diff --git a/README.md b/README.md
index afa45fe2cb..0e034f068e 100644
--- a/README.md
+++ b/README.md
@@ -20,7 +20,7 @@ Supported Cars
 - Acura ILX 2016 with AcuraWatch Plus
   - Limitations: Due to use of the cruise control for gas, it can only be enabled above 25 mph
 
-- Honda Civic 2016 Touring Edition
+- Honda Civic 2016 with Honda Sensing
   - Limitations: Due to limitations in steering firmware, steering is disabled below 18 mph
 
 Directory structure
diff --git a/RELEASES.md b/RELEASES.md
index 81ce6dd355..b4ef4650f4 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,9 @@
+Version 0.2.7  (2017-02-08)
+===========================
+  * Better performance and pictures at night
+  * Fix ptr alignment issue in boardd
+  * Fix brake error light, fix crash if too cold
+
 Version 0.2.6  (2017-01-31)
 ===========================
   * Fix bug in visiond model execution
diff --git a/cereal/gen/c/log.capnp.c b/cereal/gen/c/log.capnp.c
index a62a180aab..1ae7c2c567 100644
--- a/cereal/gen/c/log.capnp.c
+++ b/cereal/gen/c/log.capnp.c
@@ -280,12 +280,12 @@ void cereal_set_CanData(const struct cereal_CanData *s, cereal_CanData_list l, i
 
 cereal_ThermalData_ptr cereal_new_ThermalData(struct capn_segment *s) {
 	cereal_ThermalData_ptr p;
-	p.p = capn_new_struct(s, 24, 0);
+	p.p = capn_new_struct(s, 24, 1);
 	return p;
 }
 cereal_ThermalData_list cereal_new_ThermalData_list(struct capn_segment *s, int len) {
 	cereal_ThermalData_list p;
-	p.p = capn_new_list(s, len, 24, 0);
+	p.p = capn_new_list(s, len, 24, 1);
 	return p;
 }
 void cereal_read_ThermalData(struct cereal_ThermalData *s, cereal_ThermalData_ptr p) {
@@ -299,6 +299,7 @@ void cereal_read_ThermalData(struct cereal_ThermalData *s, cereal_ThermalData_pt
 	s->bat = capn_read32(p.p, 12);
 	s->freeSpace = capn_to_f32(capn_read32(p.p, 16));
 	s->batteryPercent = (int16_t) ((int16_t)capn_read16(p.p, 20));
+	s->batteryStatus = capn_get_text(p.p, 0, capn_val0);
 }
 void cereal_write_ThermalData(const struct cereal_ThermalData *s, cereal_ThermalData_ptr p) {
 	capn_resolve(&p.p);
@@ -311,6 +312,7 @@ void cereal_write_ThermalData(const struct cereal_ThermalData *s, cereal_Thermal
 	capn_write32(p.p, 12, s->bat);
 	capn_write32(p.p, 16, capn_from_f32(s->freeSpace));
 	capn_write16(p.p, 20, (uint16_t) (s->batteryPercent));
+	capn_set_text(p.p, 0, s->batteryStatus);
 }
 void cereal_get_ThermalData(struct cereal_ThermalData *s, cereal_ThermalData_list l, int i) {
 	cereal_ThermalData_ptr p;
@@ -1018,7 +1020,8 @@ void cereal_read_Event(struct cereal_Event *s, cereal_Event_ptr p) {
 	case cereal_Event_androidLogEntry:
 	case cereal_Event_gpsLocation:
 	case cereal_Event_carState:
-		s->carState.p = capn_getp(p.p, 0, 0);
+	case cereal_Event_carControl:
+		s->carControl.p = capn_getp(p.p, 0, 0);
 		break;
 	default:
 		break;
@@ -1053,7 +1056,8 @@ void cereal_write_Event(const struct cereal_Event *s, cereal_Event_ptr p) {
 	case cereal_Event_androidLogEntry:
 	case cereal_Event_gpsLocation:
 	case cereal_Event_carState:
-		capn_setp(p.p, 0, s->carState.p);
+	case cereal_Event_carControl:
+		capn_setp(p.p, 0, s->carControl.p);
 		break;
 	default:
 		break;
diff --git a/cereal/gen/c/log.capnp.h b/cereal/gen/c/log.capnp.h
index 24ad3e1ebe..9b365fdde1 100644
--- a/cereal/gen/c/log.capnp.h
+++ b/cereal/gen/c/log.capnp.h
@@ -224,13 +224,14 @@ struct cereal_ThermalData {
 	uint32_t bat;
 	float freeSpace;
 	int16_t batteryPercent;
+	capn_text batteryStatus;
 };
 
 static const size_t cereal_ThermalData_word_count = 3;
 
-static const size_t cereal_ThermalData_pointer_count = 0;
+static const size_t cereal_ThermalData_pointer_count = 1;
 
