py
@@ -0,0 +1,37 @@
+#!/usr/bin/env python3
+import argparse
+import os
+import json
+
+from common.basedir import BASEDIR
+
+UI_DIR = os.path.join(BASEDIR, "selfdrive", "ui")
+TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations")
+LANGUAGES_FILE = os.path.join(TRANSLATIONS_DIR, "languages.json")
+
+
+def update_translations(release=False, suffix=""):
+  with open(LANGUAGES_FILE, "r") as f:
+    translation_files = json.load(f)
+
+  for name, file in translation_files.items():
+    if not len(file):
+      print(f"{name} has no translation file, skipping...")
+      continue
+
+    tr_file = os.path.join(TRANSLATIONS_DIR, f"{file}{suffix}.ts")
+    ret = os.system(f"lupdate -recursive {UI_DIR} -ts {tr_file}")
+    assert ret == 0
+
+    if release:
+      ret = os.system(f"lrelease {tr_file}")
+      assert ret == 0
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Update translation files for UI",
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser.add_argument("--release", action="store_true", help="Create compiled QM translation files used by UI")
+  args = parser.parse_args()
+
+  update_translations(args.release)
diff --git a/selfdrive/updated.py b/selfdrive/updated.py
index f835522cdb..bdec383f52 100755
--- a/selfdrive/updated.py
+++ b/selfdrive/updated.py
@@ -37,10 +37,10 @@ from markdown_it import MarkdownIt
 
 from common.basedir import BASEDIR
 from common.params import Params
-from selfdrive.hardware import AGNOS, HARDWARE
-from selfdrive.swaglog import cloudlog
+from system.hardware import AGNOS, HARDWARE
+from system.swaglog import cloudlog
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
-from selfdrive.version import is_tested_branch
+from system.version import is_tested_branch
 
 LOCK_FILE = os.getenv("UPDATER_LOCK_FILE", "/tmp/safe_staging_overlay.lock")
 STAGING_ROOT = os.getenv("UPDATER_STAGING_ROOT", "/data/safe_staging")
@@ -265,7 +265,7 @@ def finalize_update(wait_helper: WaitTimeHelper) -> None:
 
 
 def handle_agnos_update(wait_helper: WaitTimeHelper) -> None:
-  from selfdrive.hardware.tici.agnos import flash_agnos_update, get_target_slot_number
+  from system.hardware.tici.agnos import flash_agnos_update, get_target_slot_number
 
   cur_version = HARDWARE.get_os_version()
   updated_version = run(["bash", "-c", r"unset AGNOS_VERSION && source launch_env.sh && \
@@ -281,7 +281,7 @@ def handle_agnos_update(wait_helper: WaitTimeHelper) -> None:
   cloudlog.info(f"Beginning background installation for AGNOS {updated_version}")
   set_offroad_alert("Offroad_NeosUpdate", True)
 
-  manifest_path = os.path.join(OVERLAY_MERGED, "selfdrive/hardware/tici/agnos.json")
+  manifest_path = os.path.join(OVERLAY_MERGED, "system/hardware/tici/agnos.json")
   target_slot_number = get_target_slot_number()
   flash_agnos_update(manifest_path, target_slot_number, cloudlog)
   set_offroad_alert("Offroad_NeosUpdate", False)
diff --git a/selfdrive/camerad/__init__.py b/system/__init__.py
similarity index 100%
rename from selfdrive/camerad/__init__.py
rename to system/__init__.py
diff --git a/selfdrive/camerad/SConscript b/system/camerad/SConscript
similarity index 100%
rename from selfdrive/camerad/SConscript
rename to system/camerad/SConscript
diff --git a/selfdrive/camerad/snapshot/__init__.py b/system/camerad/__init__.py
similarity index 100%
rename from selfdrive/camerad/snapshot/__init__.py
rename to system/camerad/__init__.py
diff --git a/selfdrive/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
similarity index 96%
rename from selfdrive/camerad/cameras/camera_common.cc
rename to system/camerad/cameras/camera_common.cc
index 049324f085..04f3136485 100644
--- a/selfdrive/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 
 #include <unistd.h>
 
@@ -10,19 +10,19 @@
 #include "libyuv.h"
 #include <jpeglib.h>
 
-#include "selfdrive/camerad/imgproc/utils.h"
+#include "system/camerad/imgproc/utils.h"
 #include "common/clutil.h"
 #include "common/modeldata.h"
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "msm_media_info.h"
 
 #ifdef QCOM2
 #include "CL/cl_ext_qcom.h"
-#include "selfdrive/camerad/cameras/camera_qcom2.h"
+#include "system/camerad/cameras/camera_qcom2.h"
 #else
-#include "selfdrive/camerad/test/camera_test.h"
+#include "system/camerad/test/camera_test.h"
 #endif
 
 ExitHandler do_exit;
@@ -66,11 +66,10 @@ private:
   bool hdr_;
 };
 
-void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType init_rgb_type, VisionStreamType init_yuv_type, release_cb init_release_callback) {
+void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType init_rgb_type, VisionStreamType init_yuv_type) {
   vipc_server = v;
   this->rgb_type = init_rgb_type;
   this->yuv_type = init_yuv_type;
-  this->release_callback = init_release_callback;
 
   const CameraInfo *ci = &s->ci;
   camera_state = s;
@@ -127,7 +126,7 @@ CameraBuf::~CameraBuf() {
 }
 
 bool CameraBuf::acquire() {
-  if (!safe_queue.try_pop(cur_buf_idx, 1)) return false;
+  if (!safe_queue.try_pop(cur_buf_idx, 50)) return false;
 
   if (camera_bufs_metadata[cur_buf_idx].frame_id == -1) {
     LOGE("no frame data? wtf");
@@ -169,9 +168,7 @@ bool CameraBuf::acquire() {
 }
 
 void CameraBuf::release() {
-  if (release_callback) {
-    release_callback((void*)camera_state, cur_buf_idx);
-  }
+  // Empty
 }
 
 void CameraBuf::queue(size_t buf_idx) {
diff --git a/selfdrive/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
similarity index 92%
rename from selfdrive/camerad/cameras/camera_common.h
rename to system/camerad/cameras/camera_common.h
index 74d6a6eb3f..4695d4e2c9 100644
--- a/selfdrive/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -9,11 +9,11 @@
 #include "cereal/visionipc/visionbuf.h"
 #include "cereal/visionipc/visionipc.h"
 #include "cereal/visionipc/visionipc_server.h"
-#include "selfdrive/camerad/transforms/rgb_to_yuv.h"
+#include "system/camerad/transforms/rgb_to_yuv.h"
 #include "common/mat.h"
 #include "common/queue.h"
 #include "common/swaglog.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 #define CAMERA_ID_IMX298 0
 #define CAMERA_ID_IMX179 1
@@ -48,8 +48,6 @@ const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL;
 const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL;
 const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL;
 
-typedef void (*release_cb)(void *cookie, int buf_idx);
-
 typedef struct CameraInfo {
   uint32_t frame_width, frame_height;
   uint32_t frame_stride;
@@ -85,11 +83,6 @@ typedef struct FrameMetadata {
   float processing_time;
 } FrameMetadata;
 
-typedef struct CameraExpInfo {
-  int op_id;
-  float grey_frac;
-} CameraExpInfo;
-
 struct MultiCameraState;
 struct CameraState;
 class Debayer;
@@ -108,7 +101,6 @@ private:
   SafeQueue<int> safe_queue;
 
   int frame_buf_count;
-  release_cb release_callback;
 
 public:
   cl_command_queue q;
@@ -124,7 +116,7 @@ public:
 
   CameraBuf() = default;
   ~CameraBuf();
-  void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType rgb_type, VisionStreamType yuv_type, release_cb release_callback=nullptr);
+  void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType rgb_type, VisionStreamType yuv_type);
   bool acquire();
   void release();
   void queue(size_t buf_idx);
diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
similarity index 99%
rename from selfdrive/camerad/cameras/camera_qcom2.cc
rename to system/camerad/cameras/camera_qcom2.cc
index d43beb0921..f001009b9a 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/camerad/cameras/camera_qcom2.h"
+#include "system/camerad/cameras/camera_qcom2.h"
 
 #include <fcntl.h>
 #include <poll.h>
@@ -20,7 +20,7 @@
 #include "media/cam_sensor_cmn_header.h"
 #include "media/cam_sync.h"
 #include "common/swaglog.h"
-#include "selfdrive/camerad/cameras/sensor2_i2c.h"
+#include "system/camerad/cameras/sensor2_i2c.h"
 
 // For debugging:
 // echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl
@@ -837,7 +837,6 @@ void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_i
   s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_RGB_ROAD, VISION_STREAM_ROAD, !env_disable_road);
   s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_RGB_WIDE_ROAD, VISION_STREAM_WIDE_ROAD, !env_disable_wide_road);
 
-  s->sm = new SubMaster({"driverState"});
   s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
 }
 
@@ -948,7 +947,6 @@ void cameras_close(MultiCameraState *s) {
   s->road_cam.camera_close();
   s->wide_road_cam.camera_close();
 
-  delete s->sm;
   delete s->pm;
 }
 
@@ -1221,7 +1219,7 @@ static void ar0231_process_registers(MultiCameraState *s, CameraState *c, cereal
   framed.setTemperaturesC({temp_0, temp_1});
 }
 
-static void driver_cam_auto_exposure(CameraState *c, SubMaster &sm) {
+static void driver_cam_auto_exposure(CameraState *c) {
   struct ExpRect {int x1, x2, x_skip, y1, y2, y_skip;};
   const CameraBuf *b = &c->buf;
   static ExpRect rect = {96, 1832, 2, 242, 1148, 4};
@@ -1229,8 +1227,7 @@ static void driver_cam_auto_exposure(CameraState *c, SubMaster &sm) {
 }
 
 static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
-  s->sm->update(0);
-  driver_cam_auto_exposure(c, *(s->sm));
+  driver_cam_auto_exposure(c);
 
   MessageBuilder msg;
   auto framed = msg.initEvent().initDriverCameraState();
diff --git a/selfdrive/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h
similarity index 97%
rename from selfdrive/camerad/cameras/camera_qcom2.h
rename to system/camerad/cameras/camera_qcom2.h
index d869620e9a..57fef8d49a 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.h
+++ b/system/camerad/cameras/camera_qcom2.h
@@ -6,7 +6,7 @@
 
 #include <media/cam_req_mgr.h>
 
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 #include "common/util.h"
 
 #define FRAME_BUF_COUNT 4
@@ -106,6 +106,5 @@ typedef struct MultiCameraState {
   CameraState wide_road_cam;
   CameraState driver_cam;
 
-  SubMaster *sm;
   PubMaster *pm;
 } MultiCameraState;
diff --git a/selfdrive/camerad/cameras/real_debayer.cl b/system/camerad/cameras/real_debayer.cl
similarity index 100%
rename from selfdrive/camerad/cameras/real_debayer.cl
rename to system/camerad/cameras/real_debayer.cl
diff --git a/selfdrive/camerad/cameras/sensor2_i2c.h b/system/camerad/cameras/sensor2_i2c.h
similarity index 100%
rename from selfdrive/camerad/cameras/sensor2_i2c.h
rename to system/camerad/cameras/sensor2_i2c.h
diff --git a/selfdrive/camerad/imgproc/conv.cl b/system/camerad/imgproc/conv.cl
similarity index 100%
rename from selfdrive/camerad/imgproc/conv.cl
rename to system/camerad/imgproc/conv.cl
diff --git a/selfdrive/camerad/imgproc/pool.cl b/system/camerad/imgproc/pool.cl
similarity index 100%
rename from selfdrive/camerad/imgproc/pool.cl
rename to system/camerad/imgproc/pool.cl
diff --git a/selfdrive/camerad/imgproc/utils.cc b/system/camerad/imgproc/utils.cc
similarity index 98%
rename from selfdrive/camerad/imgproc/utils.cc
rename to system/camerad/imgproc/utils.cc
index a88b8f4bb1..a7bbeb9e86 100644
--- a/selfdrive/camerad/imgproc/utils.cc
+++ b/system/camerad/imgproc/utils.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/camerad/imgproc/utils.h"
+#include "system/camerad/imgproc/utils.h"
 
 #include <algorithm>
 #include <cassert>
diff --git a/selfdrive/camerad/imgproc/utils.h b/system/camerad/imgproc/utils.h
similarity index 100%
rename from selfdrive/camerad/imgproc/utils.h
rename to system/camerad/imgproc/utils.h
diff --git a/selfdrive/camerad/include/media/cam_cpas.h b/system/camerad/include/media/cam_cpas.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_cpas.h
rename to system/camerad/include/media/cam_cpas.h
diff --git a/selfdrive/camerad/include/media/cam_defs.h b/system/camerad/include/media/cam_defs.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_defs.h
rename to system/camerad/include/media/cam_defs.h
diff --git a/selfdrive/camerad/include/media/cam_fd.h b/system/camerad/include/media/cam_fd.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_fd.h
rename to system/camerad/include/media/cam_fd.h
diff --git a/selfdrive/camerad/include/media/cam_icp.h b/system/camerad/include/media/cam_icp.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_icp.h
rename to system/camerad/include/media/cam_icp.h
diff --git a/selfdrive/camerad/include/media/cam_isp.h b/system/camerad/include/media/cam_isp.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_isp.h
rename to system/camerad/include/media/cam_isp.h
diff --git a/selfdrive/camerad/include/media/cam_isp_ife.h b/system/camerad/include/media/cam_isp_ife.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_isp_ife.h
rename to system/camerad/include/media/cam_isp_ife.h
diff --git a/selfdrive/camerad/include/media/cam_isp_vfe.h b/system/camerad/include/media/cam_isp_vfe.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_isp_vfe.h
rename to system/camerad/include/media/cam_isp_vfe.h
diff --git a/selfdrive/camerad/include/media/cam_jpeg.h b/system/camerad/include/media/cam_jpeg.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_jpeg.h
rename to system/camerad/include/media/cam_jpeg.h
diff --git a/selfdrive/camerad/include/media/cam_lrme.h b/system/camerad/include/media/cam_lrme.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_lrme.h
rename to system/camerad/include/media/cam_lrme.h
diff --git a/selfdrive/camerad/include/media/cam_req_mgr.h b/system/camerad/include/media/cam_req_mgr.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_req_mgr.h
rename to system/camerad/include/media/cam_req_mgr.h
diff --git a/selfdrive/camerad/include/media/cam_sensor.h b/system/camerad/include/media/cam_sensor.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_sensor.h
rename to system/camerad/include/media/cam_sensor.h
diff --git a/selfdrive/camerad/include/media/cam_sensor_cmn_header.h b/system/camerad/include/media/cam_sensor_cmn_header.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_sensor_cmn_header.h
rename to system/camerad/include/media/cam_sensor_cmn_header.h
diff --git a/selfdrive/camerad/include/media/cam_sync.h b/system/camerad/include/media/cam_sync.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_sync.h
rename to system/camerad/include/media/cam_sync.h
diff --git a/selfdrive/camerad/include/msm_cam_sensor.h b/system/camerad/include/msm_cam_sensor.h
similarity index 100%
rename from selfdrive/camerad/include/msm_cam_sensor.h
rename to system/camerad/include/msm_cam_sensor.h
diff --git a/selfdrive/camerad/include/msm_camsensor_sdk.h b/system/camerad/include/msm_camsensor_sdk.h
similarity index 100%
rename from selfdrive/camerad/include/msm_camsensor_sdk.h
rename to system/camerad/include/msm_camsensor_sdk.h
diff --git a/selfdrive/camerad/include/msmb_camera.h b/system/camerad/include/msmb_camera.h
similarity index 100%
rename from selfdrive/camerad/include/msmb_camera.h
rename to system/camerad/include/msmb_camera.h
diff --git a/selfdrive/camerad/include/msmb_isp.h b/system/camerad/include/msmb_isp.h
similarity index 100%
rename from selfdrive/camerad/include/msmb_isp.h
rename to system/camerad/include/msmb_isp.h
diff --git a/selfdrive/camerad/include/msmb_ispif.h b/system/camerad/include/msmb_ispif.h
similarity index 100%
rename from selfdrive/camerad/include/msmb_ispif.h
rename to system/camerad/include/msmb_ispif.h
diff --git a/selfdrive/camerad/main.cc b/system/camerad/main.cc
similarity index 81%
rename from selfdrive/camerad/main.cc
rename to system/camerad/main.cc
index c86543265c..c1f38f2224 100644
--- a/selfdrive/camerad/main.cc
+++ b/system/camerad/main.cc
@@ -1,10 +1,10 @@
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 
 #include <cassert>
 
 #include "common/params.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 int main(int argc, char *argv[]) {
   if (!Hardware::PC()) {
diff --git a/selfdrive/hardware/pc/__init__.py b/system/camerad/snapshot/__init__.py
similarity index 100%
rename from selfdrive/hardware/pc/__init__.py
rename to system/camerad/snapshot/__init__.py
diff --git a/selfdrive/camerad/snapshot/snapshot.py b/system/camerad/snapshot/snapshot.py
similarity index 96%
rename from selfdrive/camerad/snapshot/snapshot.py
rename to system/camerad/snapshot/snapshot.py
index 9f9072c962..946c220a77 100755
--- a/selfdrive/camerad/snapshot/snapshot.py
+++ b/system/camerad/snapshot/snapshot.py
@@ -9,11 +9,11 @@ import cereal.messaging as messaging
 from cereal.visionipc import VisionIpcClient, VisionStreamType
 from common.params import Params
 from common.realtime import DT_MDL
-from selfdrive.hardware import PC
+from system.hardware import PC
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
 from selfdrive.manager.process_config import managed_processes
 
-LM_THRESH = 120  # defined in selfdrive/camerad/imgproc/utils.h
+LM_THRESH = 120  # defined in system/camerad/imgproc/utils.h
 
 VISION_STREAMS = {
   "roadCameraState": VisionStreamType.VISION_STREAM_ROAD,
@@ -39,7 +39,7 @@ def yuv_to_rgb(y, u, v):
     [0.00000, -0.39465, 2.03211],
     [1.13983, -0.58060, 0.00000],
   ])
-  rgb = np.dot(yuv, m)
+  rgb = np.dot(yuv, m).clip(0, 255)
   return rgb.astype(np.uint8)
 
 
diff --git a/selfdrive/camerad/test/.gitignore b/system/camerad/test/.gitignore
similarity index 100%
rename from selfdrive/camerad/test/.gitignore
rename to system/camerad/test/.gitignore
diff --git a/selfdrive/camerad/test/ae_gray_test.cc b/system/camerad/test/ae_gray_test.cc
similarity index 97%
rename from selfdrive/camerad/test/ae_gray_test.cc
rename to system/camerad/test/ae_gray_test.cc
index 69ef2ac6de..aabd7534ee 100644
--- a/selfdrive/camerad/test/ae_gray_test.cc
+++ b/system/camerad/test/ae_gray_test.cc
@@ -8,7 +8,7 @@
 #include <cstring>
 
 #include "common/util.h"
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 
 int main() {
   // set up fake camerabuf
diff --git a/selfdrive/camerad/test/ae_gray_test.h b/system/camerad/test/ae_gray_test.h
similarity index 100%
rename from selfdrive/camerad/test/ae_gray_test.h
rename to system/camerad/test/ae_gray_test.h
diff --git a/selfdrive/camerad/test/camera_test.h b/system/camerad/test/camera_test.h
similarity index 95%
rename from selfdrive/camerad/test/camera_test.h
rename to system/camerad/test/camera_test.h
index cc521db397..a9f213c923 100644
--- a/selfdrive/camerad/test/camera_test.h
+++ b/system/camerad/test/camera_test.h
@@ -19,7 +19,6 @@ typedef struct MultiCameraState {
   CameraState road_cam;
   CameraState driver_cam;
 