-static const size_t cereal_ThermalData_struct_bytes_count = 24;
+static const size_t cereal_ThermalData_struct_bytes_count = 32;
 
 struct cereal_HealthData {
 	uint32_t voltage;
@@ -509,7 +510,8 @@ enum cereal_Event_which {
 	cereal_Event_liveCalibration = 18,
 	cereal_Event_androidLogEntry = 19,
 	cereal_Event_gpsLocation = 20,
-	cereal_Event_carState = 21
+	cereal_Event_carState = 21,
+	cereal_Event_carControl = 22
 };
 
 struct cereal_Event {
@@ -538,6 +540,7 @@ struct cereal_Event {
 		cereal_AndroidLogEntry_ptr androidLogEntry;
 		cereal_GpsLocationData_ptr gpsLocation;
 		cereal_CarState_ptr carState;
+		cereal_CarControl_ptr carControl;
 	};
 };
 
diff --git a/cereal/gen/cpp/log.capnp.c++ b/cereal/gen/cpp/log.capnp.c++
index 99178add84..20949cefaa 100644
--- a/cereal/gen/cpp/log.capnp.c++
+++ b/cereal/gen/cpp/log.capnp.c++
@@ -862,87 +862,94 @@ const ::capnp::_::RawSchema s_8785009a964c7c59 = {
   0, 4, i_8785009a964c7c59, nullptr, nullptr, { &s_8785009a964c7c59, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<154> b_8d8231a40b7fe6e0 = {
+static const ::capnp::_::AlignedData<170> b_8d8231a40b7fe6e0 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
     224, 230, 127,  11, 164,  49, 130, 141,
      10,   0,   0,   0,   1,   0,   3,   0,
      91,  40, 164,  37, 126, 241, 177, 243,
-      0,   0,   7,   0,   0,   0,   0,   0,
+      1,   0,   7,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      21,   0,   0,   0, 178,   0,   0,   0,
      29,   0,   0,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     25,   0,   0,   0, 255,   1,   0,   0,
+     25,   0,   0,   0,  55,   2,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     108, 111, 103,  46,  99,  97, 112, 110,
     112,  58,  84, 104, 101, 114, 109,  97,
     108,  68,  97, 116,  97,   0,   0,   0,
       0,   0,   0,   0,   1,   0,   1,   0,
-     36,   0,   0,   0,   3,   0,   4,   0,
+     40,   0,   0,   0,   3,   0,   4,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    237,   0,   0,   0,  42,   0,   0,   0,
+      9,   1,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    232,   0,   0,   0,   3,   0,   1,   0,
-    244,   0,   0,   0,   2,   0,   1,   0,
+      4,   1,   0,   0,   3,   0,   1,   0,
+     16,   1,   0,   0,   2,   0,   1,   0,
       1,   0,   0,   0,   1,   0,   0,   0,
       0,   0,   1,   0,   1,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    241,   0,   0,   0,  42,   0,   0,   0,
+     13,   1,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    236,   0,   0,   0,   3,   0,   1,   0,
-    248,   0,   0,   0,   2,   0,   1,   0,
+      8,   1,   0,   0,   3,   0,   1,   0,
+     20,   1,   0,   0,   2,   0,   1,   0,
       2,   0,   0,   0,   2,   0,   0,   0,
       0,   0,   1,   0,   2,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    245,   0,   0,   0,  42,   0,   0,   0,
+     17,   1,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    240,   0,   0,   0,   3,   0,   1,   0,
-    252,   0,   0,   0,   2,   0,   1,   0,
+     12,   1,   0,   0,   3,   0,   1,   0,
+     24,   1,   0,   0,   2,   0,   1,   0,
       3,   0,   0,   0,   3,   0,   0,   0,
       0,   0,   1,   0,   3,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    249,   0,   0,   0,  42,   0,   0,   0,
+     21,   1,   0,   0,  42,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    244,   0,   0,   0,   3,   0,   1,   0,
-      0,   1,   0,   0,   2,   0,   1,   0,
+     16,   1,   0,   0,   3,   0,   1,   0,
+     28,   1,   0,   0,   2,   0,   1,   0,
       4,   0,   0,   0,   4,   0,   0,   0,
       0,   0,   1,   0,   4,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    253,   0,   0,   0,  34,   0,   0,   0,
+     25,   1,   0,   0,  34,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    248,   0,   0,   0,   3,   0,   1,   0,
-      4,   1,   0,   0,   2,   0,   1,   0,
+     20,   1,   0,   0,   3,   0,   1,   0,
+     32,   1,   0,   0,   2,   0,   1,   0,
       5,   0,   0,   0,   5,   0,   0,   0,
       0,   0,   1,   0,   5,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-      1,   1,   0,   0,  34,   0,   0,   0,
+     29,   1,   0,   0,  34,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    252,   0,   0,   0,   3,   0,   1,   0,
-      8,   1,   0,   0,   2,   0,   1,   0,
+     24,   1,   0,   0,   3,   0,   1,   0,
+     36,   1,   0,   0,   2,   0,   1,   0,
       6,   0,   0,   0,   3,   0,   0,   0,
       0,   0,   1,   0,   6,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-      5,   1,   0,   0,  34,   0,   0,   0,
+     33,   1,   0,   0,  34,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-      0,   1,   0,   0,   3,   0,   1,   0,
-     12,   1,   0,   0,   2,   0,   1,   0,
+     28,   1,   0,   0,   3,   0,   1,   0,
+     40,   1,   0,   0,   2,   0,   1,   0,
       7,   0,   0,   0,   4,   0,   0,   0,
       0,   0,   1,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-      9,   1,   0,   0,  82,   0,   0,   0,
+     37,   1,   0,   0,  82,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-      8,   1,   0,   0,   3,   0,   1,   0,
-     20,   1,   0,   0,   2,   0,   1,   0,
+     36,   1,   0,   0,   3,   0,   1,   0,
+     48,   1,   0,   0,   2,   0,   1,   0,
       8,   0,   0,   0,  10,   0,   0,   0,
       0,   0,   1,   0,   8,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     17,   1,   0,   0, 122,   0,   0,   0,
+     45,   1,   0,   0, 122,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     16,   1,   0,   0,   3,   0,   1,   0,
-     28,   1,   0,   0,   2,   0,   1,   0,
+     44,   1,   0,   0,   3,   0,   1,   0,
+     56,   1,   0,   0,   2,   0,   1,   0,
+      9,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   1,   0,   9,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     53,   1,   0,   0, 114,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     52,   1,   0,   0,   3,   0,   1,   0,
+     64,   1,   0,   0,   2,   0,   1,   0,
      99, 112, 117,  48,   0,   0,   0,   0,
       7,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -1015,16 +1022,25 @@ static const ::capnp::_::AlignedData<154> b_8d8231a40b7fe6e0 = {
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       3,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     98,  97, 116, 116, 101, 114, 121,  83,
+    116,  97, 116, 117, 115,   0,   0,   0,
+     12,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     12,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0, }
 };
 ::capnp::word const* const bp_8d8231a40b7fe6e0 = b_8d8231a40b7fe6e0.words;
 #if !CAPNP_LITE
-static const uint16_t m_8d8231a40b7fe6e0[] = {6, 8, 0, 1, 2, 3, 7, 5, 4};
-static const uint16_t i_8d8231a40b7fe6e0[] = {0, 1, 2, 3, 4, 5, 6, 7, 8};
+static const uint16_t m_8d8231a40b7fe6e0[] = {6, 8, 9, 0, 1, 2, 3, 7, 5, 4};
+static const uint16_t i_8d8231a40b7fe6e0[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
 const ::capnp::_::RawSchema s_8d8231a40b7fe6e0 = {
-  0x8d8231a40b7fe6e0, b_8d8231a40b7fe6e0.words, 154, nullptr, m_8d8231a40b7fe6e0,
-  0, 9, i_8d8231a40b7fe6e0, nullptr, nullptr, { &s_8d8231a40b7fe6e0, nullptr, nullptr, 0, 0, nullptr }
+  0x8d8231a40b7fe6e0, b_8d8231a40b7fe6e0.words, 170, nullptr, m_8d8231a40b7fe6e0,
+  0, 10, i_8d8231a40b7fe6e0, nullptr, nullptr, { &s_8d8231a40b7fe6e0, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<112> b_cfa2b0c2c82af1e4 = {
@@ -3339,184 +3355,191 @@ const ::capnp::_::RawSchema s_9811e1f38f62f2d1 = {
   0, 2, i_9811e1f38f62f2d1, nullptr, nullptr, { &s_9811e1f38f62f2d1, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<398> b_d314cfd957229c11 = {
+static const ::capnp::_::AlignedData<414> b_d314cfd957229c11 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
      17, 156,  34,  87, 217, 207,  20, 211,
      10,   0,   0,   0,   1,   0,   2,   0,
      91,  40, 164,  37, 126, 241, 177, 243,
-      1,   0,   7,   0,   0,   0,  22,   0,
+      1,   0,   7,   0,   0,   0,  23,   0,
       4,   0,   0,   0,   0,   0,   0,   0,
      21,   0,   0,   0, 130,   0,   0,   0,
      25,   0,   0,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0,  15,   5,   0,   0,
+     21,   0,   0,   0,  71,   5,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     108, 111, 103,  46,  99,  97, 112, 110,
     112,  58,  69, 118, 101, 110, 116,   0,
       0,   0,   0,   0,   1,   0,   1,   0,
-     92,   0,   0,   0,   3,   0,   4,   0,
+     96,   0,   0,   0,   3,   0,   4,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    117,   2,   0,   0,  98,   0,   0,   0,
+    145,   2,   0,   0,  98,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    116,   2,   0,   0,   3,   0,   1,   0,
-    128,   2,   0,   0,   2,   0,   1,   0,
+    144,   2,   0,   0,   3,   0,   1,   0,
+    156,   2,   0,   0,   2,   0,   1,   0,
       1,   0, 255, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   1,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    125,   2,   0,   0,  74,   0,   0,   0,
+    153,   2,   0,   0,  74,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    124,   2,   0,   0,   3,   0,   1,   0,
-    136,   2,   0,   0,   2,   0,   1,   0,
+    152,   2,   0,   0,   3,   0,   1,   0,
+    164,   2,   0,   0,   2,   0,   1,   0,
       2,   0, 254, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   2,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    133,   2,   0,   0,  50,   0,   0,   0,
+    161,   2,   0,   0,  50,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    128,   2,   0,   0,   3,   0,   1,   0,
-    140,   2,   0,   0,   2,   0,   1,   0,
+    156,   2,   0,   0,   3,   0,   1,   0,
+    168,   2,   0,   0,   2,   0,   1,   0,
       3,   0, 253, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   3,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    137,   2,   0,   0,  66,   0,   0,   0,
+    165,   2,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    132,   2,   0,   0,   3,   0,   1,   0,
-    144,   2,   0,   0,   2,   0,   1,   0,
+    160,   2,   0,   0,   3,   0,   1,   0,
+    172,   2,   0,   0,   2,   0,   1,   0,
       4,   0, 252, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   4,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    141,   2,   0,   0, 178,   0,   0,   0,