-  SubMaster *sm = nullptr;
   PubMaster *pm = nullptr;
 } MultiCameraState;
 
diff --git a/selfdrive/camerad/test/check_skips.py b/system/camerad/test/check_skips.py
similarity index 100%
rename from selfdrive/camerad/test/check_skips.py
rename to system/camerad/test/check_skips.py
diff --git a/selfdrive/camerad/test/frame_test.py b/system/camerad/test/frame_test.py
similarity index 100%
rename from selfdrive/camerad/test/frame_test.py
rename to system/camerad/test/frame_test.py
diff --git a/selfdrive/camerad/test/get_thumbnails_for_segment.py b/system/camerad/test/get_thumbnails_for_segment.py
similarity index 100%
rename from selfdrive/camerad/test/get_thumbnails_for_segment.py
rename to system/camerad/test/get_thumbnails_for_segment.py
diff --git a/selfdrive/camerad/test/stress_restart.sh b/system/camerad/test/stress_restart.sh
similarity index 100%
rename from selfdrive/camerad/test/stress_restart.sh
rename to system/camerad/test/stress_restart.sh
diff --git a/selfdrive/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py
similarity index 98%
rename from selfdrive/camerad/test/test_camerad.py
rename to system/camerad/test/test_camerad.py
index c311c17169..1a2e365a8f 100755
--- a/selfdrive/camerad/test/test_camerad.py
+++ b/system/camerad/test/test_camerad.py
@@ -4,7 +4,7 @@ import time
 import unittest
 
 import cereal.messaging as messaging
-from selfdrive.hardware import TICI
+from system.hardware import TICI
 from selfdrive.test.helpers import with_processes
 
 TEST_TIMESPAN = 30 # random.randint(60, 180) # seconds
diff --git a/selfdrive/camerad/test/test_exposure.py b/system/camerad/test/test_exposure.py
similarity index 93%
rename from selfdrive/camerad/test/test_exposure.py
rename to system/camerad/test/test_exposure.py
index 31bcc28681..8cce7e7ffa 100755
--- a/selfdrive/camerad/test/test_exposure.py
+++ b/system/camerad/test/test_exposure.py
@@ -4,9 +4,9 @@ import unittest
 import numpy as np
 
 from selfdrive.test.helpers import with_processes
-from selfdrive.camerad.snapshot.snapshot import get_snapshots
+from system.camerad.snapshot.snapshot import get_snapshots
 
-from selfdrive.hardware import TICI
+from system.hardware import TICI
 
 TEST_TIME = 45
 REPEAT = 5
diff --git a/selfdrive/camerad/transforms/rgb_to_yuv.cc b/system/camerad/transforms/rgb_to_yuv.cc
similarity index 96%
rename from selfdrive/camerad/transforms/rgb_to_yuv.cc
rename to system/camerad/transforms/rgb_to_yuv.cc
index 63e032e2dc..5e51579cf9 100644
--- a/selfdrive/camerad/transforms/rgb_to_yuv.cc
+++ b/system/camerad/transforms/rgb_to_yuv.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/camerad/transforms/rgb_to_yuv.h"
+#include "system/camerad/transforms/rgb_to_yuv.h"
 
 #include <cassert>
 #include <cstdio>
diff --git a/selfdrive/camerad/transforms/rgb_to_yuv.cl b/system/camerad/transforms/rgb_to_yuv.cl
similarity index 100%
rename from selfdrive/camerad/transforms/rgb_to_yuv.cl
rename to system/camerad/transforms/rgb_to_yuv.cl
diff --git a/selfdrive/camerad/transforms/rgb_to_yuv.h b/system/camerad/transforms/rgb_to_yuv.h
similarity index 100%
rename from selfdrive/camerad/transforms/rgb_to_yuv.h
rename to system/camerad/transforms/rgb_to_yuv.h
diff --git a/selfdrive/camerad/transforms/rgb_to_yuv_test.cc b/system/camerad/transforms/rgb_to_yuv_test.cc
similarity index 99%
rename from selfdrive/camerad/transforms/rgb_to_yuv_test.cc
rename to system/camerad/transforms/rgb_to_yuv_test.cc
index c960d168de..2f909e3b73 100644
--- a/selfdrive/camerad/transforms/rgb_to_yuv_test.cc
+++ b/system/camerad/transforms/rgb_to_yuv_test.cc
@@ -30,7 +30,7 @@
 #include <CL/cl.h>
 
 #include "libyuv.h"
-#include "selfdrive/camerad/transforms/rgb_to_yuv.h"
+#include "system/camerad/transforms/rgb_to_yuv.h"
 #include "common/clutil.h"
 
 static inline double millis_since_boot() {
diff --git a/selfdrive/hardware/.gitignore b/system/hardware/.gitignore
similarity index 100%
rename from selfdrive/hardware/.gitignore
rename to system/hardware/.gitignore
diff --git a/selfdrive/hardware/__init__.py b/system/hardware/__init__.py
similarity index 51%
rename from selfdrive/hardware/__init__.py
rename to system/hardware/__init__.py
index a1bf2e912f..77bb0e5e2a 100644
--- a/selfdrive/hardware/__init__.py
+++ b/system/hardware/__init__.py
@@ -1,12 +1,12 @@
 import os
 from typing import cast
 
-from selfdrive.hardware.base import HardwareBase
-from selfdrive.hardware.tici.hardware import Tici
-from selfdrive.hardware.pc.hardware import Pc
+from system.hardware.base import HardwareBase
+from system.hardware.tici.hardware import Tici
+from system.hardware.pc.hardware import Pc
 
 TICI = os.path.isfile('/TICI')
-AGNOS = TICI
+AGNOS = os.path.isfile('/AGNOS')
 PC = not TICI
 
 
diff --git a/selfdrive/hardware/base.h b/system/hardware/base.h
similarity index 100%
rename from selfdrive/hardware/base.h
rename to system/hardware/base.h
diff --git a/selfdrive/hardware/base.py b/system/hardware/base.py
similarity index 97%
rename from selfdrive/hardware/base.py
rename to system/hardware/base.py
index 8684386f62..b052a48c5b 100644
--- a/selfdrive/hardware/base.py
+++ b/system/hardware/base.py
@@ -86,6 +86,10 @@ class HardwareBase(ABC):
   def get_current_power_draw(self):
     pass
 
+  @abstractmethod
+  def get_som_power_draw(self):
+    pass
+
   @abstractmethod
   def shutdown(self):
     pass
diff --git a/selfdrive/hardware/hw.h b/system/hardware/hw.h
similarity index 92%
rename from selfdrive/hardware/hw.h
rename to system/hardware/hw.h
index 364a1c5c33..f50e94abe1 100644
--- a/selfdrive/hardware/hw.h
+++ b/system/hardware/hw.h
@@ -1,10 +1,10 @@
 #pragma once
 
-#include "selfdrive/hardware/base.h"
+#include "system/hardware/base.h"
 #include "common/util.h"
 
 #if QCOM2
-#include "selfdrive/hardware/tici/hardware.h"
+#include "system/hardware/tici/hardware.h"
 #define Hardware HardwareTici
 #else
 class HardwarePC : public HardwareNone {
diff --git a/selfdrive/hardware/tici/__init__.py b/system/hardware/pc/__init__.py
similarity index 100%
rename from selfdrive/hardware/tici/__init__.py
rename to system/hardware/pc/__init__.py
diff --git a/selfdrive/hardware/pc/hardware.py b/system/hardware/pc/hardware.py
similarity index 93%
rename from selfdrive/hardware/pc/hardware.py
rename to system/hardware/pc/hardware.py
index 2f5db925a9..60d14e4a6b 100644
--- a/selfdrive/hardware/pc/hardware.py
+++ b/system/hardware/pc/hardware.py
@@ -1,7 +1,7 @@
 import random
 
 from cereal import log
-from selfdrive.hardware.base import HardwareBase, ThermalConfig
+from system.hardware.base import HardwareBase, ThermalConfig
 
 NetworkType = log.DeviceState.NetworkType
 NetworkStrength = log.DeviceState.NetworkStrength
@@ -55,6 +55,9 @@ class Pc(HardwareBase):
 
   def get_current_power_draw(self):
     return 0
+  
+  def get_som_power_draw(self):
+    return 0
 
   def shutdown(self):
     print("SHUTDOWN!")
diff --git a/tools/sim/test/__init__.py b/system/hardware/tici/__init__.py
similarity index 100%
rename from tools/sim/test/__init__.py
rename to system/hardware/tici/__init__.py
diff --git a/selfdrive/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
similarity index 100%
rename from selfdrive/hardware/tici/agnos.json
rename to system/hardware/tici/agnos.json
diff --git a/selfdrive/hardware/tici/agnos.py b/system/hardware/tici/agnos.py
similarity index 100%
rename from selfdrive/hardware/tici/agnos.py
rename to system/hardware/tici/agnos.py
diff --git a/selfdrive/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py
similarity index 100%
rename from selfdrive/hardware/tici/amplifier.py
rename to system/hardware/tici/amplifier.py
diff --git a/selfdrive/hardware/tici/hardware.h b/system/hardware/tici/hardware.h
similarity index 97%
rename from selfdrive/hardware/tici/hardware.h
rename to system/hardware/tici/hardware.h
index b11a0a5bb0..dcccb9f3d1 100644
--- a/selfdrive/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -5,7 +5,7 @@
 
 #include "common/params.h"
 #include "common/util.h"
-#include "selfdrive/hardware/base.h"
+#include "system/hardware/base.h"
 
 class HardwareTici : public HardwareNone {
 public:
diff --git a/selfdrive/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
similarity index 97%
rename from selfdrive/hardware/tici/hardware.py
rename to system/hardware/tici/hardware.py
index 0a92340598..66cb98c606 100644
--- a/selfdrive/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -9,10 +9,10 @@ from pathlib import Path
 
 from cereal import log
 from common.gpio import gpio_set, gpio_init
-from selfdrive.hardware.base import HardwareBase, ThermalConfig
-from selfdrive.hardware.tici import iwlist
-from selfdrive.hardware.tici.pins import GPIO
-from selfdrive.hardware.tici.amplifier import Amplifier
+from system.hardware.base import HardwareBase, ThermalConfig
+from system.hardware.tici import iwlist
+from system.hardware.tici.pins import GPIO
+from system.hardware.tici.amplifier import Amplifier
 