+    169,   2,   0,   0, 178,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    144,   2,   0,   0,   3,   0,   1,   0,
-    156,   2,   0,   0,   2,   0,   1,   0,
+    172,   2,   0,   0,   3,   0,   1,   0,
+    184,   2,   0,   0,   2,   0,   1,   0,
       5,   0, 251, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   5,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    153,   2,   0,   0,  34,   0,   0,   0,
+    181,   2,   0,   0,  34,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    148,   2,   0,   0,   3,   0,   1,   0,
-    176,   2,   0,   0,   2,   0,   1,   0,
+    176,   2,   0,   0,   3,   0,   1,   0,
+    204,   2,   0,   0,   2,   0,   1,   0,
       6,   0, 250, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   6,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    173,   2,   0,   0,  66,   0,   0,   0,
+    201,   2,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    168,   2,   0,   0,   3,   0,   1,   0,
-    180,   2,   0,   0,   2,   0,   1,   0,
+    196,   2,   0,   0,   3,   0,   1,   0,
+    208,   2,   0,   0,   2,   0,   1,   0,
       7,   0, 249, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    177,   2,   0,   0,  66,   0,   0,   0,
+    205,   2,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    172,   2,   0,   0,   3,   0,   1,   0,
-    184,   2,   0,   0,   2,   0,   1,   0,
+    200,   2,   0,   0,   3,   0,   1,   0,
+    212,   2,   0,   0,   2,   0,   1,   0,
       8,   0, 248, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   8,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    181,   2,   0,   0, 162,   0,   0,   0,
+    209,   2,   0,   0, 162,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    184,   2,   0,   0,   3,   0,   1,   0,
-    212,   2,   0,   0,   2,   0,   1,   0,
+    212,   2,   0,   0,   3,   0,   1,   0,
+    240,   2,   0,   0,   2,   0,   1,   0,
       9,   0, 247, 255,   0,   0,   0,   0,
       0,   0,   1,   0,   9,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    209,   2,   0,   0,  50,   0,   0,   0,
+    237,   2,   0,   0,  50,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    204,   2,   0,   0,   3,   0,   1,   0,
-    216,   2,   0,   0,   2,   0,   1,   0,
+    232,   2,   0,   0,   3,   0,   1,   0,
+    244,   2,   0,   0,   2,   0,   1,   0,
      10,   0, 246, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  10,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    213,   2,   0,   0,  74,   0,   0,   0,
+    241,   2,   0,   0,  74,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    212,   2,   0,   0,   3,   0,   1,   0,
-    224,   2,   0,   0,   2,   0,   1,   0,
+    240,   2,   0,   0,   3,   0,   1,   0,
+    252,   2,   0,   0,   2,   0,   1,   0,
      11,   0, 245, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  11,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    221,   2,   0,   0, 106,   0,   0,   0,
+    249,   2,   0,   0, 106,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    220,   2,   0,   0,   3,   0,   1,   0,
-    248,   2,   0,   0,   2,   0,   1,   0,
+    248,   2,   0,   0,   3,   0,   1,   0,
+     20,   3,   0,   0,   2,   0,   1,   0,
      12,   0, 244, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  12,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    245,   2,   0,   0,  58,   0,   0,   0,
+     17,   3,   0,   0,  58,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    240,   2,   0,   0,   3,   0,   1,   0,
-    252,   2,   0,   0,   2,   0,   1,   0,
+     12,   3,   0,   0,   3,   0,   1,   0,
+     24,   3,   0,   0,   2,   0,   1,   0,
      13,   0, 243, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  13,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    249,   2,   0,   0,  58,   0,   0,   0,
+     21,   3,   0,   0,  58,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    244,   2,   0,   0,   3,   0,   1,   0,
-      0,   3,   0,   0,   2,   0,   1,   0,
+     16,   3,   0,   0,   3,   0,   1,   0,
+     28,   3,   0,   0,   2,   0,   1,   0,
      14,   0, 242, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  14,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    253,   2,   0,   0, 138,   0,   0,   0,
+     25,   3,   0,   0, 138,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-      0,   3,   0,   0,   3,   0,   1,   0,
-     12,   3,   0,   0,   2,   0,   1,   0,
+     28,   3,   0,   0,   3,   0,   1,   0,
+     40,   3,   0,   0,   2,   0,   1,   0,
      15,   0, 241, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  15,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-      9,   3,   0,   0,  82,   0,   0,   0,
+     37,   3,   0,   0,  82,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-      8,   3,   0,   0,   3,   0,   1,   0,
-     20,   3,   0,   0,   2,   0,   1,   0,
+     36,   3,   0,   0,   3,   0,   1,   0,
+     48,   3,   0,   0,   2,   0,   1,   0,
      16,   0, 240, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  16,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     17,   3,   0,   0,  90,   0,   0,   0,
+     45,   3,   0,   0,  90,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     16,   3,   0,   0,   3,   0,   1,   0,
-     44,   3,   0,   0,   2,   0,   1,   0,
+     44,   3,   0,   0,   3,   0,   1,   0,
+     72,   3,   0,   0,   2,   0,   1,   0,
      17,   0, 239, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  17,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     41,   3,   0,   0,  66,   0,   0,   0,
+     69,   3,   0,   0,  66,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     36,   3,   0,   0,   3,   0,   1,   0,
-     64,   3,   0,   0,   2,   0,   1,   0,
+     64,   3,   0,   0,   3,   0,   1,   0,
+     92,   3,   0,   0,   2,   0,   1,   0,
      18,   0, 238, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  18,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     61,   3,   0,   0,  90,   0,   0,   0,
+     89,   3,   0,   0,  90,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     60,   3,   0,   0,   3,   0,   1,   0,
-     72,   3,   0,   0,   2,   0,   1,   0,
+     88,   3,   0,   0,   3,   0,   1,   0,
+    100,   3,   0,   0,   2,   0,   1,   0,
      19,   0, 237, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  19,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     69,   3,   0,   0, 130,   0,   0,   0,
+     97,   3,   0,   0, 130,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     68,   3,   0,   0,   3,   0,   1,   0,
-     80,   3,   0,   0,   2,   0,   1,   0,
+     96,   3,   0,   0,   3,   0,   1,   0,
+    108,   3,   0,   0,   2,   0,   1,   0,
      20,   0, 236, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  20,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     77,   3,   0,   0, 130,   0,   0,   0,
+    105,   3,   0,   0, 130,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     76,   3,   0,   0,   3,   0,   1,   0,
-     88,   3,   0,   0,   2,   0,   1,   0,
+    104,   3,   0,   0,   3,   0,   1,   0,
+    116,   3,   0,   0,   2,   0,   1,   0,
      21,   0, 235, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  21,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     85,   3,   0,   0,  98,   0,   0,   0,
+    113,   3,   0,   0,  98,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     84,   3,   0,   0,   3,   0,   1,   0,
-     96,   3,   0,   0,   2,   0,   1,   0,
+    112,   3,   0,   0,   3,   0,   1,   0,
+    124,   3,   0,   0,   2,   0,   1,   0,
      22,   0, 234, 255,   0,   0,   0,   0,
       0,   0,   1,   0,  22,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     93,   3,   0,   0,  74,   0,   0,   0,
+    121,   3,   0,   0,  74,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    120,   3,   0,   0,   3,   0,   1,   0,
+    132,   3,   0,   0,   2,   0,   1,   0,
+     23,   0, 233, 255,   0,   0,   0,   0,
+      0,   0,   1,   0,  23,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    129,   3,   0,   0,  90,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     92,   3,   0,   0,   3,   0,   1,   0,
-    104,   3,   0,   0,   2,   0,   1,   0,
+    128,   3,   0,   0,   3,   0,   1,   0,
+    140,   3,   0,   0,   2,   0,   1,   0,
     108, 111, 103,  77, 111, 110, 111,  84,
     105, 109, 101,   0,   0,   0,   0,   0,
       9,   0,   0,   0,   0,   0,   0,   0,
@@ -3735,6 +3758,15 @@ static const ::capnp::_::AlignedData<398> b_d314cfd957229c11 = {
      60, 144,  82, 224,   9, 250, 164, 157,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
+     16,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     99,  97, 114,  67, 111, 110, 116, 114,
+    111, 108,   0,   0,   0,   0,   0,   0,
+     16,   0,   0,   0,   0,   0,   0,   0,
+    175,  20, 184, 154,   4,  41, 136, 247,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
      16,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0, }
@@ -3761,12 +3793,13 @@ static const ::capnp::_::RawSchema* const d_d314cfd957229c11[] = {
   &s_e946524859add50e,
   &s_ea0245f695ae0a33,
   &s_ea095da1894f7d85,
+  &s_f78829049ab814af,
 };
-static const uint16_t m_d314cfd957229c11[] = {20, 5, 22, 15, 10, 2, 21, 3, 12, 1, 7, 13, 19, 8, 16, 14, 18, 0, 9, 17, 4, 11, 6};
-static const uint16_t i_d314cfd957229c11[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 0};
+static const uint16_t m_d314cfd957229c11[] = {20, 5, 23, 22, 15, 10, 2, 21, 3, 12, 1, 7, 13, 19, 8, 16, 14, 18, 0, 9, 17, 4, 11, 6};
+static const uint16_t i_d314cfd957229c11[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 0};
 const ::capnp::_::RawSchema s_d314cfd957229c11 = {
-  0xd314cfd957229c11, b_d314cfd957229c11.words, 398, d_d314cfd957229c11, m_d314cfd957229c11,
-  19, 23, i_d314cfd957229c11, nullptr, nullptr, { &s_d314cfd957229c11, nullptr, nullptr, 0, 0, nullptr }
+  0xd314cfd957229c11, b_d314cfd957229c11.words, 414, d_d314cfd957229c11, m_d314cfd957229c11,
+  20, 24, i_d314cfd957229c11, nullptr, nullptr, { &s_d314cfd957229c11, nullptr, nullptr, 0, 0, nullptr }
 };
 #endif  // !CAPNP_LITE
 }  // namespace schemas
diff --git a/cereal/gen/cpp/log.capnp.h b/cereal/gen/cpp/log.capnp.h
index 084d36aaed..ff33d05a04 100644
--- a/cereal/gen/cpp/log.capnp.h
+++ b/cereal/gen/cpp/log.capnp.h
@@ -185,7 +185,7 @@ struct ThermalData {
   class Pipeline;
 