 NM = 'org.freedesktop.NetworkManager'
 NM_CON_ACT = NM + '.Connection.Active'
@@ -362,6 +362,9 @@ class Tici(HardwareBase):
   def get_current_power_draw(self):
     return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6)
 
+  def get_som_power_draw(self):
+    return (self.read_param_file("/sys/class/power_supply/bms/voltage_now", int) * self.read_param_file("/sys/class/power_supply/bms/current_now", int) / 1e12)
+
   def shutdown(self):
     # Note that for this to work and have the device stay powered off, the panda needs to be in UsbPowerMode::CLIENT!
     os.system("sudo poweroff")
diff --git a/selfdrive/hardware/tici/iwlist.py b/system/hardware/tici/iwlist.py
similarity index 100%
rename from selfdrive/hardware/tici/iwlist.py
rename to system/hardware/tici/iwlist.py
diff --git a/selfdrive/hardware/tici/pins.py b/system/hardware/tici/pins.py
similarity index 100%
rename from selfdrive/hardware/tici/pins.py
rename to system/hardware/tici/pins.py
diff --git a/selfdrive/hardware/tici/power_draw_test.py b/system/hardware/tici/power_draw_test.py
similarity index 97%
rename from selfdrive/hardware/tici/power_draw_test.py
rename to system/hardware/tici/power_draw_test.py
index 1af51fc018..bde92ae4a5 100755
--- a/selfdrive/hardware/tici/power_draw_test.py
+++ b/system/hardware/tici/power_draw_test.py
@@ -2,8 +2,8 @@
 import os
 import time
 import numpy as np
-from selfdrive.hardware.tici.hardware import Tici
-from selfdrive.hardware.tici.pins import GPIO
+from system.hardware.tici.hardware import Tici
+from system.hardware.tici.pins import GPIO
 from common.gpio import gpio_init, gpio_set
 
 def read_power():
diff --git a/selfdrive/hardware/tici/power_monitor.py b/system/hardware/tici/power_monitor.py
similarity index 100%
rename from selfdrive/hardware/tici/power_monitor.py
rename to system/hardware/tici/power_monitor.py
diff --git a/selfdrive/hardware/tici/precise_power_measure.py b/system/hardware/tici/precise_power_measure.py
similarity index 77%
rename from selfdrive/hardware/tici/precise_power_measure.py
rename to system/hardware/tici/precise_power_measure.py
index c66936aef8..5d68851367 100755
--- a/selfdrive/hardware/tici/precise_power_measure.py
+++ b/system/hardware/tici/precise_power_measure.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import numpy as np
-from selfdrive.hardware.tici.power_monitor import sample_power
+from system.hardware.tici.power_monitor import sample_power
 
 if __name__ == '__main__':
   print("measuring for 5 seconds")
diff --git a/selfdrive/hardware/tici/restart_modem.sh b/system/hardware/tici/restart_modem.sh
similarity index 100%
rename from selfdrive/hardware/tici/restart_modem.sh
rename to system/hardware/tici/restart_modem.sh
diff --git a/selfdrive/hardware/tici/test_agnos_updater.py b/system/hardware/tici/test_agnos_updater.py
similarity index 100%
rename from selfdrive/hardware/tici/test_agnos_updater.py
rename to system/hardware/tici/test_agnos_updater.py
diff --git a/selfdrive/hardware/tici/test_power_draw.py b/system/hardware/tici/test_power_draw.py
similarity index 88%
rename from selfdrive/hardware/tici/test_power_draw.py
rename to system/hardware/tici/test_power_draw.py
index ab2d691a09..4277bb9273 100755
--- a/selfdrive/hardware/tici/test_power_draw.py
+++ b/system/hardware/tici/test_power_draw.py
@@ -4,8 +4,8 @@ import time
 import math
 from dataclasses import dataclass
 
-from selfdrive.hardware import HARDWARE, TICI
-from selfdrive.hardware.tici.power_monitor import get_power
+from system.hardware import HARDWARE, TICI
+from system.hardware.tici.power_monitor import get_power
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.manager.manager import manager_cleanup
 
@@ -20,8 +20,8 @@ class Proc:
 
 PROCS = [
   Proc('camerad', 2.15),
-  Proc('modeld', 1.0),
-  Proc('dmonitoringmodeld', 0.25),
+  Proc('modeld', 1.0, atol=0.15),
+  Proc('dmonitoringmodeld', 0.35),
   Proc('encoderd', 0.23),
 ]
 
diff --git a/selfdrive/hardware/tici/updater b/system/hardware/tici/updater
similarity index 100%
rename from selfdrive/hardware/tici/updater
rename to system/hardware/tici/updater
diff --git a/selfdrive/logmessaged.py b/system/logmessaged.py
similarity index 95%
rename from selfdrive/logmessaged.py
rename to system/logmessaged.py
index 1d1fab5162..280a23cf1d 100755
--- a/selfdrive/logmessaged.py
+++ b/system/logmessaged.py
@@ -4,7 +4,7 @@ from typing import NoReturn
 
 import cereal.messaging as messaging
 from common.logging_extra import SwagLogFileFormatter
-from selfdrive.swaglog import get_file_handler
+from system.swaglog import get_file_handler
 
 
 def main() -> NoReturn:
diff --git a/selfdrive/swaglog.py b/system/swaglog.py
similarity index 99%
rename from selfdrive/swaglog.py
rename to system/swaglog.py
index a987bfe72c..68664330a5 100644
--- a/selfdrive/swaglog.py
+++ b/system/swaglog.py
@@ -7,7 +7,7 @@ from logging.handlers import BaseRotatingHandler
 import zmq
 
 from common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter
-from selfdrive.hardware import PC
+from system.hardware import PC
 
 if PC:
   SWAGLOG_DIR = os.path.join(str(Path.home()), ".comma", "log")
diff --git a/selfdrive/timezoned.py b/system/timezoned.py
similarity index 97%
rename from selfdrive/timezoned.py
rename to system/timezoned.py
index fc1ca92cdf..884a5c3812 100755
--- a/selfdrive/timezoned.py
+++ b/system/timezoned.py
@@ -9,8 +9,8 @@ import requests
 from timezonefinder import TimezoneFinder
 
 from common.params import Params
-from selfdrive.hardware import AGNOS
-from selfdrive.swaglog import cloudlog
+from system.hardware import AGNOS
+from system.swaglog import cloudlog
 
 
 def set_timezone(valid_timezones, timezone):
diff --git a/selfdrive/version.py b/system/version.py
similarity index 99%
rename from selfdrive/version.py
rename to system/version.py
index 08ab097344..f0817b3a9f 100644
--- a/selfdrive/version.py
+++ b/system/version.py
@@ -5,7 +5,7 @@ from typing import List, Optional
 from functools import lru_cache
 
 from common.basedir import BASEDIR
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 TESTED_BRANCHES = ['devel', 'release3-staging', 'dashcam3-staging', 'release3', 'dashcam3']
 
diff --git a/third_party/acados/build.sh b/third_party/acados/build.sh
index 0b14a4cec9..a4246fbda6 100755
--- a/third_party/acados/build.sh
+++ b/third_party/acados/build.sh
@@ -1,4 +1,5 @@
-#!/usr/bin/bash -e
+#!/usr/bin/env bash
+set -e
 
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 
@@ -9,6 +10,13 @@ if [ -f /TICI ]; then
   BLAS_TARGET="ARMV8A_ARM_CORTEX_A57"
 fi
 
+ACADOS_FLAGS="-DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET"
+
+if [[ "$OSTYPE" == "darwin"* ]]; then
+  ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=arm64;x86_64"
+  ARCHNAME="Darwin"
+fi
+
 if [ ! -d acados_repo/ ]; then
   git clone https://github.com/acados/acados.git $DIR/acados_repo
   # git clone https://github.com/commaai/acados.git $DIR/acados_repo
@@ -21,7 +29,7 @@ git submodule update --recursive --init
 # build
 mkdir -p build
 cd build
-cmake -DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET ..
+cmake $ACADOS_FLAGS ..
 make -j20 install
 