   struct _capnpPrivate {
-    CAPNP_DECLARE_STRUCT_HEADER(8d8231a40b7fe6e0, 3, 0)
+    CAPNP_DECLARE_STRUCT_HEADER(8d8231a40b7fe6e0, 3, 1)
     #if !CAPNP_LITE
     static constexpr ::capnp::_::RawBrandedSchema const* brand = &schema->defaultBrand;
     #endif  // !CAPNP_LITE
@@ -467,6 +467,7 @@ struct Event {
     ANDROID_LOG_ENTRY,
     GPS_LOCATION,
     CAR_STATE,
+    CAR_CONTROL,
   };
 
   struct _capnpPrivate {
@@ -1258,6 +1259,9 @@ public:
 
   inline  ::int16_t getBatteryPercent() const;
 
+  inline bool hasBatteryStatus() const;
+  inline  ::capnp::Text::Reader getBatteryStatus() const;
+
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -1313,6 +1317,13 @@ public:
   inline  ::int16_t getBatteryPercent();
   inline void setBatteryPercent( ::int16_t value);
 
+  inline bool hasBatteryStatus();
+  inline  ::capnp::Text::Builder getBatteryStatus();
+  inline void setBatteryStatus( ::capnp::Text::Reader value);
+  inline  ::capnp::Text::Builder initBatteryStatus(unsigned int size);
+  inline void adoptBatteryStatus(::capnp::Orphan< ::capnp::Text>&& value);
+  inline ::capnp::Orphan< ::capnp::Text> disownBatteryStatus();
+
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -3285,6 +3296,10 @@ public:
   inline bool hasCarState() const;
   inline  ::cereal::CarState::Reader getCarState() const;
 
+  inline bool isCarControl() const;
+  inline bool hasCarControl() const;
+  inline  ::cereal::CarControl::Reader getCarControl() const;
+
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -3493,6 +3508,14 @@ public:
   inline void adoptCarState(::capnp::Orphan< ::cereal::CarState>&& value);
   inline ::capnp::Orphan< ::cereal::CarState> disownCarState();
 
+  inline bool isCarControl();
+  inline bool hasCarControl();
+  inline  ::cereal::CarControl::Builder getCarControl();
+  inline void setCarControl( ::cereal::CarControl::Reader value);
+  inline  ::cereal::CarControl::Builder initCarControl();
+  inline void adoptCarControl(::capnp::Orphan< ::cereal::CarControl>&& value);
+  inline ::capnp::Orphan< ::cereal::CarControl> disownCarControl();
+
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -4444,6 +4467,38 @@ inline void ThermalData::Builder::setBatteryPercent( ::int16_t value) {
       10 * ::capnp::ELEMENTS, value);
 }
 
+inline bool ThermalData::Reader::hasBatteryStatus() const {
+  return !_reader.getPointerField(0 * ::capnp::POINTERS).isNull();
+}
+inline bool ThermalData::Builder::hasBatteryStatus() {
+  return !_builder.getPointerField(0 * ::capnp::POINTERS).isNull();
+}
+inline  ::capnp::Text::Reader ThermalData::Reader::getBatteryStatus() const {
+  return ::capnp::_::PointerHelpers< ::capnp::Text>::get(
+      _reader.getPointerField(0 * ::capnp::POINTERS));
+}
+inline  ::capnp::Text::Builder ThermalData::Builder::getBatteryStatus() {
+  return ::capnp::_::PointerHelpers< ::capnp::Text>::get(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+inline void ThermalData::Builder::setBatteryStatus( ::capnp::Text::Reader value) {
+  ::capnp::_::PointerHelpers< ::capnp::Text>::set(
+      _builder.getPointerField(0 * ::capnp::POINTERS), value);
+}
+inline  ::capnp::Text::Builder ThermalData::Builder::initBatteryStatus(unsigned int size) {
+  return ::capnp::_::PointerHelpers< ::capnp::Text>::init(
+      _builder.getPointerField(0 * ::capnp::POINTERS), size);
+}
+inline void ThermalData::Builder::adoptBatteryStatus(
+    ::capnp::Orphan< ::capnp::Text>&& value) {
+  ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(
+      _builder.getPointerField(0 * ::capnp::POINTERS), kj::mv(value));
+}
+inline ::capnp::Orphan< ::capnp::Text> ThermalData::Builder::disownBatteryStatus() {
+  return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+
 inline  ::uint32_t HealthData::Reader::getVoltage() const {
   return _reader.getDataField< ::uint32_t>(
       0 * ::capnp::ELEMENTS);
@@ -7702,6 +7757,58 @@ inline ::capnp::Orphan< ::cereal::CarState> Event::Builder::disownCarState() {
       _builder.getPointerField(0 * ::capnp::POINTERS));
 }
 
+inline bool Event::Reader::isCarControl() const {
+  return which() == Event::CAR_CONTROL;
+}
+inline bool Event::Builder::isCarControl() {
+  return which() == Event::CAR_CONTROL;
+}
+inline bool Event::Reader::hasCarControl() const {
+  if (which() != Event::CAR_CONTROL) return false;
+  return !_reader.getPointerField(0 * ::capnp::POINTERS).isNull();
+}
+inline bool Event::Builder::hasCarControl() {
+  if (which() != Event::CAR_CONTROL) return false;
+  return !_builder.getPointerField(0 * ::capnp::POINTERS).isNull();
+}
+inline  ::cereal::CarControl::Reader Event::Reader::getCarControl() const {
+  KJ_IREQUIRE(which() == Event::CAR_CONTROL,
+              "Must check which() before get()ing a union member.");
+  return ::capnp::_::PointerHelpers< ::cereal::CarControl>::get(
+      _reader.getPointerField(0 * ::capnp::POINTERS));
+}
+inline  ::cereal::CarControl::Builder Event::Builder::getCarControl() {
+  KJ_IREQUIRE(which() == Event::CAR_CONTROL,
+              "Must check which() before get()ing a union member.");
+  return ::capnp::_::PointerHelpers< ::cereal::CarControl>::get(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+inline void Event::Builder::setCarControl( ::cereal::CarControl::Reader value) {
+  _builder.setDataField<Event::Which>(
+      4 * ::capnp::ELEMENTS, Event::CAR_CONTROL);
+  ::capnp::_::PointerHelpers< ::cereal::CarControl>::set(
+      _builder.getPointerField(0 * ::capnp::POINTERS), value);
+}
+inline  ::cereal::CarControl::Builder Event::Builder::initCarControl() {
+  _builder.setDataField<Event::Which>(
+      4 * ::capnp::ELEMENTS, Event::CAR_CONTROL);
+  return ::capnp::_::PointerHelpers< ::cereal::CarControl>::init(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+inline void Event::Builder::adoptCarControl(
+    ::capnp::Orphan< ::cereal::CarControl>&& value) {
+  _builder.setDataField<Event::Which>(
+      4 * ::capnp::ELEMENTS, Event::CAR_CONTROL);
+  ::capnp::_::PointerHelpers< ::cereal::CarControl>::adopt(
+      _builder.getPointerField(0 * ::capnp::POINTERS), kj::mv(value));
+}
+inline ::capnp::Orphan< ::cereal::CarControl> Event::Builder::disownCarControl() {
+  KJ_IREQUIRE(which() == Event::CAR_CONTROL,
+              "Must check which() before get()ing a union member.");
+  return ::capnp::_::PointerHelpers< ::cereal::CarControl>::disown(
+      _builder.getPointerField(0 * ::capnp::POINTERS));
+}
+
 }  // namespace
 
 #endif  // CAPNP_INCLUDED_f3b1f17e25a4285b_
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 17a879e6d8..34637c6f42 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -103,6 +103,7 @@ struct ThermalData {
   # not thermal
   freeSpace @7 :Float32;
   batteryPercent @8 :Int16;
+  batteryStatus @9: Text;
 }
 
 struct HealthData {
@@ -313,5 +314,6 @@ struct Event {
     androidLogEntry @20 :AndroidLogEntry;
     gpsLocation @21 :GpsLocationData;
     carState @22 :Car.CarState;
+    carControl @23 :Car.CarControl;
   }
 }
diff --git a/common/realtime.py b/common/realtime.py
index 48c96c93a8..7a6a072218 100644
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -96,7 +96,7 @@ class Ratekeeper(object):
     remaining = self._next_frame_time - sec_since_boot()
     self._next_frame_time += self._interval
     if remaining < -self._print_delay_threshold:
-      print(self._process_name, "lagging by", round(-remaining * 1000, 2), "ms")
+      print("%s lagging by %.2f ms" % (self._process_name, -remaining * 1000))
       lagged = True
     self._frame += 1
     self._remaining = remaining
diff --git a/common/services.py b/common/services.py
index 9e9c6e11a1..1c85cd82ed 100644
--- a/common/services.py
+++ b/common/services.py
@@ -34,6 +34,8 @@ service_list = {
   "liveCalibration": Service(8019, True),
   "androidLog": Service(8020, True),
   "carState": Service(8021, True),
+  # 8022 is reserved for sshd
+  "carControl": Service(8023, True),
 }
 
 # manager -- base process to manage starting and stopping of all others
@@ -57,7 +59,7 @@ service_list = {
 
 # controlsd -- actually drives the car
 #   subscribes: can, thermal, model, live20
-#   publishes:  carState, sendcan, live100
+#   publishes:  carState, carControl, sendcan, live100
 
 # radard -- processes the radar data
 #   subscribes: can, live100, model
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 117fee611b..15cea0b4f0 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -177,8 +177,10 @@ void can_send(void *s) {
   err = zmq_msg_recv(&msg, s, 0);
   assert(err >= 0);
 
-  // format for board
-  auto amsg = kj::arrayPtr((const capnp::word*)zmq_msg_data(&msg), zmq_msg_size(&msg));
+  // format for board, make copy due to alignment issues, will be freed on out of scope
+  auto amsg = kj::heapArray<capnp::word>((zmq_msg_size(&msg) / sizeof(capnp::word)) + 1);
+  memcpy(amsg.begin(), zmq_msg_data(&msg), zmq_msg_size(&msg));
+
   capnp::FlatArrayMessageReader cmsg(amsg);
   cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
   int msg_count = event.getCan().size();
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 47770039aa..f7d7b72311 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -90,7 +90,7 @@ class CarController(object):
     #print chime, alert_id, hud_alert
     fcw_display, steer_required, acc_alert = process_hud_alert(hud_alert)
 