 INSTALL_DIR="$DIR/$ARCHNAME"
diff --git a/tools/CTF.md b/tools/CTF.md
index 396e7575a4..a14a41d55d 100644
--- a/tools/CTF.md
+++ b/tools/CTF.md
@@ -12,7 +12,7 @@ Welcome to the first part of the comma CTF!
 getting started
 ```bash
 # start the route reply
-cd selfdrive/ui/replay
+cd tools/replay
 ./replay '0c7f0c7f0c7f0c7f|2021-10-13--13-00-00' --dcam --ecam
 
 # start the UI in another terminal
diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py
index 290610e45f..d321d6fd2b 100755
--- a/tools/camerastream/compressed_vipc.py
+++ b/tools/camerastream/compressed_vipc.py
@@ -73,6 +73,10 @@ def decoder(addr, sock_name, vipc_server, vst, nvidia):
           continue
         assert len(frames) == 1
         img_yuv = frames[0].to_ndarray(format=av.video.format.VideoFormat('yuv420p')).flatten()
+        uv_offset = H*W
+        y = img_yuv[:uv_offset]
+        uv = img_yuv[uv_offset:].reshape(2, -1).ravel('F')
+        img_yuv = np.hstack((y, uv))
 
       vipc_server.send(vst, img_yuv.data, cnt, int(time_q[0]*1e9), int(time.monotonic()*1e9))
       cnt += 1
diff --git a/tools/lib/auth_config.py b/tools/lib/auth_config.py
index 1699d94e53..7952fee495 100644
--- a/tools/lib/auth_config.py
+++ b/tools/lib/auth_config.py
@@ -1,7 +1,7 @@
 import json
 import os
 from common.file_helpers import mkdirs_exists_ok
-from selfdrive.hardware import PC
+from system.hardware import PC
 
 
 class MissingAuthConfigError(Exception):
diff --git a/tools/plotjuggler/layouts/torque-controller.xml b/tools/plotjuggler/layouts/torque-controller.xml
new file mode 100644
index 0000000000..661bfe094d
--- /dev/null
+++ b/tools/plotjuggler/layouts/torque-controller.xml
@@ -0,0 +1,88 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget parent="main_window" name="Main Window">
+  <Tab tab_name="tab1" containers="1">
+   <Container>
+    <DockSplitter count="4" sizes="0.250401;0.249599;0.250401;0.249599" orientation="-">
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
+       <range top="4.389691" right="179.991353" bottom="-0.521339" left="0.000000"/>
+       <limitY/>
+       <curve name="/controlsState/lateralControlState/torqueState/actualLateralAccel" color="#1f77b4"/>
+       <curve name="/controlsState/lateralControlState/torqueState/desiredLateralAccel" color="#d62728"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
+       <range top="4.066465" right="179.991353" bottom="-0.758832" left="0.000000"/>
+       <limitY/>
+       <curve name="Actual lateral accel (roll compensated)" color="#1ac938"/>
+       <curve name="Desired lateral accel (roll compensated)" color="#ff7f0e"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
+       <range top="0.921389" right="179.991353" bottom="-0.211878" left="0.000000"/>
+       <limitY/>
+       <curve name="/carControl/actuatorsOutput/steer" color="#9467bd">
+        <transform alias="/carControl/actuatorsOutput/steer[Scale/Offset]" name="Scale/Offset">
+         <options value_scale="-1" value_offset="0" time_offset="0"/>
+        </transform>
+       </curve>
+       <curve name="/controlsState/lateralControlState/torqueState/f" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockSplitter count="2" sizes="0.5;0.5" orientation="|">
+      <DockArea name="...">
+       <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
+        <range top="1.025000" right="179.991353" bottom="-0.025000" left="0.000000"/>
+        <limitY/>
+        <curve name="/carControl/latActive" color="#1ac938"/>
+        <curve name="/carState/steeringPressed" color="#ff7f0e"/>
+       </plot>
+      </DockArea>
+      <DockArea name="...">
+       <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
+        <range top="29.131291" right="179.991353" bottom="-0.711681" left="0.000000"/>
+        <limitY/>
+        <curve name="/carState/vEgo" color="#f14cc1"/>
+       </plot>
+      </DockArea>
+     </DockSplitter>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="0"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="Cereal Subscriber"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations>
+  <snippet name="Actual lateral accel (roll compensated)">
+   <global></global>
+   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
+   <linked_source>/controlsState/curvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="Desired lateral accel (roll compensated)">
+   <global></global>
+   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
+   <linked_source>/controlsState/desiredCurvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+   </additional_sources>
+  </snippet>
+ </customMathEquations>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
diff --git a/tools/replay/.gitignore b/tools/replay/.gitignore
new file mode 100644
index 0000000000..83f0e99a8b
--- /dev/null
+++ b/tools/replay/.gitignore
@@ -0,0 +1,5 @@
+moc_*
+*.moc
+
+replay
+tests/test_replay
diff --git a/tools/replay/README.md b/tools/replay/README.md
index 759a448d73..b705fb60db 100644
--- a/tools/replay/README.md
+++ b/tools/replay/README.md
@@ -9,12 +9,12 @@
 python lib/auth.py
 
 # Start a replay
-selfdrive/ui/replay/replay <route-name>
+tools/replay/replay <route-name>
 
 # Example:
-# selfdrive/ui/replay/replay '4cf7a6ad03080c90|2021-09-29--13-46-36'
+# tools/replay/replay '4cf7a6ad03080c90|2021-09-29--13-46-36'
 # or use --demo to replay the default demo route:
-# selfdrive/ui/replay/replay --demo
+# tools/replay/replay --demo
 
 # watch the replay with the normal openpilot UI
 cd selfdrive/ui && ./ui
@@ -25,8 +25,8 @@ python replay/ui.py
 
 ## usage
 ``` bash
-$ selfdrive/ui/replay/replay -h
-Usage: selfdrive/ui/replay/replay [options] route
+$ tools/replay/replay -h
+Usage: tools/replay/replay [options] route
 Mock openpilot components by publishing logged messages.
 
 Options:
@@ -51,7 +51,7 @@ simply replay a route using the `--dcam` and `--ecam` flags:
 
 ```bash
 # start a replay
-cd selfdrive/ui/replay && ./replay --demo --dcam --ecam
+cd tools/replay && ./replay --demo --dcam --ecam
 
 # then start watch3
 cd selfdrive/ui && ./watch3
@@ -70,5 +70,5 @@ In order to replay specific route:
 MOCK=1 selfdrive/boardd/tests/boardd_old.py
 
 # In another terminal:
-selfdrive/ui/replay/replay <route-name>
+tools/replay/replay <route-name>
 ```
diff --git a/tools/replay/SConscript b/tools/replay/SConscript
new file mode 100644
index 0000000000..4a85f46d61
--- /dev/null
+++ b/tools/replay/SConscript
@@ -0,0 +1,19 @@
+import os
+Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc',
+       'cereal', 'transformations')
+
+base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq',
+             'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
+
+qt_libs = ['qt_util'] + base_libs
+if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
+  qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
+
+  replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc"]
+
+  replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=qt_libs)
+  replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + qt_libs
+  qt_env.Program("replay", ["main.cc"], LIBS=replay_libs)
+
+  if GetOption('test'):
+    qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs])
diff --git a/selfdrive/ui/replay/camera.cc b/tools/replay/camera.cc
similarity index 96%
rename from selfdrive/ui/replay/camera.cc
rename to tools/replay/camera.cc
index 2e8b68a415..87afe63a2a 100644
--- a/selfdrive/ui/replay/camera.cc
+++ b/tools/replay/camera.cc
@@ -1,5 +1,5 @@
-#include "selfdrive/ui/replay/camera.h"
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/camera.h"
+#include "tools/replay/util.h"
 
 #include <cassert>
 
diff --git a/selfdrive/ui/replay/camera.h b/tools/replay/camera.h
similarity index 92%
rename from selfdrive/ui/replay/camera.h
rename to tools/replay/camera.h
index 7f078511cf..66d33142fb 100644
--- a/selfdrive/ui/replay/camera.h
+++ b/tools/replay/camera.h
@@ -3,8 +3,8 @@
 #include <unistd.h>
 #include "cereal/visionipc/visionipc_server.h"
 #include "common/queue.h"
-#include "selfdrive/ui/replay/framereader.h"
-#include "selfdrive/ui/replay/logreader.h"
+#include "tools/replay/framereader.h"
+#include "tools/replay/logreader.h"
 
 class CameraServer {
 public:
diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py
index b212abc431..0b8b4fe0a1 100755
--- a/tools/replay/can_replay.py
+++ b/tools/replay/can_replay.py
@@ -2,6 +2,7 @@
 import os
 import time
 import threading
+import multiprocessing
 from tqdm import tqdm
 
 os.environ['FILEREADER_CACHE'] = '1'
@@ -9,7 +10,7 @@ os.environ['FILEREADER_CACHE'] = '1'
 from common.basedir import BASEDIR
 from common.realtime import config_realtime_process, Ratekeeper, DT_CTRL
 from selfdrive.boardd.boardd import can_capnp_to_can_list
-from tools.lib.logreader import LogReader
+from tools.plotjuggler.juggle import load_segment
 from panda import Panda
 
 try:
@@ -94,11 +95,10 @@ if __name__ == "__main__":
   ROUTE = "77611a1fac303767/2020-03-24--09-50-38"
   REPLAY_SEGS = list(range(10, 16))  # route has 82 segments available
   CAN_MSGS = []
-  for i in tqdm(REPLAY_SEGS):
-    log_url = f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2"
-    lr = LogReader(log_url)
-    CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
-
+  logs = [f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2" for i in REPLAY_SEGS]
+  with multiprocessing.Pool(24) as pool:
+    for lr in tqdm(pool.map(load_segment, logs)):
+      CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
 
   # set both to cycle ignition
   IGN_ON = int(os.getenv("ON", "0"))
diff --git a/selfdrive/ui/replay/consoleui.cc b/tools/replay/consoleui.cc
similarity index 99%
rename from selfdrive/ui/replay/consoleui.cc
rename to tools/replay/consoleui.cc
index 05eb09c9ed..e4a3146a69 100644
--- a/selfdrive/ui/replay/consoleui.cc
+++ b/tools/replay/consoleui.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/ui/replay/consoleui.h"
+#include "tools/replay/consoleui.h"
 
 #include <QApplication>
 #include <initializer_list>
diff --git a/selfdrive/ui/replay/consoleui.h b/tools/replay/consoleui.h
similarity index 96%
rename from selfdrive/ui/replay/consoleui.h
rename to tools/replay/consoleui.h
index bce1146d46..20e07524dd 100644
--- a/selfdrive/ui/replay/consoleui.h
+++ b/tools/replay/consoleui.h
@@ -7,7 +7,7 @@
 #include <QTimer>
 #include <QTimerEvent>
 
-#include "selfdrive/ui/replay/replay.h"
+#include "tools/replay/replay.h"
 #include <ncurses.h>
 
 class ConsoleUI : public QObject {
diff --git a/selfdrive/ui/replay/filereader.cc b/tools/replay/filereader.cc
similarity index 94%
rename from selfdrive/ui/replay/filereader.cc
rename to tools/replay/filereader.cc
index 5f862bec35..88879067c9 100644
--- a/selfdrive/ui/replay/filereader.cc
+++ b/tools/replay/filereader.cc
@@ -1,9 +1,9 @@
-#include "selfdrive/ui/replay/filereader.h"
+#include "tools/replay/filereader.h"
 
 #include <fstream>
 
 #include "common/util.h"
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/util.h"
 
 std::string cacheFilePath(const std::string &url) {
   static std::string cache_path = [] {
diff --git a/selfdrive/ui/replay/filereader.h b/tools/replay/filereader.h
similarity index 100%
rename from selfdrive/ui/replay/filereader.h
rename to tools/replay/filereader.h
diff --git a/selfdrive/ui/replay/framereader.cc b/tools/replay/framereader.cc
similarity index 95%
rename from selfdrive/ui/replay/framereader.cc
rename to tools/replay/framereader.cc
index 8453407ce7..ecde9ad5d2 100644
--- a/selfdrive/ui/replay/framereader.cc
+++ b/tools/replay/framereader.cc
@@ -1,5 +1,5 @@
-#include "selfdrive/ui/replay/framereader.h"
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/framereader.h"
+#include "tools/replay/util.h"
 
 #include <cassert>
 #include "libyuv.h"
@@ -117,8 +117,6 @@ bool FrameReader::load(const std::byte *data, size_t size, bool no_hw_decoder, s
   if (has_hw_decoder && !no_hw_decoder) {
     if (!initHardwareDecoder(HW_DEVICE_TYPE)) {
       rWarning("No device with hardware decoder found. fallback to CPU decoding.");
-    } else {
-      nv12toyuv_buffer.resize(getYUVSize());
     }
   }
 
@@ -227,22 +225,21 @@ AVFrame *FrameReader::decodeFrame(AVPacket *pkt) {
 }
 
 bool FrameReader::copyBuffers(AVFrame *f, uint8_t *yuv) {
+  assert(f != nullptr && yuv != nullptr);
+  uint8_t *y = yuv;
+  uint8_t *uv = y + width * height;
   if (hw_pix_fmt == HW_PIX_FMT) {
-    uint8_t *y = yuv ? yuv : nv12toyuv_buffer.data();
-    uint8_t *uv = y + width * height;
     for (int i = 0; i < height/2; i++) {
       memcpy(y + (i*2 + 0)*width, f->data[0] + (i*2 + 0)*f->linesize[0], width);
       memcpy(y + (i*2 + 1)*width, f->data[0] + (i*2 + 1)*f->linesize[0], width);
       memcpy(uv + i*width, f->data[1] + i*f->linesize[1], width);
     }
   } else {
-    uint8_t *y = yuv ? yuv : nv12toyuv_buffer.data();
-    uint8_t *uv = y + width * height;
     libyuv::I420ToNV12(f->data[0], f->linesize[0],
                        f->data[1], f->linesize[1],
                        f->data[2], f->linesize[2],
                        y, width,
-                       uv, width / 2,
+                       uv, width,
                        width, height);
   }
   return true;
diff --git a/selfdrive/ui/replay/framereader.h b/tools/replay/framereader.h
similarity index 94%
rename from selfdrive/ui/replay/framereader.h
rename to tools/replay/framereader.h
index 443636e27d..e50b61d7f4 100644
--- a/selfdrive/ui/replay/framereader.h
+++ b/tools/replay/framereader.h
@@ -4,7 +4,7 @@
 #include <string>
 #include <vector>
 
-#include "selfdrive/ui/replay/filereader.h"
+#include "tools/replay/filereader.h"
 
 extern "C" {
 #include <libavcodec/avcodec.h>
@@ -46,7 +46,6 @@ private:
 
   AVPixelFormat hw_pix_fmt = AV_PIX_FMT_NONE;
   AVBufferRef *hw_device_ctx = nullptr;
-  std::vector<uint8_t> nv12toyuv_buffer;
   int prev_idx = -1;
   inline static std::atomic<bool> has_hw_decoder = true;
 };
diff --git a/selfdrive/ui/replay/logreader.cc b/tools/replay/logreader.cc
similarity index 97%
rename from selfdrive/ui/replay/logreader.cc
rename to tools/replay/logreader.cc
index 579fe50644..f27224ac53 100644
--- a/selfdrive/ui/replay/logreader.cc
+++ b/tools/replay/logreader.cc
@@ -1,7 +1,7 @@
-#include "selfdrive/ui/replay/logreader.h"
+#include "tools/replay/logreader.h"
 
 #include <algorithm>
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/util.h"
 
 Event::Event(const kj::ArrayPtr<const capnp::word> &amsg, bool frame) : reader(amsg), frame(frame) {
   words = kj::ArrayPtr<const capnp::word>(amsg.begin(), reader.getEnd());
diff --git a/selfdrive/ui/replay/logreader.h b/tools/replay/logreader.h
similarity index 95%
rename from selfdrive/ui/replay/logreader.h
rename to tools/replay/logreader.h
index 7ada20605e..fb63bf3913 100644
--- a/selfdrive/ui/replay/logreader.h
+++ b/tools/replay/logreader.h
@@ -6,8 +6,8 @@
 #endif
 
 #include "cereal/gen/cpp/log.capnp.h"
-#include "selfdrive/camerad/cameras/camera_common.h"
-#include "selfdrive/ui/replay/filereader.h"
+#include "system/camerad/cameras/camera_common.h"
+#include "tools/replay/filereader.h"
 
 const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam};
 const int MAX_CAMERAS = std::size(ALL_CAMERAS);
diff --git a/selfdrive/ui/replay/main.cc b/tools/replay/main.cc
similarity index 96%
rename from selfdrive/ui/replay/main.cc
rename to tools/replay/main.cc
index e09587023c..d3d6894877 100644
--- a/selfdrive/ui/replay/main.cc
+++ b/tools/replay/main.cc
@@ -1,8 +1,8 @@
 #include <QApplication>
 #include <QCommandLineParser>
 
-#include "selfdrive/ui/replay/consoleui.h"
-#include "selfdrive/ui/replay/replay.h"
+#include "tools/replay/consoleui.h"
+#include "tools/replay/replay.h"
 
 const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36";
 
diff --git a/selfdrive/ui/replay/replay.cc b/tools/replay/replay.cc
similarity index 98%
rename from selfdrive/ui/replay/replay.cc
rename to tools/replay/replay.cc
index 4036086e1b..c886a7e186 100644
--- a/selfdrive/ui/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/ui/replay/replay.h"
+#include "tools/replay/replay.h"
 
 #include <QDebug>
 #include <QtConcurrent>
@@ -7,8 +7,8 @@
 #include "cereal/services.h"
 #include "common/params.h"
 #include "common/timing.h"
-#include "selfdrive/hardware/hw.h"
-#include "selfdrive/ui/replay/util.h"
+#include "system/hardware/hw.h"
+#include "tools/replay/util.h"
 
 Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_, uint32_t flags, QString data_dir, QObject *parent)
     : sm(sm_), flags_(flags), QObject(parent) {
@@ -360,7 +360,8 @@ void Replay::stream() {
       setCurrentSegment(toSeconds(cur_mono_time_) / 60);
 
       // migration for pandaState -> pandaStates to keep UI working for old segments
-      if (cur_which == cereal::Event::Which::PANDA_STATE_D_E_P_R_E_C_A_T_E_D) {
+      if (cur_which == cereal::Event::Which::PANDA_STATE_D_E_P_R_E_C_A_T_E_D && 
+          sockets_[cereal::Event::Which::PANDA_STATES] != nullptr) {
         MessageBuilder msg;
         auto ps = msg.initEvent().initPandaStates(1);
         ps[0].setIgnitionLine(true);
diff --git a/selfdrive/ui/replay/replay.h b/tools/replay/replay.h
similarity index 97%
rename from selfdrive/ui/replay/replay.h
rename to tools/replay/replay.h
index c89a835f64..13269d3ec9 100644
--- a/selfdrive/ui/replay/replay.h
+++ b/tools/replay/replay.h
@@ -4,8 +4,8 @@
 
 #include <QThread>
 
-#include "selfdrive/ui/replay/camera.h"
-#include "selfdrive/ui/replay/route.h"
+#include "tools/replay/camera.h"
+#include "tools/replay/route.h"
 
 // one segment uses about 100M of memory
 constexpr int FORWARD_SEGS = 5;
diff --git a/selfdrive/ui/replay/route.cc b/tools/replay/route.cc
similarity index 96%
rename from selfdrive/ui/replay/route.cc
rename to tools/replay/route.cc
index ad93263ae9..5b47090229 100644
--- a/selfdrive/ui/replay/route.cc
+++ b/tools/replay/route.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/ui/replay/route.h"
+#include "tools/replay/route.h"
 
 #include <QDir>
 #include <QEventLoop>
@@ -9,10 +9,10 @@
 
 #include <array>
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/api.h"
-#include "selfdrive/ui/replay/replay.h"
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/replay.h"
+#include "tools/replay/util.h"
 
 Route::Route(const QString &route, const QString &data_dir) : data_dir_(data_dir) {
   route_ = parseRoute(route);
diff --git a/selfdrive/ui/replay/route.h b/tools/replay/route.h
similarity index 92%
rename from selfdrive/ui/replay/route.h
rename to tools/replay/route.h
index ac8fba75ca..6ca9c3b883 100644
--- a/selfdrive/ui/replay/route.h
+++ b/tools/replay/route.h
@@ -2,9 +2,9 @@
 
 #include <QFutureSynchronizer>
 
-#include "selfdrive/ui/replay/framereader.h"
-#include "selfdrive/ui/replay/logreader.h"
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/framereader.h"
+#include "tools/replay/logreader.h"
+#include "tools/replay/util.h"
 
 struct RouteIdentifier {
   QString dongle_id;
diff --git a/selfdrive/ui/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc
similarity index 98%
rename from selfdrive/ui/replay/tests/test_replay.cc
rename to tools/replay/tests/test_replay.cc
index bf984f5f3d..bd5dee013c 100644
--- a/selfdrive/ui/replay/tests/test_replay.cc
+++ b/tools/replay/tests/test_replay.cc
@@ -6,8 +6,8 @@
 