-    hud = HUDData(int(pcm_accel), int(hud_v_cruise), 0x41, hud_car,
+    hud = HUDData(int(pcm_accel), int(hud_v_cruise), 0x01, hud_car,
                   0xc1, 0x41, hud_lanes + steer_required,
                   int(snd_beep), 0x48, (snd_chime << 5) + fcw_display, acc_alert)
 
diff --git a/selfdrive/common/version.h b/selfdrive/common/version.h
index d3f002f874..a0b9e0f04b 100644
--- a/selfdrive/common/version.h
+++ b/selfdrive/common/version.h
@@ -1 +1 @@
-const char *openpilot_version = "0.2.6";
+const char *openpilot_version = "0.2.7";
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 51f52d1c56..02566a8696 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -39,6 +39,7 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
   context = zmq.Context()
   live100 = messaging.pub_sock(context, service_list['live100'].port)
   carstate = messaging.pub_sock(context, service_list['carState'].port)
+  carcontrol = messaging.pub_sock(context, service_list['carControl'].port)
 
   thermal = messaging.sub_sock(context, service_list['thermal'].port)
   live20 = messaging.sub_sock(context, service_list['live20'].port)
@@ -297,6 +298,12 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
     if not CI.apply(CC):
       AM.add("controlsFailed", enabled)
 
+    # broadcast carControl
+    cc_send = messaging.new_message()
+    cc_send.init('carControl')
+    cc_send.carControl = CC    # copy?
+    carcontrol.send(cc_send.to_bytes())
+
     prof.checkpoint("CarControl")
 
     # ***** publish state to logger *****
diff --git a/selfdrive/controls/lib/alertmanager.py b/selfdrive/controls/lib/alertmanager.py
index d30f46592d..57246c54c8 100644
--- a/selfdrive/controls/lib/alertmanager.py
+++ b/selfdrive/controls/lib/alertmanager.py
@@ -1,4 +1,5 @@
 from cereal import car
+from selfdrive.swaglog import cloudlog
 
 class ET:
   ENABLE = 0
@@ -24,7 +25,7 @@ class alert(object):
     tst = car.CarControl.new_message()
     tst.hudControl.visualAlert = self.visual_alert
     tst.hudControl.audibleAlert = self.audible_alert
-  
+
   def __str__(self):
     return self.alert_text_1 + "/" + self.alert_text_2 + " " + str(self.alert_type) + "  " + str(self.visual_alert) + " " + str(self.audible_alert)
 
@@ -74,7 +75,8 @@ class AlertManager(object):
     return len(self.activealerts) > 0 and self.activealerts[0].alert_type >= ET.IMMEDIATE_DISABLE
 
   def add(self, alert_type, enabled = True):
-    this_alert = self.alerts[str(alert_type)]
+    alert_type = str(alert_type)
+    this_alert = self.alerts[alert_type]
 
     # downgrade the alert if we aren't enabled
     if not enabled and this_alert.alert_type > ET.NO_ENTRY:
@@ -84,6 +86,12 @@ class AlertManager(object):
     if enabled and this_alert.alert_type < ET.WARNING:
       return
 
+    # if new alert is different, log it
+    if self.current_alert is None or self.current_alert.alert_text_2 != this_alert.alert_text_2:
+      cloudlog.event('alert_add',
+        alert_type=alert_type,
+        enabled=enabled)
+
     self.activealerts.append(this_alert)
     self.activealerts.sort()
 
@@ -110,6 +118,10 @@ class AlertManager(object):
         alert_text_1 = self.current_alert.alert_text_1
         alert_text_2 = self.current_alert.alert_text_2
 
+      # disable current alert
+      if self.alert_start_time + max(self.current_alert.duration_sound, self.current_alert.duration_hud_alert, self.current_alert.duration_text) < cur_time:
+        self.current_alert = None
+
     # reset
     self.activealerts = []
 
diff --git a/selfdrive/manager.py b/selfdrive/manager.py
index 2bcb729ac8..997168679f 100755
--- a/selfdrive/manager.py
+++ b/selfdrive/manager.py
@@ -211,6 +211,8 @@ def manager_thread():
     msg.thermal.freeSpace = avail
     with open("/sys/class/power_supply/battery/capacity") as f:
       msg.thermal.batteryPercent = int(f.read())
+    with open("/sys/class/power_supply/battery/status") as f:
+      msg.thermal.batteryStatus = f.read().strip()
     thermal_sock.send(msg.to_bytes())
     print msg
 
@@ -242,6 +244,10 @@ def manager_thread():
         for p in car_started_processes:
           kill_managed_process(p)
 
+      # shutdown if the battery gets lower than 10%, we aren't running, and we are discharging
+      if msg.thermal.batteryPercent < 5 and msg.thermal.batteryStatus == "Discharging":
+        os.system('LD_LIBRARY_PATH="" svc power shutdown')
+
     # check the status of all processes, did any of them die?
     for p in running:
       cloudlog.debug("   running %s %s" % (p, running[p]))
diff --git a/selfdrive/thermal.py b/selfdrive/thermal.py
index f89f358d48..24e4d6c52f 100644
--- a/selfdrive/thermal.py
+++ b/selfdrive/thermal.py
@@ -3,7 +3,7 @@ import selfdrive.messaging as messaging
 
 def read_tz(x):
   with open("/sys/devices/virtual/thermal/thermal_zone%d/temp" % x) as f:
-    ret = int(f.read())
+    ret = max(0, int(f.read()))
   return ret
 
 def read_thermal():
diff --git a/selfdrive/visiond/visiond b/selfdrive/visiond/visiond
index 1d7e68672a..ac6b4155d7 100755
Binary files a/selfdrive/visiond/visiond and b/selfdrive/visiond/visiond differ