 #include "catch2/catch.hpp"
 #include "common/util.h"
-#include "selfdrive/ui/replay/replay.h"
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/replay.h"
+#include "tools/replay/util.h"
 
 const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36";
 const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
diff --git a/selfdrive/ui/replay/tests/test_runner.cc b/tools/replay/tests/test_runner.cc
similarity index 100%
rename from selfdrive/ui/replay/tests/test_runner.cc
rename to tools/replay/tests/test_runner.cc
diff --git a/tools/replay/ui.py b/tools/replay/ui.py
index 1807fb7747..bbcd49061e 100755
--- a/tools/replay/ui.py
+++ b/tools/replay/ui.py
@@ -118,7 +118,7 @@ def ui_thread(addr):
 
     imgff = np.frombuffer(yuv_img_raw, dtype=np.uint8).reshape((vipc_client.height * 3 // 2, vipc_client.width))
     num_px = vipc_client.width * vipc_client.height
-    bgr = cv2.cvtColor(imgff, cv2.COLOR_YUV2RGB_I420)
+    bgr = cv2.cvtColor(imgff, cv2.COLOR_YUV2RGB_NV12)
 
     zoom_matrix = _BB_TO_FULL_FRAME[num_px]
     cv2.warpAffine(bgr, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)
diff --git a/selfdrive/ui/replay/util.cc b/tools/replay/util.cc
similarity index 99%
rename from selfdrive/ui/replay/util.cc
rename to tools/replay/util.cc
index 099219ccde..a6ebbec615 100644
--- a/selfdrive/ui/replay/util.cc
+++ b/tools/replay/util.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/util.h"
 
 #include <bzlib.h>
 #include <curl/curl.h>
diff --git a/selfdrive/ui/replay/util.h b/tools/replay/util.h
similarity index 100%
rename from selfdrive/ui/replay/util.h
rename to tools/replay/util.h
diff --git a/tools/serial/connect.sh b/tools/serial/connect.sh
index 037152019f..a073310b0a 100755
--- a/tools/serial/connect.sh
+++ b/tools/serial/connect.sh
@@ -1,8 +1,8 @@
 #!/bin/bash
 
 while true; do
-  if ls /dev/ttyUSB* 2> /dev/null; then
-    sudo screen /dev/ttyUSB* 115200
+  if ls /dev/serial/by-id/usb-FTDI_FT230X* 2> /dev/null; then
+    sudo screen /dev/serial/by-id/usb-FTDI_FT230X* 115200
   fi
   sleep 0.005
 done
diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim
index d869db90a6..3692d48e0f 100644
--- a/tools/sim/Dockerfile.sim
+++ b/tools/sim/Dockerfile.sim
@@ -1,9 +1,9 @@
 FROM ghcr.io/commaai/openpilot-base-cl:latest
 
-RUN apt-get update && apt-get install -y --no-install-recommends\
-    tmux \
-    vim \
-  && rm -rf /var/lib/apt/lists/*
+RUN apt-get update && apt-get install -y --no-install-recommends \
+      tmux \
+      vim \
+    && rm -rf /var/lib/apt/lists/*
 
 # get same tmux config used on NEOS for debugging
 RUN cd $HOME && \
@@ -18,6 +18,7 @@ COPY ./third_party $HOME/openpilot/third_party
 COPY ./pyextra $HOME/openpilot/pyextra
 COPY ./site_scons $HOME/openpilot/site_scons
 COPY ./rednose $HOME/openpilot/rednose
+COPY ./laika $HOME/openpilot/laika
 COPY ./common $HOME/openpilot/common
 COPY ./opendbc $HOME/openpilot/opendbc
 COPY ./cereal $HOME/openpilot/cereal
@@ -27,6 +28,6 @@ COPY ./system $HOME/openpilot/system
 COPY ./tools $HOME/openpilot/tools
 
 WORKDIR $HOME/openpilot
-RUN scons -j$(nproc)
+RUN scons --cache-readonly -j12
 
 RUN python -c "from selfdrive.test.helpers import set_params_enabled; set_params_enabled()"
diff --git a/tools/sim/Dockerfile.sim_nvidia b/tools/sim/Dockerfile.sim_nvidia
new file mode 100644
index 0000000000..5e5dd263da
--- /dev/null
+++ b/tools/sim/Dockerfile.sim_nvidia
@@ -0,0 +1,21 @@
+FROM ubuntu:20.04
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+      apt-utils \
+      sudo \
+      ssh \
+      curl \
+      ca-certificates \
+      git \
+      git-lfs && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN curl -fsSL https://get.docker.com -o get-docker.sh && \
+    sudo sh get-docker.sh && \
+    distribution=$(. /etc/os-release;echo $ID$VERSION_ID) && \
+    curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add - && \
+    curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list && \
+    sudo apt-get update && \
+    sudo apt-get install -y nvidia-docker2
diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py
index ae65e8deb8..17dc2c7a62 100755
--- a/tools/sim/bridge.py
+++ b/tools/sim/bridge.py
@@ -81,7 +81,7 @@ class Camerad:
     cl_arg = f" -DHEIGHT={H} -DWIDTH={W} -DRGB_STRIDE={W * 3} -DUV_WIDTH={W // 2} -DUV_HEIGHT={H // 2} -DRGB_SIZE={W * H} -DCL_DEBUG "
 
     # TODO: move rgb_to_yuv.cl to local dir once the frame stream camera is removed
-    kernel_fn = os.path.join(BASEDIR, "selfdrive", "camerad", "transforms", "rgb_to_yuv.cl")
+    kernel_fn = os.path.join(BASEDIR, "system", "camerad", "transforms", "rgb_to_yuv.cl")
     with open(kernel_fn) as f:
       prg = cl.Program(self.ctx, f.read()).build(cl_arg)
       self.krnl = prg.rgb_to_yuv
@@ -198,12 +198,12 @@ def gps_callback(gps, vehicle_state):
 
 
 def fake_driver_monitoring(exit_event: threading.Event):
-  pm = messaging.PubMaster(['driverState', 'driverMonitoringState'])
+  pm = messaging.PubMaster(['driverStateV2', 'driverMonitoringState'])
   while not exit_event.is_set():
     # dmonitoringmodeld output
-    dat = messaging.new_message('driverState')
-    dat.driverState.faceProb = 1.0
-    pm.send('driverState', dat)
+    dat = messaging.new_message('driverStateV2')
+    dat.driverStateV2.leftDriverData.faceProb = 1.0
+    pm.send('driverStateV2', dat)
 
     # dmonitoringd output
     dat = messaging.new_message('driverMonitoringState')
diff --git a/tools/sim/build_container.sh b/tools/sim/build_container.sh
index 451277d590..81afb82d83 100755
--- a/tools/sim/build_container.sh
+++ b/tools/sim/build_container.sh
@@ -3,7 +3,7 @@
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 cd $DIR/../../
 
-docker pull ghcr.io/commaai/openpilot-base:latest
+docker pull ghcr.io/commaai/openpilot-base-cl:latest
 docker build \
   --cache-from ghcr.io/commaai/openpilot-sim:latest \
   -t ghcr.io/commaai/openpilot-sim:latest \
diff --git a/tools/sim/launch_openpilot.sh b/tools/sim/launch_openpilot.sh
index 82fc4a71ac..15f45b4cc2 100755
--- a/tools/sim/launch_openpilot.sh
+++ b/tools/sim/launch_openpilot.sh
@@ -6,6 +6,10 @@ export SIMULATION="1"
 export FINGERPRINT="HONDA CIVIC 2016"
 
 export BLOCK="camerad,loggerd,encoderd"
+if [[ "$CI" ]]; then
+  # TODO: offscreen UI should work
+  export BLOCK="${BLOCK},ui"
+fi
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 cd ../../selfdrive/manager && exec ./manager.py
diff --git a/tools/sim/lib/can.py b/tools/sim/lib/can.py
index af0f415bbc..939d081a80 100755
--- a/tools/sim/lib/can.py
+++ b/tools/sim/lib/can.py
@@ -63,6 +63,7 @@ def can_function(pm, speed, angle, idx, cruise_button, is_engaged):
   msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}, idx))
   msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {"ACC_STATUS": int(is_engaged)}, idx))
   msg.append(packer.make_can_msg("HUD_SETTING", 0, {}))
+  msg.append(packer.make_can_msg("CAR_SPEED", 0, {}, idx))
 
   # *** cam bus ***
   msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}, idx))
diff --git a/tools/sim/start_carla.sh b/tools/sim/start_carla.sh
index 912c7d6f08..67ced7eb21 100755
--- a/tools/sim/start_carla.sh
+++ b/tools/sim/start_carla.sh
@@ -15,7 +15,12 @@ if ! $(apt list --installed | grep -q nvidia-container-toolkit); then
   fi
 fi
 
-docker pull carlasim/carla:0.9.12
+docker pull carlasim/carla:0.9.13
+
+EXTRA_ARGS="-it"
+if [[ "$DETACH" ]]; then
+  EXTRA_ARGS="-d"
+fi
 
 docker run \
   --name carla_sim \
@@ -23,6 +28,6 @@ docker run \
   --gpus all \
   --net=host \
   -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
-  -it \
-  carlasim/carla:0.9.12 \
+  $EXTRA_ARGS \
+  carlasim/carla:0.9.13 \
   /bin/bash ./CarlaUE4.sh -opengl -nosound -RenderOffScreen -benchmark -fps=20 -quality-level=Low
diff --git a/tools/sim/start_openpilot_docker.sh b/tools/sim/start_openpilot_docker.sh
index 106dbdeccb..e48e63574d 100755
--- a/tools/sim/start_openpilot_docker.sh
+++ b/tools/sim/start_openpilot_docker.sh
@@ -3,22 +3,26 @@
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 cd $DIR
 
-# expose X to the container
-xhost +local:root
-
-docker pull ghcr.io/commaai/openpilot-sim:latest
-
 OPENPILOT_DIR="/openpilot"
-if ! [[ -z "$MOUNT_OPENPILOT" ]]
-then
+if ! [[ -z "$MOUNT_OPENPILOT" ]]; then
   OPENPILOT_DIR="$(dirname $(dirname $DIR))"
   EXTRA_ARGS="-v $OPENPILOT_DIR:$OPENPILOT_DIR -e PYTHONPATH=$OPENPILOT_DIR:$PYTHONPATH"
 fi
 
+if [[ "$CI" ]]; then
+  CMD="CI=1 ${OPENPILOT_DIR}/tools/sim/tests/test_carla_integration.py"
+else
+  # expose X to the container
+  xhost +local:root
+
+  docker pull ghcr.io/commaai/openpilot-sim:latest
+  CMD="./tmux_script.sh $*"
+  EXTRA_ARGS="${EXTRA_ARGS} -it"
+fi
+
 docker run --net=host\
   --name openpilot_client \
   --rm \
-  -it \
   --gpus all \
   --device=/dev/dri:/dev/dri \
   --device=/dev/input:/dev/input \
@@ -29,4 +33,4 @@ docker run --net=host\
   -w "$OPENPILOT_DIR/tools/sim" \
   $EXTRA_ARGS \
   ghcr.io/commaai/openpilot-sim:latest \
-  /bin/bash -c "./tmux_script.sh $*"
+  /bin/bash -c "$CMD"
diff --git a/tools/sim/tests/__init__.py b/tools/sim/tests/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/tools/sim/test/test_carla_integration.py b/tools/sim/tests/test_carla_integration.py
similarity index 85%
rename from tools/sim/test/test_carla_integration.py
rename to tools/sim/tests/test_carla_integration.py
index 8f76abb561..43db783f4e 100755
--- a/tools/sim/test/test_carla_integration.py
+++ b/tools/sim/tests/test_carla_integration.py
@@ -2,13 +2,18 @@
 import subprocess
 import time
 import unittest
+import os
 from multiprocessing import Queue
 
 from cereal import messaging
+from common.basedir import BASEDIR
 from selfdrive.manager.helpers import unblock_stdout
 from tools.sim import bridge
 from tools.sim.bridge import CarlaBridge
 
+CI = "CI" in os.environ
+
+SIM_DIR = os.path.join(BASEDIR, "tools/sim")
 
 class TestCarlaIntegration(unittest.TestCase):
   """
@@ -19,10 +24,12 @@ class TestCarlaIntegration(unittest.TestCase):
 
   def setUp(self):
     self.processes = []
-    # We want to make sure that carla_sim docker isn't still running.
-    subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
 
-    self.carla_process = subprocess.Popen(".././start_carla.sh")
+    if not CI:
+      # We want to make sure that carla_sim docker isn't still running.
+      subprocess.run("docker rm -f carla_sim", shell=True, stderr=subprocess.PIPE, check=False)
+      self.carla_process = subprocess.Popen("./start_carla.sh", cwd=SIM_DIR)
+
     # Too many lagging messages in bridge.py can cause a crash. This prevents it.
     unblock_stdout()
     # Wait 10 seconds to startup carla
@@ -30,16 +37,16 @@ class TestCarlaIntegration(unittest.TestCase):
 
   def test_engage(self):
     # Startup manager and bridge.py. Check processes are running, then engage and verify.
-    p_manager = subprocess.Popen("./launch_openpilot.sh", cwd='../')
+    p_manager = subprocess.Popen("./launch_openpilot.sh", cwd=SIM_DIR)
     self.processes.append(p_manager)
 
     sm = messaging.SubMaster(['controlsState', 'carEvents', 'managerState'])
     q = Queue()
     carla_bridge = CarlaBridge(bridge.parse_args([]))
-    p_bridge = carla_bridge.run(q, retries=3)
+    p_bridge = carla_bridge.run(q, retries=10)
     self.processes.append(p_bridge)
 
-    max_time_per_step = 20
+    max_time_per_step = 60
 
     # Wait for bridge to startup
     start_waiting = time.monotonic()
diff --git a/tools/ssh/README.md b/tools/ssh/README.md
index 66f030de52..29d3349328 100644
--- a/tools/ssh/README.md
+++ b/tools/ssh/README.md
@@ -22,3 +22,52 @@ The public keys are only fetched from your GitHub account once. In order to upda
 The `id_rsa` key in this directory only works while your device is in the setup state with no software installed. After installation, that default key will be removed.
 
 See the [community wiki](https://github.com/commaai/openpilot/wiki/SSH) for more detailed instructions and information.
+
+# Connecting to ssh.comma.ai
+SSH into your comma device from anywhere with `ssh.comma.ai`.
+
+## Setup
+
+With software version 0.6.1 or newer, enter your GitHub username on your device under Developer Settings. Your GitHub authorized public keys will become your authorized SSH keys for `ssh.comma.ai`. You can add any additional keys in `/system/comma/home/.ssh/authorized_keys.persist`.
+
+Requires [comma SIM with comma prime](https://comma.ai/shop) activated with comma connect, available on iOS and Android. comma two and EON ship with a pre-inserted comma SIM.
+
+## Recommended .ssh/config
+
+With the below ssh configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`. For example, `ssh comma-ffffffffffffffff`.
+
+```
+Host comma-*
+  Port 22
+  User comma
+  IdentityFile ~/.ssh/my_github_key
+  ProxyCommand ssh %h@ssh.comma.ai -W %h:%p
+Host ssh.comma.ai
+  Hostname ssh.comma.ai
+  Port 22
+  IdentityFile ~/.ssh/my_github_key
+```
+
+## One-off connection
+
+```
+ssh -i ~/.ssh/my_github_key -o ProxyCommand="ssh -i ~/.ssh/my_github_key -W %h:%p -p %p %h@ssh.comma.ai" comma@ffffffffffffffff
+```
+(Replace `ffffffffffffffff` with your dongle_id)
+
+## ssh.comma.ai host key fingerprint
+
+```
+Host key fingerprint is SHA256:X22GOmfjGb9J04IA2+egtdaJ7vW9Fbtmpz9/x8/W1X4
++---[RSA 4096]----+
+|                 |
+|                 |
+|        .        |
+|         +   o   |
+|        S = + +..|
+|         + @ = .=|
+|        . B @ ++=|
+|         o * B XE|
+|         .o o OB/|
++----[SHA256]-----+
+```
diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh
index 60d41a4771..5bc3630766 100755
--- a/tools/ubuntu_setup.sh
+++ b/tools/ubuntu_setup.sh
@@ -59,6 +59,7 @@ function install_ubuntu_common_requirements() {
     qtmultimedia5-dev \
     qtlocation5-dev \
     qtpositioning5-dev \
+    qttools5-dev-tools \
     libqt5sql5-sqlite \
     libqt5svg5-dev \
     libqt5x11extras5-dev \
diff --git a/tools/webcam/README.md b/tools/webcam/README.md
index 48e5accb2a..1e07bdbbe6 100644
--- a/tools/webcam/README.md
+++ b/tools/webcam/README.md
@@ -23,14 +23,14 @@ git clone https://github.com/commaai/openpilot.git
 ```
 cd ~/openpilot
 ```
-- check out selfdrive/camerad/cameras/camera_webcam.cc lines 72 and 146 before building if any camera is upside down
+- check out system/camerad/cameras/camera_webcam.cc lines 72 and 146 before building if any camera is upside down
 ```
 USE_WEBCAM=1 scons -j$(nproc)
 ```
 
 ## Connect the hardware
 - Connect the road facing camera first, then the driver facing camera
-- (default indexes are 1 and 2; can be modified in selfdrive/camerad/cameras/camera_webcam.cc)
+- (default indexes are 1 and 2; can be modified in system/camerad/cameras/camera_webcam.cc)
 - Connect your computer to panda
 
 ## GO
diff --git a/tools/zookeeper/__init__.py b/tools/zookeeper/__init__.py
old mode 100755
new mode 100644
index cd64d3a1fb..42438cb209
--- a/tools/zookeeper/__init__.py
+++ b/tools/zookeeper/__init__.py
@@ -1,9 +1,6 @@
 #!/usr/bin/env python3
-
-# Python library to control Zookeeper
-
-import ft4222  # pylint: disable=import-error
-import ft4222.I2CMaster  # pylint: disable=import-error
+import ft4222
+import ft4222.I2CMaster
 
 DEBUG = False
 
diff --git a/tools/zookeeper/power_monitor.py b/tools/zookeeper/power_monitor.py
index f2796bad31..f88741813e 100755
--- a/tools/zookeeper/power_monitor.py
+++ b/tools/zookeeper/power_monitor.py
@@ -1,30 +1,38 @@
-#!/usr/bin/env python
-
+#!/usr/bin/env python3
 import sys
 import time
-from tools.zookeeper import Zookeeper
+import datetime
 
-# Usage: check_consumption.py <averaging_time_sec> <max_average_power_W>
-# Exit code: 0 -> passed
-#	           1 -> failed
+from common.realtime import Ratekeeper
+from common.filter_simple import FirstOrderFilter
+from tools.zookeeper import Zookeeper
 
 if __name__ == "__main__":
   z = Zookeeper()
+  z.set_device_power(True)
+  z.set_device_ignition(False)
 
   duration = None
   if len(sys.argv) > 1:
     duration = int(sys.argv[1])
 
+  rate = 123
+  rk = Ratekeeper(rate, print_delay_threshold=None)
+  fltr = FirstOrderFilter(0, 5, 1. / rate, initialized=False)
+
+  measurements = []
+  start_time = time.monotonic()
+
   try:
-    start_time = time.monotonic()
-    measurements = []
     while duration is None or time.monotonic() - start_time < duration:
-      p = z.read_power()
-      print(round(p, 3), "W")
-      measurements.append(p)
-      time.sleep(0.25)
+      fltr.update(z.read_power())
+      if rk.frame % rate == 0:
+        print(f"{fltr.x:.2f} W")
+        measurements.append(fltr.x)
+      rk.keep_time()
   except KeyboardInterrupt:
     pass
-  finally:
-    average_power = sum(measurements)/len(measurements)
-    print(f"Average power: {round(average_power, 4)}W")
+
+  t = datetime.timedelta(seconds=time.monotonic() - start_time)
+  avg = sum(measurements) / len(measurements)
+  print(f"\nAverage power: {avg:.2f}W over {t}")
diff --git a/tools/zookeeper/requirements.txt b/tools/zookeeper/requirements.txt
deleted file mode 100644
index 6f70576caf..0000000000
--- a/tools/zookeeper/requirements.txt
+++ /dev/null
@@ -1 +0,0 @@
-ft4222==1.2.1
\ No newline at end of file